EP4377187A1 - Véhicule robotisé d'inspection automobile, système d'inspection et procédé d'inspection d'une voie ferrée et/ou d'un véhicule ferroviaire - Google Patents

Véhicule robotisé d'inspection automobile, système d'inspection et procédé d'inspection d'une voie ferrée et/ou d'un véhicule ferroviaire

Info

Publication number
EP4377187A1
EP4377187A1 EP21749817.9A EP21749817A EP4377187A1 EP 4377187 A1 EP4377187 A1 EP 4377187A1 EP 21749817 A EP21749817 A EP 21749817A EP 4377187 A1 EP4377187 A1 EP 4377187A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
rail
railway
railway track
robotic vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21749817.9A
Other languages
German (de)
English (en)
Inventor
Maximilian STEGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Servail GmbH
Original Assignee
Servail GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Servail GmbH filed Critical Servail GmbH
Publication of EP4377187A1 publication Critical patent/EP4377187A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B61D15/08—Railway inspection trolleys
    • B61D15/12—Railway inspection trolleys power propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way

Definitions

  • Various aspects are related to an automotive inspection robotic vehicle, an inspection system, and a method for inspecting a railway track and/or a railway vehicle.
  • a continuous maintenance of the railway infrastructure is desired.
  • An important part of maintenance is an inspection and recording of a condition of a railway track and railway vehicles (e.g., trains) of the railway infrastructure, which allows to react to (e.g., critical) changes of the railway track and/or a railway vehicle in a timely and cost-efficient manner.
  • a variety of devices and methods is conventionally applied for monitoring railway tracks and/or railway vehicles.
  • a human may inspect the railway track and/or railway vehicle in person (i.e., a human railway track inspection).
  • railway tracks and/or railway vehicles may be monitored using drones (see, for example, Sangiorgi, Alternative Verresssmethoden im digitalen Zeitalter, El - Der Eisenbahningenieur, 02/2021), locally installed measurement stations (see, for example, Hauser et ak, Oberbau-Messanlagen als Instrument fur Gleis- undhariinstanden, Eisenbahntechnische Rundschau, 2020), hand-operated test coaches (see, for example, HeuBler et ak, Priifung der Gleisgeometrie mit dem Messsystem Krabbe, El - Der Eisenbahningenieur, 01/2012), and/or measurement trains (see, for example, Lichtberger, Die Eisen Generation von Multifunktionsmessterrorismen, El - Der Eisenbahningenieur, 03/2003).
  • measurement trains may allow to measure the interaction between the railway track and the railway vehicle, these measurement trains must be integrated into the operation of the railway infrastructure or the operation must be temporarily interrupted increasing a cost and/or downtime of the railway infrastructure. Further, due to the travel speed of the measurement train, an accuracy of the measurements is significantly lower as compared to the locally installed measurement stations.
  • the locally installed measurement stations may allow to measure the interaction between the railway track and the railway vehicle with increased accuracy
  • the measurement stations only provide information about a specific local point of the railway track and, thus, do not record the condition of a longer railway track network.
  • the railway track must be closed or at least the operation of the railway track must be restricted. This increases a downtime of the railway infrastructure.
  • Various aspects are related to an automotive inspection robotic vehicle, an inspection system, and a method for inspecting a railway track and/or a railway vehicle which allow to inspect (e.g., to monitor) a longer railway track network while operating the railway track.
  • the automotive inspection robotic vehicle may be capable to drive along and adjacent to a railway track during operation of the railway track. This approach does not require a downtime of the railway track and allows to measure the interaction between the railway track and the railway vehicle.
  • Figure 1 shows an automotive inspection robotic vehicle according to various aspects
  • Figures 2A to 2D each show a railway track according to various aspects
  • Figure 2E shows a cross-section of a rail of a railway track according to various aspects
  • Figure 2F shows a railway structural gauge and a railway loading gauge associated with a railway track according to various aspects
  • Figure 3 shows an inspection system including a railway track and an automotive inspection robotic vehicle according to various aspects
  • Figure 4 shows an onboard control device of an automotive inspection robotic vehicle according to various aspects
  • Figures 5A to 9 each show an inspection system including a railway track and an automotive inspection robotic vehicle according to various aspects.
  • Figure 10 shows a flow diagram illustrating a method for inspecting a railway track and/or a railway vehicle according to various aspects.
  • An inspection of a railway infrastructure may require a downtime of rail operations, may not allow to measure an interaction between a railway track and a railway vehicle moving on the railway track, may provide only pre-selected local results, and/or may not allow to capture structural problems with a required accuracy.
  • an automotive inspection robotic vehicle is provided which is capable to detect a condition of the railway track and/or railway vehicle during operation and which is capable to drive along and adjacent to a rail of the railway track in order to detect the condition of the railway track at various locations.
  • FIG. 1 shows an automotive inspection robotic vehicle 100 according to various aspects.
  • the automotive inspection robotic vehicle 100 may be employed for inspecting a railway track and/or a railway vehicle.
  • the automotive inspection robotic vehicle 100 may include a vehicle main body 102.
  • the automotive inspection robotic vehicle 100 may include an onboard driving device 104.
  • the onboard driving device 104 may be configured to allow for moving the automotive inspection robotic vehicle 100.
  • the onboard driving device 104 may allow the automotive inspection robotic vehicle 100 to drive along and adjacent to a railway track.
  • the automotive inspection robotic vehicle 100 may be configured to be movable on ground in a manner driven by the onboard driving device 104.
  • the onboard driving device 104 may include (e.g., may be provided with) one or more wheels (e.g., two or more wheels, e.g., four wheels).
  • the automotive inspection robotic vehicle 100 may be configured to drive on ground using the one or more wheels.
  • the onboard driving device 104 may include (e.g., may be provided with) one or more crawler tracks (e.g., two or more crawler tracks).
  • the automotive inspection robotic vehicle 100 may be configured to drive on ground using the one or more crawler tracks.
  • crawler tracks also referred to as chain-drives
  • crawler tracks also referred to as chain-drives
  • the onboard driving device 104 may include (e.g., may be provided with) one or more (e.g., two or more, e.g., four or more, e.g., six or more, e.g., eight or even more) support legs.
  • the automotive inspection robotic vehicle 100 may be configured to move arachnid-like (also referred to as spider-like), malacostracan-like, and/or insect-like using the one or more support legs.
  • the onboard driving device 104 may include a combination of the one or more wheels, the one or more crawler tracks, and/or the one or more support legs.
  • the onboard driving device 104 may include a vehicle chassis. The one or more wheels and/or one or more crawler tracks may be provided on the vehicle chassis.
  • the vehicle main body 102 may be supported by the vehicle chassis.
  • the automotive inspection robotic vehicle 100 may include an onboard control device 106 (e.g., one or more controllers).
  • the onboard control device 106 may be configured to control the onboard driving device 104. According to various aspects, the onboard control device 106 may control the onboard driving device 104 to implement an interaction of the automotive inspection robotic vehicle 100 with its environment (e.g., a railway track) according to a control program. For example, the moving (e.g., driving) of the automotive inspection robotic vehicle 100 may be initiated by means of actuators controlled by the onboard control device 106.
  • actuator may be understood as a component configured to affect a mechanism or process in response to be driven.
  • the actuator can implement instructions issued by the onboard control device 106 (the so-called activation) into mechanical movements (e.g., of the one or more wheels, the one or more crawler tracks, and/or the one or more support legs).
  • the actuator e.g. an electromechanical converter
  • the term "control device” may be understood as any type of logic implementing entity, which may include, for example, a circuit and/or a processor capable of executing software stored in a storage medium, firmware, or a combination thereof, and which can issue instructions, e.g., to an actuator in the present example.
  • the control device may be configured, for example, by program code (e.g., software) to control the operation of a system, an automotive inspection robotic vehicle in the present example.
  • the automotive inspection robotic vehicle 100 may include one or more onboard sensors 108.
  • the one or more onboard sensors 108 may be configured to detect data representing a surrounding of the automotive inspection robotic vehicle 100.
  • the one or more onboard sensors 108 may be configured to detect (e.g. in use) parameter data representing at least one railway track parameter and/or railway vehicle parameter.
  • a railway track parameter as used herein, may describe a condition of the railway track the automotive inspection robotic vehicle 100 is located adjacent to.
  • a railway track parameter as used herein, may describe a condition of a railway vehicle. The railway vehicle may move on the railway track.
  • a sensor of the one or more onboard sensors 108 may be a camera sensor, a light detection and ranging (LIDAR) sensor, a radio detection and ranging (radar) sensor, an ultrasonic sensor, an acceleration sensor, a temperature sensor, a velocity sensor, a position sensor, an x-ray sensor, a microphone, or an infrared sensor (see also description with reference to FIG. 3).
  • at least one of the one or more onboard sensors 108 may be attached to the vehicle main body 102.
  • the vehicle main body 102 may be configured to allow a flexible instrumentation with sensors (e.g., a measurement equipment). This may allow to flexibly adapt the automotive inspection robotic vehicle 100 to inspection requirements associated with a specific task and/or railway track conditions.
  • the automotive inspection robotic vehicle 100 may include a holding structure 110.
  • the holding structure 110 may extend laterally (e.g., in direction 14) on the automotive inspection robotic vehicle 100.
  • the holding structure 110 may extend laterally from the vehicle main body 102 beyond the one or more crawler tracks and/or one or more wheels.
  • the holding structure 110 may be configured to engage with a rail (or rails) of the railway track the automotive inspection robotic vehicle 100 is (in use) located adjacent to.
  • the holding structure 110 may be configured to hold the automotive inspection robotic vehicle 100, during use, on the rail (or rails) of the railway track.
  • the holding structure 110 may be or may include an arm (e.g., robotic arm) which is engageable with (and disengageable from) the rail of the railway track.
  • the holding structure 110 may be provided as several separate parts, such as a first arm 110A engageable with a first rail of the railway track and a second arm 110B engageable with a second rail of the railway track (see, for example, description with reference to FIG. 3).
  • the first arm 110A and the second arm 110B may be engageable with the same rail of the railway track.
  • the holding structure 110 e.g., the first arm 110A and/or the second arm 110B
  • the one or more magnets may allow the holding structure 110 to engage with a rail (which may include or may be made of iron).
  • At least one of the one or more onboard sensors 108 may be attached to the holding structure 110 (e.g., to the first arm 110A and/or the second arm 110B).
  • the onboard control device 106 may be configured to control the holding structure 110 (e.g., to engage with a rail or rails of the railway track).
  • the automotive inspection robotic vehicle 100 may be configured such that, in use, the automotive inspection robotic vehicle 100 can drive along and adjacent to the railway track without vertically protruding beyond the rails of the railway track.
  • a geometry of the railway track, the automotive inspection robotic vehicle 100 is configured to inspect may define a maximum first extension 112 of the automotive inspection robotic vehicle 100 (in direction 12), a maximum second extension 114 of the automotive inspection robotic vehicle 100 (in direction 14), and/or a third extension 116 (in direction 14) of the holding structure 110 (e.g., a span width of the first arm 110A and the second arm 110B).
  • a length of the automotive inspection robotic vehicle 100 (in direction 16) may be greater than the first extension 112 and the second extension 114.
  • the length of the automotive inspection robotic vehicle 100 may be greater than the third extension 116.
  • a maximum length of the automotive inspection robotic vehicle 100 (in direction 16) may be limited by a bending radius of the rail or rails, the automotive inspection robotic vehicle 100 is configured to inspect. This may, in combination with the onboard driving device 104, allow the automotive inspection robotic vehicle 100 to inspect a railway track and/or railway vehicle during operation of the railway track and/or railway vehicle and also allows the automotive inspection robotic vehicle 100 to move to ever new positions along the railway track during the regular operation of the railway track.
  • Direction 16 refers to a direction in which the rail or rails of the railway track are extending.
  • a railway vehicle, which drives on the railway track may drive in direction 16.
  • the automotive inspection robotic vehicle 100 may be configured in accordance with one or more railway track configurations such that the automotive inspection robotic vehicle 100 can inspect each railway track having one of the one or more railway track configurations.
  • a railway track configuration may be characterized by a number of rails (e.g., one rail, two rails, three rails, or more than three rails), a height of the rail or rails, a distance between e.g. two of the rails, a railway structural gauge and/or railway loading gauge associated with the railway track (see, for example, description with reference to FIG. 2F), a rail profile (i.e., a cross-sectional shape of the rail or rails perpendicular to its length), etc.
  • a number of rails e.g., one rail, two rails, three rails, or more than three rails
  • a height of the rail or rails e.g., a distance between e.g. two of the rails
  • a distance between e.g. two of the rails e.g. two of the rails
  • a railway structural gauge and/or railway loading gauge associated with the railway track see, for example, description with reference to FIG. 2F
  • a rail profile
  • the automotive inspection robotic vehicle 100 may be configured such that the automotive inspection robotic vehicle 100 is capable to inspect railway tracks having a track gauge in the range from about 600 mm (e.g., limited by a respective minimum of the second extension 114 and the third extension 116 of the automotive inspection robotic vehicle 100) to about 1700 mm (e.g., limited by a maximum of the third extension 116 of the automotive inspection robotic vehicle 100).
  • the holding structure 110 may be adjustable such that, in use, the holding structure 110 (e.g., the first arm 110A and the second arm 110B) can engage with one or more rails of a railway track having a track gauge in the range from about 600 mm to about 1700 mm.
  • the holding structure 110 may be adjustable such that, in use, the holding structure 110 (e.g., the first arm 110A and the second arm 110B) can engage with one or more rails of a railway track having a track gauge greater than 1700 mm (e.g., greater than 2000 mm, e.g., greater than 3000 mm, e.g., up to 9000 mm).
  • a railway track according to various aspects will be described in more detail with reference to FIGS. 2A to 2F and an inspection system is described with reference FIG. 3 and FIGS. 5 A to 9 in which the automotive inspection robotic vehicle 100 is, in use, located adjacent to the railway track.
  • the automotive inspection robotic vehicle 100 may be configured such that the automotive inspection robotic vehicle 100 can drive on ground between and along (e.g., in a direction of) a first rail and a second rail of the railway track without vertically protruding beyond the first rail and the second rail (see, for example, FIG. 3 and FIGS. 5A to 6B).
  • the automotive inspection robotic vehicle 100 may be configured such that it can drive on ground next to the railway track adjacent to a rail of the railway track without vertically protruding beyond the rail (see, for example, FIGS. 7A to 7C).
  • the automotive inspection robotic vehicle 100 may be configured such that it can move on a rail web of a rail without vertically protruding beyond the rail (see, for example, FIGS. 8 A and 8B).
  • the railway track and the inspection system shown in the figures merely serve as examples to illustrate various features and configurations of the automotive inspection robotic vehicle 100 and that the automotive inspection robotic vehicle 100 may be configured to (in addition or alternatively) inspect any other type of railway track.
  • FIG. 2A and FIG. 2C each show a cross-section of a railway track 200 according to various aspects and FIG. 2B and FIG. 2D show a top view of the railway track 200, respectively.
  • the railway track 200 may include a first rail 202 and a second rail 204.
  • the first rail 202 and the second rail 204 may be substantially parallel to each other (and optionally parallel to direction 16). It is noted that the railway track 200 serves as an example and that the automotive inspection robotic vehicle 100 may be configured to inspect a railway track having a different railway track configuration, such as a railway track which includes only one rail and/or a railway track which includes more than two rails (e.g., three rails, such as a cog railway).
  • the railway track 200 may include either a concrete slab 226 (see FIG. 2C and FIG. 2D) or sleepers 206 arranged on ballast 216 (see FIG. 2A and FIG. 2B).
  • “N” may be any integer number equal to or greater than one (e.g., greater than ten, e.g., greater than one hundred, e.g., greater than one thousand or even more).
  • the railway track 200 may include a concrete slab 226.
  • a distance 214 (in direction 13) between the first rail 202 and the second rail 204 may be a track gauge.
  • the track gauge may be, for example, in the range from about 600 mm to about 1700 mm (or greater than 1700 mm).
  • FIG. 2E shows a rail profile exemplarily for the first rail 202.
  • the rail profile may be a cross-sectional shape of the first rail 202 perpendicular to its length (in direction 16).
  • the first rail 202 may include a rail head 202h, a rail web 202w, and a rail foot 202f.
  • a rail profile (e.g., a flat bottomed rail or a bullhead rail or a grooved rail) may be associated with a respective shape and dimensions of each of the rail head 202h, rail web 202w, and rail foot 202f.
  • the second rail 204 may be configured similar to the first rail 202.
  • FIG. 2F shows a railway loading gauge 230 and a railway structural gauge 232 associated with the exemplary railway track 200.
  • a railway loading gauge may define a maximum extension (e.g., a maximum height and a maximum length) of railway vehicles which may move (e.g., drive) on the railway track.
  • the railway loading gauge 230 may represent an area which could be occupied by a railway vehicle.
  • the automotive inspection robotic vehicle 100 may be configured such that there is no interference with the clearance of the railway vehicle(s).
  • the automotive inspection robotic vehicle 100 may be configured such that, in use, the automotive inspection robotic vehicle 100 can drive along and adjacent to the first rail 202 and/or second rail 204 without vertically (in direction 11) protruding into the railway loading gauge 230. This ensures that a railway vehicle can safely move on the railway track while using the automotive inspection robotic vehicle 100 at the same time.
  • a railway structural gauge may define an area larger than the area represented by the railway loading gauge.
  • the railway structural gauge may represent an area into which constructional elements (e.g., railroad operations, such as platforms, ramps, signaling, etc. or constructional elements during construction work) are allowed to protrude only under certain conditions (e.g., certain safety measures).
  • the automotive inspection robotic vehicle 100 may be configured such that, in use, the automotive inspection robotic vehicle 100 can drive along and adjacent to the first rail 202 and/or second rail 204 without vertically (in direction 11) protruding into the railway structural gauge 232. This ensures that the automotive inspection robotic vehicle 100 can be used for inspecting the railway track during operation of the railway track.
  • FIG. 3 shows an inspection system 300 for inspecting a railway track and/or railway vehicle according to various aspects.
  • the inspection system 300 may include the automotive inspection robotic vehicle 100 and a railway track, such as the railway track 200.
  • the onboard driving device 104 may be configured such that, in use, the automotive inspection robotic vehicle 100 is movable within a space between the first rail 202 and the second rail 204 along the first rail 202 and the second rail 204 (e.g., in an extension of the first rail 202 and/or the second rail 204, e.g., in a direction the first rail 202 and/or the second rail 204 are extending to).
  • the one or more onboard sensors 108 may be configured to detect parameter data which represent whether an area in front of the automotive inspection robotic vehicle 100 (in direction 16) is blocked, such as blocked by rockfall or a fallen tree.
  • the one or more onboard sensors 108 may include at least one camera sensor configured to detect an image of the area (environment) in front of the automotive inspection robotic vehicle 100.
  • An overall height of the automotive inspection robotic vehicle 100 may be represented by the first extension 112.
  • the automotive inspection robotic vehicle 100 may be sized and configured such that the automotive inspection robotic vehicle 100, in use, can drive along and adjacent to the railway track 200 without protruding into the railway loading gauge 230 and/or railway structural gauge 232.
  • the operation of the automotive inspection robotic vehicle 100 may not restrict the operation of the railway track.
  • the automotive inspection robotic vehicle 100 and railway track may be operated in parallel. This allows to also inspect railway vehicles which are located on the railway track 200 above (in direction 11) the automotive inspection robotic vehicle 100 (e.g., railway vehicles moving on the railway track 200).
  • the onboard driving device 104 may include the one or more crawler tracks which may have an elongated shape extending in a front rear direction (in direction 16) of the automotive inspection robotic vehicle 100.
  • a substantially stable movement of the automotive inspection robotic vehicle 100 may be ensured.
  • a movement of the automotive inspection robotic vehicle 100 in direction 16 due to unevenness of the ballast 216 may be reduced, thereby ensuring that the automotive inspection robotic vehicle 100 does not protrude beyond the rail top edge 220
  • the holding structure 110 may be engageable with at least one of the first rail 202 and/or second rail 204 (e.g., via one or more magnets, see also description with reference to FIGS. 7A to 7C).
  • the holding structure 110 may also be configured disengageable from the rail.
  • the holding structure 110 may be disengageable from the rail only by an operator (e.g., using a password, a key, a token, etc.). This may prevent theft of the automotive inspection robotic vehicle 100.
  • the holding structure 110 may include at least the first arm 110A and the second arm 110B.
  • the first arm 110A may be engageable with (and optionally disengageable from) the first rail 202 and the second arm 110B may be engageable with (and optionally disengageable from) the second rail 204.
  • the first arm 110A e.g., configured as a first robotic arm
  • the second arm 110B e.g., configured as a second robotic arm
  • the first arm 110A and the second arm 110B may be configured unfoldable (e.g., to swing out the respective arm) to engage with the respective rail.
  • a span width of the first arm 110A and the second arm 110B in a direction substantially perpendicular to the first rail 202 and the second rail 204 may be equal to or less than a distance between a first rail web 202w of the first rail 202 and a second rail web of the second rail 204 and may be greater than a distance between a first rail head 202h of the first rail 202 and a second rail head of the second rail 204.
  • the first arm 110A may engage with the first rail head 202h and the second arm 110B may engage with the second rail head from below, thereby preventing an escape of the automotive inspection robotic vehicle 100 upwardly (in direction 11).
  • the first arm 110A and the second arm 110B may each include one or more magnets (e.g., ferromagnets and/or electromagnets) attached thereto and the first arm 110A and the second arm 110B may be engageable with and disengageable from the rails using the one or more magnets.
  • the holding structure 110 may hold the automotive inspection robotic vehicle 100 on the rail or rails via the magnets.
  • the onboard control device 106 may be configured to control the first arm 110A and the second arm 110B to engage with and disengage from the first rail 202 and the second rail 204, respectively, in an alternate manner. This may, for example, ensure that at any time at least one of the first arm 110A and the second arm 110B is engaged with the respective rail.
  • the holding structure 110 may be configured adjustable.
  • a height (in direction 12) of the holding structure 110 e.g., the first arm 110A and the second arm 110B
  • the span width of the first arm 110A and the second arm 110B may be adjustable within a predefined range (e.g., in the range from about 600 mm to about 1700 mm). This may allow the use of the automotive inspection robotic vehicle 100 for inspecting a variety of railway tracks having a track gauge in the range from about 600 mm to about 1700 mm as well as railway tracks having different types of rail profiles.
  • the onboard control device 106 may be configured to, in the case that the automotive inspection robotic vehicle 100 is located between the first rail 202 and the second rail 204, control the holding structure 110 to unfold the first arm 110A to engage with the first rail 202 and/or the second arm 110B to engage with the second rail 204.
  • the onboard control device 106 may be configured to, in the case that the automotive inspection robotic vehicle 100 is located between the first rail 202 and the second rail 204, control the holding structure 110 to unfold the first arm 110A and the second arm 110B until the first arm 110A and the second arm 110B are directly contacting the first rail web 202w and the second rail web, respectively.
  • the holding structure 110 may prevent that the automotive inspection robotic vehicle 100 is moved beyond the rail top edge 220 due to unevenness of the ground, airflow resulting from a railway vehicle passing by the automotive inspection robotic vehicle 100 (also referred to as suction effect of passing railway vehicles), and/or even theft of the automotive inspection robotic vehicle 100.
  • the automotive inspection robotic vehicle 100 may include the one or more onboard sensors 108 configured to detect parameter data representing a railway track parameter describing a condition of the railway track 200.
  • the one or more onboard sensors 108 may include at least one camera sensor (e.g., exactly one camera sensor, two camera sensors, or more than two camera sensors).
  • the at least one camera sensor may be configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, an image (also referred to as photo) of the railway track 200 (e.g., the rail or rails the automotive inspection robotic vehicle 100 is located adjacent to).
  • the at least one camera sensor may be configured to detect an image of the first rail 202 and/or the second rail 204.
  • the one or more onboard sensors 108 may include a first camera sensor configured to detect an image of the first rail 202 and a second camera sensor configured to detect an image of the second rail 204.
  • An image of the railway track (acquired by a visual detection of the railway track) may show at least one rail and may represent a shape and/or geometry of the rail, a shape and/or geometry of a rail fastening used for installing the rail on a sleeper 206 or concrete slab 226, a shape and/or geometry of the ballast 216 as a railway track parameter.
  • An image of the railway track may show at least two rails (e.g., the first rail 202 and the second rail 204) and may in addition represent a shape, geometry, orientation, and/or location of the at least two rails and/or a geometry of the whole railway track.
  • the one or more onboard sensors 108 may include at least one camera sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, an image of a surrounding of the railway track 200.
  • An image of the surrounding of the railway track may show, for example, the railway loading gauge 230 and/or the railway structural gauge 232 of the railway track 200 as a railway track parameter.
  • the one or more onboard sensors 108 may include at least one LIDAR sensor (e.g., exactly one LIDAR sensor, two LIDAR sensors, or more than two LIDAR sensors).
  • the at least one LIDAR sensor may be configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a point cloud and/or a pre- processed image representing the railway track 200 and/or the surrounding of the railway track 200.
  • the one or more onboard sensors 108 may include at least one radar sensor (e.g., exactly one radar sensor, two radar sensors, or more than two radar sensors).
  • the at least one radar sensor may be configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a point cloud and/or a pre- processed image representing the railway track 200 and/or the surrounding of the railway track 200.
  • the one or more onboard sensors 108 may include at least one ultrasonic sensor (e.g., exactly one ultrasonic sensor, two ultrasonic sensors, or more than two ultrasonic sensors).
  • the at least one ultrasonic sensor may be configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a point cloud and/or a pre-processed image representing the railway track 200 and/or the surrounding of the railway track 200.
  • the one or more onboard sensors 108 may include at least one position sensor.
  • the at least one position sensor may be employed to measure a mechanical positon.
  • a position sensor as used herein, may be configured to detect an absolute position (e.g., a location) and/or a relative position (e.g., a displacement).
  • the absolute position and/or relative position may relate to a linear travel, a rotational angle, and/or a three-dimensional space.
  • a position sensor may be, for example, a capacitive displacement sensor, an eddy-current sensor, a hall effect sensor, an inductive sensor, a laser Doppler vibrometer, a linear variable differential transformer (LVDT), a photodiode array, a piezo-electric transducer, a position encoder (e.g., an absolute encoder or an incremental encoder, e.g., a linear encoder detecting a linear position and/or a rotary encoder detecting a rotary position), a potentiometer, a proximity sensor (e.g., an optical proximity sensor, such as an infrared sensor), a string potentiometer (also referred to as string pot and/or cable-extension transducer), and/or an ultrasonic sensor.
  • a position encoder e.g., an absolute encoder or an incremental encoder, e.g., a linear encoder detecting a linear position and/or a rotary encoder detecting a rotary position
  • the one or more onboard sensors 108 may include one or more of the above position sensors and/or other position sensors capable to detect an absolute and/or relative position.
  • the at least one positon sensor may be employed to detect surface properties (e.g., a roughness, surface cracks, deformation, a shape, etc.) of one or more components of the railway track 200 and/or one or more components of the railway vehicle 304.
  • the one or more onboard sensors 108 may include at least one positioning sensor.
  • a positioning sensor as used herein, may be employed to determine a position of the automotive inspection robotic vehicle 100 (e.g., on earth).
  • the positioning sensor may be part of a (e.g., global) navigation satellite system.
  • the positioning sensor may be a global positioning system, GPS, sensor.
  • the one or more onboard sensors 108 may include at least one x-ray sensor.
  • the at least one x-ray sensor may be configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, an x-ray image of the railway track 200 (e.g., of one or more of the rails of the railway track 200 and/or of one or more rail fastenings of the railway track 200).
  • the one or more onboard sensors 108 may include at least one temperature sensor.
  • the at least one temperature sensor may be configured detect an air temperature in a surrounding of the automotive inspection robotic vehicle 100 (e.g., in use, an air temperature in the surrounding of the railway track 200).
  • the at least one temperature sensor may be configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a temperature of at least one rail and/or at least one rail fastening
  • the rails of the railway track 200 and the surrounding of the railway track 200 may be detected using different sensors or the same sensor.
  • a camera sensor may be arranged such that an acquired image shows the rails as well as the surrounding of the railway track.
  • an orientation (e.g., angle) of a camera sensor may be adjustable to allow the camera sensor to acquire an image showing one or more of the rails of the railway track and to acquire another image showing the surrounding of the railway track.
  • a similar approach may be used for one or more of the other sensors.
  • the one or more onboard sensors 108 may be configured to provide (e.g., transmit) the detected parameter data to the onboard control device 106.
  • FIG. 4 shows an onboard control device 106 of the automotive inspection robotic vehicle 100.
  • the onboard control device 106 may include at least one first communication interface 402.
  • the at least one first communication interface 402 may be coupled to the onboard driving device 104.
  • the onboard control device 106 may be configured to transmit driving control data 404 to the onboard driving device 104 to control the onboard driving device 104.
  • the at least one first communication interface 402 may be coupled to the one or more onboard sensors 108.
  • the onboard control device 106 may be configured to transmit sensor control data 406 to the one or more onboard sensors 108 to initiate the one or more onboard sensors 108 to detect the respective parameter data.
  • the one or more onboard sensors 108 may be configured to transmit the respectively detected parameter data 408 to the onboard control device 106 via the at least one first communication interface 402.
  • the at least one first communication interface 402 may be a single interface coupled to the onboard driving device 104 and the one or more onboard sensors 108.
  • the onboard driving device 104, the one or more onboard sensors 108, and the onboard control device 106 may be coupled to each other via a communication bus.
  • the at least one first communication interface 402 may include an interface coupled to the onboard driving device 104 and another interface coupled to the one or more onboard sensors 108.
  • the at least one first communication interface 402 may include or may be a hardwired interface and/or a wireless interface.
  • the onboard control device 106 may be configured to process the detected parameter data 408 received via the at least one first communication interface 402.
  • the onboard control device 106 may include one or more processors 412.
  • the onboard control device 106 may be configured to process the detected parameter data 408 using the one or more processors 412.
  • processor or “controller” as, for example, used herein may be understood as any kind of technological entity that allows handling of data. The data may be handled according to one or more specific functions executed by the processor or controller. Further, a processor or controller as used herein may be understood as any kind of circuit, e.g., any kind of analog or digital circuit, and may also be referred to as a “processing element”, “processing elements”, “processing circuit,” “processing circuitry,” among others.
  • a processor or a controller may thus be or include an analog circuit, digital circuit, mixed-signal circuit, logic circuit, processor, microprocessor, Central Processing Unit (CPU), Graphics Processing Unit (GPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), integrated circuit, Application Specific Integrated Circuit (ASIC), Artificial Intelligence (AI) processor, Artificial Intelligence (AI) accelerator module, etc., or any combination thereof. Any other kind of implementation of the respective functions, which will be described below in further detail, may also be understood as a processor, controller, or logic circuit.
  • the onboard control device 106 may include an onboard storage device 414 (e.g., including at least one memory).
  • the one or more processors 412 may be configured to store the detected parameter data 408 in the onboard storage device 414.
  • the one or more processors 412 may be configured to employ the onboard storage device 414 for processing the detected parameter data 408.
  • “memory” is understood as a computer-readable medium in which data or information can be stored for retrieval.
  • references to “memory” included herein may thus be understood as referring to volatile or non-volatile memory, including random access memory (RAM), read-only memory (ROM), flash memory, solid-state storage, magnetic tape, hard disk drive, optical drive, among others, or any combination thereof. Registers, shift registers, processor registers, data buffers, among others, are also embraced herein by the term memory. References to a “memory” included herein may also be understood as a non-transitory memory.
  • the term “software” refers to any type of executable instruction, including firmware.
  • the detected parameter data 408 may include an image of the railway track 200, a point-cloud representing the railway track 200, and/or a pre- processed image of the railway track 200 and the onboard control device 106 may be configured to determine whether the railway track 200 is damaged or not.
  • the detected parameter data 408 may include an image, a point-cloud, and/or a pre-processed image of at least one rail of the railway track 200 and the onboard control device 106 (e.g., the one or more processors 412) may be configured to determine a deformation, an abrasion, a wear, cracks, and/or fractures of the at least one rail.
  • the detected parameter data 408 may include an image, a point-cloud, and/or a pre-processed image of at least one rail fastening of the railway track 200 and the onboard control device 106 (e.g., the one or more processors 412) may be configured to determine a deformation, an abrasion, a wear, cracks, and/or fractures of the at least one rail fastening.
  • the detected parameter data 408 may include an image, a point-cloud, and/or a pre-processed image of at least one sleeper 206(n) of the railway track 200 and the onboard control device 106 (e.g., the one or more processors 412) may be configured to determine a deformation, an abrasion, a wear, cracks, and/or fractures of the at least one sleeper 206(n).
  • the detected parameter data 408 may include an image, a point-cloud, and/or a pre-processed image of the ballast 216 or the concrete slab 226 of the railway track 200 and the onboard control device 106 (e.g., the one or more processors 412) may be configured to determine a deformation, an abrasion, a wear, cracks, and/or fractures of the ballast 216 or concrete slab 226.
  • the onboard control device 106 e.g., the one or more processors 412
  • the onboard control device 106 e.g., the one or more processors 412
  • the onboard control device 106 may be configured to determine a distance between the first rail 202 and the second rail 204, a variation in the distance between the first rail 202 and the second rail 204 on a predefined length (e.g., 1 meter) of the railway track 200 (also referred to as track gauge variation), a height of the first rail 202 and/or a height of the second rail 204, a difference between the height of the first rail 202 and the height of the second rail 204, a cant of the railway track (also referred to as superelevation), a horizontal alignment (in direction 13) of the first rail 202 and/or the second rail 204, a vertical alignment (in direction 11) of the first rail 202 and/or the second rail 204, a twist of the railway track 200, and/or geometrical imperfections of the horizontal alignment and/or vertical alignment.
  • a predefined length e.g. 1 meter
  • the railway track 200 also referred to as track gauge variation
  • a wear of a rail of the railway track 200 may be represented by damages of the rail head of the rail.
  • the damages of the rail head may be associated with any change of the shape of the rail head.
  • the detected parameter data 408 may include an image, a point-cloud, and/or a pre-processed image of the surrounding of the railway track 200 and the onboard control device 106 may be configured to determine whether the railway track 200 is blocked.
  • the onboard control device 106 may be configured to determine that the railway track 200 is blocked in the case that one or more objects (also referred to as obstacles) are present in the railway structural gauge 232 and/or the railway loading gauge 230.
  • the onboard control device 106 may be configured to recognize objects protruding towards the railway track 200.
  • the one or more processors 412 may be configured to implement an image classifier (e.g., stored in the onboard storage device 414).
  • the image classifier may be configured to classify detected parameter data 408 which include information regarding the surrounding of the railway track 200 in order to determine a type of object (e.g., a vegetation, such as a tree, a stone, an animal, etc.) blocking the railway track 200.
  • a type of object e.g., a vegetation, such as a tree, a stone, an animal, etc.
  • the automotive inspection robotic vehicle 100 may be configured to carry out a vegetation control of the surrounding of the railway track 200.
  • the onboard control device 106 may include at least one second communication interface 410.
  • the at least one second communication interface 410 may be coupleable to an external central control device 500.
  • the at least one second communication interface 410 may include or may be a wireless interface to allow the onboard control device 106 to wirelessly couple to the external central control device 500.
  • a wireless interface as used herein, may be configured to operate according to a desired radio communication protocol or standard.
  • a wireless interface may be configured in accordance with a Short-Range mobile radio communication standard, such as Bluetooth, Zigbee, among others.
  • a wireless interface may be configured to operate in accordance with a Medium or Wide Range mobile radio communication standard such as a 3G (e.g.
  • a wireless interface may be configured to operate in accordance with a Wireless Local Area Network communication protocol or standard, such as in accordance with IEEE 802.11 (e.g. 802.11, 802.11a, 802.11b, 802. l lg, 802.11h, 802. l ip, 802.11-12, 802.1 lac, 802.1 lad, 802.11ah, among others).
  • IEEE 802.11 e.g. 802.11, 802.11a, 802.11b, 802. l lg, 802.11h, 802. l ip, 802.11-12, 802.1 lac, 802.1 lad, 802.11ah, among others.
  • the onboard control device 106 may be configured to transmit the detected parameter data 408 in a processed form (i.e., after processing) to the external central control device 500 via the at least one second communication interface 410.
  • the onboard control device 106 may be configured to transmit the detected parameter data 408 in a non-processed form to the external central control device 500 via the at least one second communication interface 410.
  • the external central control device 500 may be configured to carry out the processing described above alternatively to the one or more processors 412.
  • the one or more processors 412 may be configured to pre-process the detected parameter data 408 and to transmit the pre-process parameter data via the at least one second communication interface 410 to the external central control device 500 for further processing.
  • the onboard control device 106 may be configured to process the detected parameter data 408 to determine whether a railway track parameter exceeds a predefined threshold value associated with a critical damage of the railway track 200 (e.g., damage which does not allow a further use of the railway track 200).
  • the external central control device 500 may carry out a further processing of the detected parameter data 408 to determine non time-critical damages of the railway track 200 (e.g., damages which allow for further use of the railway track 200).
  • the processing of the detected parameter data 408 may provide information about a condition of the railway track 200 and/or the railway vehicle 304 and, therefore, may allow to derive strategies for maintenance, repair, and/or improvement of the railway infrastructure.
  • the automotive inspection robotic vehicle 100 allows for a continuous monitoring of the railway infrastructure while, at the same time, keeping an operation of the railway infrastructure. Hence, there is no conflict between the operation of the railway infrastructure and their inspection.
  • the term “automotive” as used herein may describe that the inspection robotic vehicle 100 is configured to drive without any external actuation (e.g., outside of the automotive inspection robotic vehicle 100) .
  • the automotive inspection robotic vehicle 100 may be configured to drive along the railway track on its own (e.g., controlled via the external control device 500 and/or via the onboard control device 106).
  • the automotive inspection robotic vehicle 100 may be a self-driving robotic vehicle.
  • An external actuation may be, for example, a device or system which pushes or pulls (e.g., using a rope) the automotive inspection robotic vehicle 100 along the railway track.
  • the term “automotive” as used herein may also describe that the inspection robotic vehicle 100 is configured to drive without any external guidance.
  • An external guidance may be, for example, an additional rail provided adjacent a rail (e.g., adjacent to the railway track or between two rails of the railway track).
  • the onboard driving device 104 may allow the automotive inspection robotic vehicle 100 to drive unguidedly (e.g., not guided, i.e., without an external guidance besides the features described herein) along the railway track.
  • the onboard control device 106 may be configured to receive control data from the external central control device 500 via the at least one second communication interface 410 to allow for controlling the automotive inspection robotic vehicle 100 remotely.
  • the onboard control device 106 may be configured to receive control commands from the external central control device 500 via the at least one second communication interface 410, such as drive control commands for controlling the onboard driving device 104 and/or measurement control commands for performing measurements and/or for collecting data via the one or more onboard sensors 108.
  • the onboard control device 106 may be configured to receive information regarding an incoming railway vehicle (e.g., an incoming train) from the external central control device 500 via the at least one second communication interface 410.
  • the onboard control device 106 may be configured to, responsive to receiving the information regarding the incoming railway vehicle, transmit sensor control data 406 to at least one of the one or more onboard sensors 108 instructing the at least one sensor to detect at least one railway vehicle parameter and/or at least one railway track parameter.
  • the onboard control device 106 may be configured as an autonomous vehicle driving independently of external control data.
  • the onboard storage device 414 may store a driving model and the onboard control device 106 may be configured to control the onboard driving device 104 to operate in accordance with the driving model.
  • the one or more processors 412 may be configured to implement a machine learning model (e.g., using reinforcement learning) stored in the onboard storage device 414 configured to modify (e.g., improve) the driving during use.
  • the at least one second communication interface 410 may be coupleable (e.g., wirelessly coupleable) to an external storage device 600.
  • the onboard control device 106 may include a single second communication interface 410 configured coupleable to the external central control device 500 and the external storage device 600, or the at least one second communication interface 410 may include a processing interface coupleable (e.g., wirelessly coupleable) to the external central control device 500 and a storage interface coupleable (e.g., wirelessly coupleable) to the external storage device 600.
  • the processing interface and the storage interface may employ a different radio communication protocol or communication standard.
  • the external storage device 600 may be a cloud server. This online storing of the information (detected parameter data, pre-processed data, and/or processed data) may reduce a time required to determine damages of the railway track 200 and/or railway vehicle.
  • FIG. 5A shows an exemplary configuration of the inspection system 300, e.g. a cross-section of the railway track 200 and FIG. 5B shows a top view of the inspection system 300.
  • a railway vehicle 304 e.g., a train
  • the railway track 200 over (in direction 11) the automotive inspection robotic vehicle 100, in use.
  • the one or more onboard sensors 108 may be configured to detect, in use, at least one railway vehicle parameter describing a condition of the railway vehicle 304.
  • the railway vehicle 304 may be stopped on the railway track 200 over the automotive inspection robotic vehicle 100.
  • the railway vehicle 304 may drive on the railway track 200 (e.g., on the rails of the railway track 200, e.g., with its wheels) passing the automotive inspection robotic vehicle 100.
  • the automotive inspection robotic vehicle 100 may be configured to determine the railway vehicle parameter within the time period in which the railway vehicle 304 is located over or above the automotive inspection robotic vehicle 100.
  • the one or more onboard sensors 108 may include at least one camera sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, an image of the railway vehicle 304 (e.g., an image of a downside of the railway vehicle 304).
  • the one or more onboard sensors 108 may include at least one LIDAR sensor, at least one radar sensor, and/or at least one ultrasonic sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a point cloud and/or a pre- processed image representing the railway vehicle 304 (e.g., the downside of the railway vehicle 304).
  • the one or more onboard sensors 108 may include at least one x-ray sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, an x-ray image of the railway vehicle 304.
  • the one or more onboard sensors 108 may include at least one temperature sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a temperature of the railway vehicle 304.
  • the detected parameter data describing a condition of the railway vehicle 304 may represent a condition of at least one wheel and/or bogie of the railway vehicle 304, a vehicle body of the railway vehicle 304, and/or one or more vehicle parts attached to the downside of the railway vehicle 304.
  • An image of the railway vehicle 304 may represent a shape and/or geometry of the wheel, bogie, vehicle body, and/or vehicle parts.
  • the one or more onboard sensors 108 may include at least one acceleration sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use and in the case that the railway vehicle 304 is located over the automotive inspection robotic vehicle 100, an acceleration of the railway vehicle 304.
  • the one or more onboard sensors 108 may include at least one velocity sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use and in the case that the railway vehicle 304 is located over the automotive inspection robotic vehicle 100, a velocity of the railway vehicle 304.
  • the one or more processors 412 and/or the external central control device 500 may be configured to process the detected parameter data.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine whether the railway vehicle 304 is damaged or not.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine, based on the detected parameter data, a deformation of the at least one wheel and/or bogie, the vehicle body, and/or the parts attached to the downside of the railway vehicle, an abrasion of the at least one wheel and/or bogie, the vehicle body, and/or the parts attached to the downside of the railway vehicle, a wear of the at least one wheel and/or bogie, the vehicle body, and/or the parts attached to the downside of the railway vehicle, cracks of the at least one wheel and/or bogie, the vehicle body, and/or the parts attached to the downside of the railway vehicle, and/or fractures of the at least one wheel and/or bogie, the vehicle body, and/or the parts attached to the downside of the railway vehicle.
  • the onboard control device 106 may be configured to process the detected parameter data 408 to determine whether a railway vehicle parameter exceeds a predefined threshold value associated with a critical damage of the railway vehicle 304.
  • the one or more onboard sensors 108 may be configured to detect parameter data representing at least one interaction parameter which describes an interaction between the railway track 200 and the railway vehicle 304.
  • the interaction between the railway track 200 and the railway vehicle 304 may be an interaction of the railway track 200 with the railway vehicle 304, and vice versa.
  • Information regarding the interaction between the railway track 200 and the railway vehicle 304 may allow to derive a variety of structural problems, such as displacements, deformations, etc., of the railway track and/or railway vehicle which may not be observed by inspecting only the railway track 200 or the railway vehicle 304.
  • a deformation of a rail induced by the railway vehicle 304 driving over the rail may provide additional information about the condition of the rail (such as a stiffness of the rails and/or the stiffness of the support of the rails) as compared to detecting a condition of the rail without an interaction with the railway vehicle 304.
  • the interaction parameter may be determined (e.g., using the one or more processors 412) using one or more detected railway track parameters and/or one or more detected railway vehicle parameters.
  • the railway vehicle 304 may drive on the railway tack 200 passing the automotive inspection robotic vehicle 100 and the automotive inspection robotic vehicle 100 may be configured to detect a railway track parameter and/or a railway vehicle parameter within the time period in which the railway vehicle 304 is located over or above the automotive inspection robotic vehicle 100.
  • the railway track parameter and/or railway vehicle parameter which is/are detected within the time period in which the railway vehicle 304 is located over or above the automotive inspection robotic vehicle 100, may serve to determine or may be the interaction parameter.
  • the railway track parameter which is detected within the time period in which the railway vehicle 304 is located over or above the automotive inspection robotic vehicle 100, may represent a deformation of a rail induced by the railway vehicle 304 driving over the rail and the deformation may be the interaction parameter or may be used to determine the interaction parameter.
  • the railway vehicle parameter which is detected within the time period in which the railway vehicle 304 is located over or above the automotive inspection robotic vehicle 100, may represent a vibrational behavior of a wheel and/or bogie of the railway vehicle 304 induced by the railway vehicle 304 driving over the rail and the vibrational behavior may be the interaction parameter or may be used to determine the interaction parameter.
  • the one or more onboard sensors 108 may include at least one microphone sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a sound resulting from the railway vehicle 304 driving on the railway track 200 passing the automotive inspection robotic vehicle 100.
  • the sound may be a friction sound (also referred to as rail squeal) of the railway vehicle and railway track.
  • the mechanism that causes the squealing may be the cause of wear and/or tear that is happening to the rails of the railway track 200 and/or wheels of the railway vehicle 304.
  • the friction sound may be associated with both, the railway track 200 and the railway vehicle 304, and may be an interaction parameter independent of the railway track parameter and the railway vehicle parameter.
  • the automotive inspection robotic vehicle 100 may be configured to detect (e.g., using the one or more onboard sensors 108) the interaction parameter (e.g., as a friction sound using a microphone) directly without determining the interaction parameter based on one or more railway track parameters and/or one or more railway vehicle parameters.
  • the one or more onboard sensors 108 may include at least one infrared sensor configured to (e.g., arranged on and/or in the vehicle main body 102 to be capable to) detect, in use, a temperature change of the railway track 200 (e.g., the rails) and/or the railway vehicle 304 (e.g., one or more elements of the railway vehicle 304) resulting from the railway vehicle 304 driving on the railway track 200 over the automotive inspection robotic vehicle 100.
  • the automotive inspection robotic vehicle 100 may be configured to detect the parameter data using the one or more onboard sensors 108 while moving and/or when the automotive inspection robotic vehicle 100 is stopped.
  • the one or more onboard sensors 108 may be configured to detect parameter data representing one or more railway track parameters and one or more railway vehicle parameters while the railway vehicle 304 passes (e.g., moves over) the automotive inspection robotic vehicle 100.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine at least one interaction parameter using the one or more railway track parameters and the one or more railway vehicle parameters.
  • the railway vehicle 304 driving on the railway track 200 may induce changes (e.g., deformations, temperature changes, shifts, etc.) to the railway track 200 and/or the railway vehicle 304 and the changes may be derived from the one or more railway track parameters and/or the one or more railway vehicle parameters detected while the railway vehicle 304 drives on the railway track 200 over the automotive inspection robotic vehicle 100.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine a displacement, a deformation, a strain, a load-deformation behavior, a load transfer, and/or a vibrational behavior of the first rail 202 and/or second rail 204 as an interaction parameter resulting from the railway vehicle 304 moving over the first rail 202 and second rail 204.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine a displacement, a deformation, a strain, a load-deformation behavior, a load transfer, and/or a vibrational behavior of at least one sleeper 206(n) as an interaction parameter resulting from the railway vehicle 304 moving over the railway track 200.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine a displacement, a deformation, a strain, a load-deformation behavior, a load transfer, and/or a vibrational behavior of at least one rail fastening as an interaction parameter resulting from the railway vehicle 304 moving over the railway track 200.
  • the one or more processors 412 and/or the external central control device 500 may be configured to determine a displacement, a deformation, a strain, a load-deformation behavior, a load transfer, and/or a vibrational behavior of the ballast 216 or the concrete slab 226 as an interaction parameter resulting from the railway vehicle 304 moving over the railway track 200.
  • the onboard control device 106 e.g., the one or more processors 412 may be configured to determine whether an interaction parameter exceeds a predefined threshold value associated with a critical damage of the railway track 200 and/or railway vehicle 304.
  • the interaction parameter provides additional information about the railway track 200 and/or railway vehicle 304, thereby improving an accuracy of detecting damages of both.
  • the holding structure 110 may include at least two pairs (e.g., exactly two pairs, three pairs, more than three pairs) of first and second arms (e.g., of first and second robotic arms) arranged on both sides of the vehicle main body 102.
  • the holding structure 110 may include a number, M, of pairs of first and second arms. “M” may be any integer number equal to or greater than one.
  • the first arm of each pair of arms may be engageable with the first rail 202 and the second arm of each pair of arms may be engageable with the second rail 204.
  • An example of a holding structure 110 including two pairs of arms is shown in FIG. 5C.
  • the onboard driving device 104 may be configured such that, in the case that the automotive inspection robotic vehicle 100 is located between the first rail 202 and the second rail 204 of the railway track 200, the automotive inspection robotic vehicle 100 rests (e.g., via the one or more wheels, the one or more crawler tracks, and/or the one or more support legs) on a rail foot of one or both of the first rail 202 and the second rail 204.
  • the onboard driving device 104 may allow the automotive inspection robotic vehicle 100 to drive on the rail foot or rail foots along the railway track (e.g., in a direction the rail foot(s) are extending).
  • An exemplary configuration of the inspection system 300 in which the automotive inspection robotic vehicle 100 rests via two wheels on the rail foot of the first rail 202 and via two wheels on the rail foot of the second rail 204 is shown in FIG. 6A and FIG. 6B.
  • the automotive inspection robotic vehicle 100 may be configured such that the automotive inspection robotic vehicle 100 can drive on ground next to the railway track 200 and adjacent to a rail of the railway track 200.
  • the automotive inspection robotic vehicle 100 may, in use, be movable laterally adjacent to the rail.
  • An exemplary configuration of the inspection system 300 in which the automotive inspection robotic vehicle 100 is located next to the railway track 200 adjacent to the first rail 202 is shown in FIG. 7 A to FIG. 1C.
  • the holding structure 110 may be engageable with the rail the automotive inspection robotic vehicle 100 is located adjacent to.
  • the automotive inspection robotic vehicle 100 may be configured such that the automotive inspection robotic vehicle 100 can drive on ground next to the railway track 200 adjacent to a rail of the railway track 200 and may also be configured such that the automotive inspection robotic vehicle 100 can between the first rail 202 and the second rail 204. This may increase a field of operation of the automotive inspection robotic vehicle 100.
  • the holding structure 110 e.g., at least one arm of the holding structure 110
  • the holding structure 110 may include the first arm 110A and the second arm 110B and each arm may include one or more magnets attached thereto. Both, the first arm 110A and the second arm 110B may be configured to engage with the rail.
  • the onboard control device 106 may be configured to control the first arm 110A and the second arm 110B to engage with and disengage from the rail in an alternate manner. This may, for example, ensure that at any time at least one of the first arm 110A and the second arm 110B is engaged with the rail.
  • the onboard control device 106 may receive information regarding an incoming railway vehicle, as described herein, and the onboard control device 106 may be configured to control the holding structure 110 (e.g., using at least one arm of the holding structure 110) to engage with the rail via the one or more magnets. This may prevent that the automotive inspection robotic vehicle 100 is moved beyond the rail top edge 220 due to an airflow resulting from the railway vehicle passing by the automotive inspection robotic vehicle 100.
  • Each arm may be configured such that the automotive inspection robotic vehicle 100 can drive along the rail while the arm is engaged with the rail.
  • the one or more onboard sensors 108 may include a touch sensor 120 attached to the holding structure 110 or another arm (e.g., another robotic arm).
  • the touch sensor 120 may be configured to contact the rail to detect irregularities on a contacted surface of the rail.
  • the automotive inspection robotic vehicle 100 may be configured such that the automotive inspection robotic vehicle 100 can move on a rail web of a rail of the railway track 200 without vertically protruding beyond the rail.
  • the automotive inspection robotic vehicle 100 may be configured such that the automotive inspection robotic vehicle 100 can move on an inner or outer side of the rail.
  • An exemplary configuration of the inspection system 300 in which the automotive inspection robotic vehicle 100 is located at (on an outer side of) the rail web of the second rail 204 is shown in FIG. 8A and FIG. 8B.
  • the second extension 114 of the automotive inspection robotic vehicle 100 in direction 14) may define the overall height.
  • the overall height may be equal to or less than a height of the rail web.
  • the onboard driving device 104 may be configured to be movably supportable on the rail web. This may allow the automotive inspection robotic vehicle 100 to move on the rail associated with rail web.
  • the onboard driving device 104 may include the one or more support legs.
  • the one or more support legs may be engageable with and disengageable from the rail.
  • each of the one or more support legs may include at least one magnet to allow the respective support leg to engage with and disengage from the rail (e.g., the rail web, the rail head, and/or the rail foot).
  • the onboard driving device 104 may include the two or more (e.g., four or more, e.g., six or more, e.g., eight) support legs.
  • the onboard control device 106 may be configured to control the two or more support legs of the onboard driving device 104 to engage with and disengage from the rail in an alternate manner. This may allow to move (e.g., pull and/or push) the automotive inspection robotic vehicle 100 on and along the rail.
  • the automotive inspection robotic vehicle 100 may be configured to move spider-like on the rail using the two or more support legs.
  • the one or more support legs including the at least one magnet may be part of the holding structure 110.
  • FIG. 9 shows an exemplary inspection system 300 according to various aspects.
  • the vehicle main body 102 may be in the form of a plate-shaped platform.
  • the one or more onboard sensors 108 may be located on (e.g., attached to) the plate-shaped platform.
  • the automotive inspection robotic vehicle 100 may include the one or more crawler tracks.
  • the one or more crawler tracks may be drivable crawler tracks which are part of the onboard driving device 104.
  • the onboard driving device 104 may include the vehicle chassis and the one or more crawler tracks may be provided on the vehicle chassis.
  • the one or more crawler tracks may have an elongated shape extending in a front rear direction (in direction 16) of the automotive inspection robotic vehicle 100.
  • the onboard driving device 104 may include a first crawler track located on a left side (with respect to direction 14) of the plate-shaped platform extending in the front rear direction and a second crawler track located on a right side of the plate-shaped platform extending in the front rear direction.
  • the one or more crawler tracks may extend at least over half a length of the plate-shaped platform in the front rear direction.
  • the onboard driving device 104 may include two or more crawler tracks on both sides of the plate-shaped platform.
  • the automotive inspection robotic vehicle 100 may include a power source configured to provide energy to the onboard driving device 104, the onboard control device 106, and/or the one or more onboard sensors 108.
  • the power source may include or may be a battery.
  • the automotive inspection robotic vehicle 100 may include one or more photovoltaic cells 130 for charging the battery.
  • the one or more photovoltaic cells 130 may be located on the vehicle main body 102, such as the plate-shaped platform.
  • FIG. 10 shows a flow diagram illustrating a method 1000 for inspecting a railway track and/or a railway vehicle according to various aspects.
  • the method 1000 may include driving the automotive inspection robotic vehicle 100 to move along and adjacent to the railway track (in 1002).
  • the railway tracks may be any kind of railway track the automotive inspection robotic vehicle 100 is configured to inspect and the railway track may be characterized by a number of rails, a height of the rail or rails, a distance between the rails, a railway structural gauge and/or railway loading gauge associated with the railway track, a rail profile, etc., as described herein.
  • the railway tracks merely serves as an example to illustrate various configurations of the automotive inspection robotic vehicle 100.
  • the method 1000 may further include detecting, by the one or more onboard sensors 108 of the automotive inspection robotic vehicle 100, at least one railway track parameter and/or railway vehicle parameter, describing a condition of the railway track and/or railway vehicle, respectively, and/or describing a condition of a surrounding of the railway track (in 1004).
  • the detecting (in 1004) may be carried out when the automotive inspection robotic vehicle 100 moves and/or when the automotive inspection robotic vehicle 100 is stopped in moving.
  • the detecting (in 1004) or an additional detecting of at least one railway track parameter and/or railway vehicle parameter may be carried out while the railway vehicle passes (e.g., moves/drives over) the automotive inspection robotic vehicle 100.
  • the method 1000 may further include determining at least one interaction parameter using the at least one railway track parameter and at least one railway vehicle parameter.
  • the at least one interaction parameter may describe an interaction between the railway vehicle and the railway track.
  • various examples are provided that may include one or more aspects described above with reference to the automotive inspection robotic vehicle 100, the inspection system 300, and/or the method 1000. It may be intended that aspects described in relation to the automotive inspection robotic vehicle 100 may apply also to the inspection system 300 and/or the method 1000, and vice versa.
  • Example 1 is an automotive inspection robotic vehicle for inspecting a railway track and/or a railway vehicle including: an onboard driving device to allow for moving the inspection robotic vehicle to thereby allow the inspection robotic vehicle to drive along and adjacent to a railway track, an onboard control device configured to control the onboard driving device, one or more onboard sensors configured to detect parameter data representing at least one railway track parameter and/or railway vehicle parameter, describing a condition of the railway track and/or railway vehicle, respectively, and a holding structure laterally extending on the automotive inspection robotic vehicle and configured to engage with a rail or rails of the railway track to thereby, during use, hold the automotive inspection robotic vehicle on the rail or rails of the railway track.
  • an onboard driving device to allow for moving the inspection robotic vehicle to thereby allow the inspection robotic vehicle to drive along and adjacent to a railway track
  • an onboard control device configured to control the onboard driving device
  • one or more onboard sensors configured to detect parameter data representing at least one railway track parameter and/or railway vehicle parameter, describing a condition of the railway track and/or railway
  • the automotive inspection robotic vehicle of Example 1 can optionally include that the inspection robotic vehicle has an overall height which is equal or less than a distance between a top edge of a rail or of rails of the railway track and a top edge of sleepers or a concrete slab, whereby the inspection robotic vehicle, in use, can drive along and adjacent the railway track without vertically protruding beyond the rails of the railway track.
  • Example 3 the automotive inspection robotic vehicle of Example 1 or 2 can optionally include that the inspection robotic vehicle is configured to be moveable on ground in a manner driven by the onboard driving device, wherein, optionally, the inspection robotic vehicle is provided with one or more wheels and/or with one or more crawler tracks and/or with one or more support legs.
  • Example 4 the automotive inspection robotic vehicle of any one of Examples 1 to 3 can optionally include that the onboard driving device is configured to be moveably supportable on a rail web of at least one of the rails of the railway track so as to be moveable on the respective rail in a manner driven by the onboard driving device.
  • Example 5 the automotive inspection robotic vehicle of Example 4 can optionally include that the overall height of the inspection robotic vehicle is equal to or less than a height of the rail web of the respective rail.
  • Example 6 the automotive inspection robotic vehicle of any one of Examples 1 to 5 can optionally further include: a vehicle main body which has an overall width which is less than a distance between a first rail and a second rail of the railway track, whereby the inspection robotic vehicle, in use, can drive along and between the first rail and the second rail of the railway track, wherein the holding structure laterally extends from the vehicle main body and is configured to engage a first rail head and a second rail head of the first and second rails, respectively, from below to thereby prevent the automotive inspection robotic vehicle from escaping from the first and second rails in an upward direction.
  • a vehicle main body which has an overall width which is less than a distance between a first rail and a second rail of the railway track, whereby the inspection robotic vehicle, in use, can drive along and between the first rail and the second rail of the railway track
  • the holding structure laterally extends from the vehicle main body and is configured to engage a first rail head and a second rail head of the first and second rails, respectively, from below to thereby prevent the automotive
  • Example 7 the automotive inspection robotic vehicle of Example 6 can optionally include that the overall width of the vehicle main body of the inspection robotic vehicle is less than a distance between one or more first rail fastenings associated with fastening the first rail and one or more second rail fastenings associated with fastening the second rail.
  • Example 8 the automotive inspection robotic vehicle of any one of Examples 1 to 7 can optionally include that the onboard driving device includes one or more support legs, wherein, optionally, the one or more support legs is/are engageable with and disengageable from at least one of the rails in an alternate manner to thereby allow to pull and/or push the automotive inspection robotic vehicle on and along the respective rail for moving the automotive inspection robotic vehicle therealong.
  • the onboard driving device includes one or more support legs, wherein, optionally, the one or more support legs is/are engageable with and disengageable from at least one of the rails in an alternate manner to thereby allow to pull and/or push the automotive inspection robotic vehicle on and along the respective rail for moving the automotive inspection robotic vehicle therealong.
  • the automotive inspection robotic vehicle of Example 4 can optionally include that the onboard driving device includes two or more support legs, wherein each of the two or more support legs includes at least one magnet to allow the respective support leg to engage with and disengage from the at least one rail, wherein the onboard control device is configured to control the two or more support legs to engage with and disengage from the at least one rail in an alternate manner to thereby allow to pull and/or push the automotive inspection robotic vehicle on and along the rail web of the at least one rail for moving the automotive inspection robotic vehicle therealong.
  • the onboard driving device includes two or more support legs, wherein each of the two or more support legs includes at least one magnet to allow the respective support leg to engage with and disengage from the at least one rail
  • the onboard control device is configured to control the two or more support legs to engage with and disengage from the at least one rail in an alternate manner to thereby allow to pull and/or push the automotive inspection robotic vehicle on and along the rail web of the at least one rail for moving the automotive inspection robotic vehicle therealong.
  • the automotive inspection robotic vehicle of Example 6 or 7 can optionally include that the onboard driving device is configured such that, in the case the automotive inspection robotic vehicle is located between the first rail and the second rail of the railway track, the automotive inspection robotic vehicle, optionally via one or more wheels, one or more crawler tracks, and/or its one or more support legs thereof, rests on one or more sleepers and/or on ballast and/or concrete slab of the railway track.
  • the automotive inspection robotic vehicle of Example 6 or 7 can optionally include that the onboard driving device is configured such that, in the case the inspection robotic vehicle is located between the first rail and the second rail of the railway track, the automotive inspection robotic vehicle, optionally via one or more crawler tracks, one or more wheels, and/or the one or more support legs thereof, rests on a rail foot of one or both of the first rail and second rail.
  • Example 12 the automotive inspection robotic vehicle of any one of Examples 1 to 11 can optionally include that the onboard control device includes a processing interface which is coupleable, optionally wirelessly coupleable, to an external central control device and which allows transmitting parameter data in processed or non-processed form to the coupled external central control device and/or which allows receiving control commands, optionally drive control commands for controlling the onboard driving device and/or control commands for performing measurements and/or for collecting data via the sensors.
  • the onboard control device includes a processing interface which is coupleable, optionally wirelessly coupleable, to an external central control device and which allows transmitting parameter data in processed or non-processed form to the coupled external central control device and/or which allows receiving control commands, optionally drive control commands for controlling the onboard driving device and/or control commands for performing measurements and/or for collecting data via the sensors.
  • the automotive inspection robotic vehicle of any one of Examples 1 to 12 can optionally include that the one or more onboard sensors include at least one camera sensor, at least one light detection and ranging sensor, at least one radio detection and ranging sensor, at least one ultrasonic sensor, at least one acceleration sensor, at least one temperature sensor, at least one velocity sensor, at least one position sensor, at least one x-ray sensor, at least one microphone, and/or at least one infrared sensor.
  • the one or more onboard sensors include at least one camera sensor, at least one light detection and ranging sensor, at least one radio detection and ranging sensor, at least one ultrasonic sensor, at least one acceleration sensor, at least one temperature sensor, at least one velocity sensor, at least one position sensor, at least one x-ray sensor, at least one microphone, and/or at least one infrared sensor.
  • Example 14 the automotive inspection robotic vehicle of any one of Examples 1 to 13 can optionally include that the onboard control device is configured to determine, based on the detected parameter data, damage of the railway track, damage of the railway vehicle, as to whether the railway track is blocked and/or the surroundings of the railway track for, optionally, recognizing objects, such as trees, inwardly protruding towards the railway track; or, provided that in combination with Example 12, that the onboard control device is configured to directly transmit the detected parameter data to the external central control device via the processing interface, wherein the external central control device, optionally, is configured to determine, based on the detected parameter data, damage of the railway track, damage of the railway vehicle, as to whether the railway track is blocked and/or the surroundings of the railway track for, optionally, recognizing objects, such as trees, inwardly protruding towards the railway track.
  • the onboard control device is configured to determine, based on the detected parameter data, damage of the railway track, damage of the railway vehicle, as to whether the railway track is blocked and/or the surroundings of the railway track
  • Example 15 the automotive inspection robotic vehicle of any one of Examples 1 to 14 can optionally include that the parameter data represent or include a shape and/or geometry of at least one rail, a shape, geometry, orientation and/or location of the rails, a temperature of the at least one rail, an air temperature in the surrounding of the railway track, a shape and/or geometry of at least one rail fastening, a temperature of the at least one rail fastening, a shape and/or geometry of the at least one sleeper, a shape and/or geometry of the ballast, and/or a geometry of the railway track.
  • the parameter data represent or include a shape and/or geometry of at least one rail, a shape, geometry, orientation and/or location of the rails, a temperature of the at least one rail, an air temperature in the surrounding of the railway track, a shape and/or geometry of at least one rail fastening, a temperature of the at least one rail fastening, a shape and/or geometry of the at least one sleeper, a shape and/or geometry of the
  • Example 16 the automotive inspection robotic vehicle of any one of Examples 1 to 15 can optionally include that the onboard control device is configured to determine, based on the detected parameter data, one or more of a group as a respective railway track parameter, the group consisting of: a deformation, an abrasion, a wear, cracks, and/or fractures of at least one rail, a deformation, an abrasion, a wear, cracks, and/or fractures of at least one rail fastening, a deformation, an abrasion, a wear, cracks, and/or fractures of at least one sleeper, and/or a deformation, an abrasion, a wear, cracks, and/or fractures of ballast or concrete slab.
  • a group as a respective railway track parameter
  • Example 17 the automotive inspection robotic vehicle of any one of Examples 1 to 16 can optionally include that the onboard control device is configured to determine, based on the detected parameter data, one or more of a group as a respective railway track parameter, the group consisting of: a distance between the rails of the railway track (i.e., a track gauge), a direction of at least one of the rails, a variation of the distance between the rails on a predefined length (e.g., 1 m) of the railway track (i.e., a track gauge variation), a height of at least one of the rails, a difference between the respective height of the rails, a cant of the railway track, and/or horizontal alignment, vertical alignment, twist, geometrical imperfections of both vertical and/or horizontal alignment of the rails.
  • a group as a respective railway track parameter, the group consisting of: a distance between the rails of the railway track (i.e., a track gauge), a direction of at least one of the rails, a variation of the distance
  • Example 18 the automotive inspection robotic vehicle of any one of Examples 1 to 17 can optionally include that the parameter data represent or include an acceleration, a velocity, a photo, a sound, and/or a condition of at least one wheel and/or bogie, a vehicle body, and/or vehicle parts attached on a downside of the vehicle body of a railway vehicle passing the automotive inspection robotic vehicle on the rails.
  • the parameter data represent or include an acceleration, a velocity, a photo, a sound, and/or a condition of at least one wheel and/or bogie, a vehicle body, and/or vehicle parts attached on a downside of the vehicle body of a railway vehicle passing the automotive inspection robotic vehicle on the rails.
  • Example 19 the automotive inspection robotic vehicle of any one of Examples 1 to 18 can optionally include that the onboard control device is configured to determine, based on the detected parameter data, one or more of a group as a respective railway vehicle parameter, the group consisting of: a deformation of at least one wheel and/or bogie, a vehicle body, and/or vehicle parts attached on a downside of the vehicle body of the railway vehicle, an abrasion of the at least one wheel and/or bogie, a vehicle body and/or vehicle parts attached on a downside of the vehicle body, a wear of the at least one wheel and/or bogie, a vehicle body, and/or vehicle parts attached on a downside of the vehicle body, cracks within the at least one wheel and/or bogie, a vehicle body, and/or vehicle parts attached on a downside of the vehicle body, and fractures of the at least one wheel and/or bogie, a vehicle body and/or vehicle parts attached on a downside of the vehicle body.
  • the onboard control device is configured to determine, based on the detected
  • Example 20 the automotive inspection robotic vehicle of any one of Examples 1 to 19 can optionally include that the onboard control device is configured to determine, based on the detected parameter data, at least one interaction parameter using the at least one railway track parameter and/or the at least one railway vehicle parameter, wherein the at least one interaction parameter describes an interaction between the railway vehicle and the railway track.
  • the onboard control device is configured to determine, based on the detected parameter data, at least one interaction parameter using the at least one railway track parameter and/or the at least one railway vehicle parameter, wherein the at least one interaction parameter describes an interaction between the railway vehicle and the railway track.
  • Example 22 the automotive inspection robotic vehicle of any one of Examples 1 to 21 can optionally include that the onboard control device is configured to determine: whether the at least one railway track parameter exceeds a predefined threshold value associated with the at least one railway track parameter; whether the at least one railway vehicle parameter exceeds a predefined threshold value associated with the at least one railway vehicle parameter; and/or provided that in combination with Example 20, whether the at least one interaction parameter exceeds a predefined threshold value associated with the at least one interaction parameter.
  • Example 23 the automotive inspection robotic vehicle of Example 12 can optionally include that the onboard control device is configured to receive, optionally wirelessly receive, control data via the processing interface to allow for controlling the automotive inspection robotic vehicle remotely.
  • the automotive inspection robotic vehicle of any one of Examples 1 to 23 can optionally include that the holding structure includes: a first arm engageable with a first rail of the railway track, wherein, optionally, the first arm is a robotic arm engageable with and disengageable from the first rail of the railway track in an automated manner, and a second arm engageable a second rail of the railway track, wherein, optionally, the second arm is a robotic arm engageable with and disengageable from the second rail of the railway track in an automated manner, wherein, in the case that the first arm is engaged with the first rail and the second arm is engaged with the second rail, a span width of the first arm and the second arm in a direction cross to the first and second rails is equal or less than a distance between a first rail web of the first rail and a second rail web of the second rail and greater than a distance between a first rail head of the first rail and a second rail head of the second rail, whereby, when the inspection robotic vehicle is placed between the first rail and the second rail,
  • Example 25 the automotive inspection robotic vehicle of any one of Examples 1 to 24 can optionally include that at least one of the one or more onboard sensors is attached to the holding structure, wherein, provided that in combination with Example 24, at least one of the one or more onboard sensors may be attached to the first arm and/or to the robotic arm.
  • Example 26 the automotive inspection robotic vehicle of any one of Examples 1 to 25 can optionally further include that the onboard control device includes at least one onboard storage device and/or that the onboard control device includes a storage interface coupleable, optionally wirelessly coupleable, to an external storage device, wherein the onboard control device is configured to provide the parameter data to the at least one onboard storage and/or the at least one external storage device.
  • Example 27 the automotive inspection robotic vehicle of any one of Examples 1 to 26 can optionally further include: a power source, optionally a battery, configured to provide energy to the onboard driving device, the onboard control device, and the one or more onboard sensors.
  • Example 28 the automotive inspection robotic vehicle of Example 27 can optionally further include one or more photovoltaic cells for charging the battery.
  • the automotive inspection robotic vehicle of any one of Examples 1 to 28, provided that in combination with Example 6, can optionally include that at least one of the one or more onboard sensors is attached to the vehicle main body.
  • the automotive inspection robotic vehicle of any one of Examples 1 to 29 can optionally include that the automotive inspection robotic vehicle includes a vehicle chassis and a vehicle main body supported by the vehicle chassis, wherein the vehicle main body is in the form of a plate-shaped platform, on which at least one of the one or more onboard sensors is located and/or on which one or more photovoltaic cells are located, wherein, optionally, the plate-shaped platform is elongated in a front rear direction of the automotive inspection robotic vehicle and the automotive inspection robotic vehicle is moveable along said front rear direction.
  • the automotive inspection robotic vehicle of Example 30 can optionally include that the inspection robotic vehicle includes one or more crawler tracks, optionally one or more drivable crawler tracks as part of the onboard driving device, provided on the vehicle chassis and having an elongated shape extending in a front rear direction of the automotive inspection robotic vehicle, wherein, optionally, the crawler tracks extend at least over half of a length of the plate-shaped platform in the front rear direction.
  • the automotive inspection robotic vehicle of any one of Examples 1 to 29 can optionally include that the automotive inspection robotic vehicle includes a vehicle chassis and a vehicle main body supported by the vehicle chassis, wherein the inspection robotic vehicle includes one or more crawler tracks and/or wheels, optionally one or more drivable crawler tracks or drivable wheels as part of the onboard driving device, provided on the vehicle chassis, wherein the holding structure laterally extends from the vehicle main body beyond the crawler tracks and/or wheels, wherein, optionally, the vehicle main body is provided as described in Example 30, and wherein further optionally, the crawler tracks are provided as described in Example 31.
  • the automotive inspection robotic vehicle of any one of Examples 30 to 32 provided that in combination with Example 30 can optionally include that the holding structure includes at least two pairs of first and second arms, optionally of first and second robotic arms, arranged on both sides of the plate-shaped platform with respect to the front rear direction, wherein, in use, the first arm of each pair of the first and second arms can engage the head of the first rail from below and the second arm of each pair of first and second arms can engage the head of the second rail from below, thereby preventing the automotive inspection robotic vehicle from escaping from the railway track in an upper direction, wherein, optionally, a first pair of the at least two pairs of first and second arms is arranged at a front end portion of the plat-shaped platform and a second pair of the at least two pairs of first and second arms is arranged at a rear end portion of the plat-shaped platform.
  • the holding structure includes at least two pairs of first and second arms, optionally of first and second robotic arms, arranged on both sides of the plate-shaped platform with respect to the front rear direction, wherein,
  • Example 34 is an inspection system for inspecting a railway track and/or a railway vehicle, the inspection system including: an automotive inspection robotic vehicle for inspecting the railway track and/or the railway vehicle, which includes an onboard driving device to allow for moving the inspection robotic vehicle to thereby allow the inspection robotic vehicle to drive along and adjacent to a railway track, an onboard control device configured to control the onboard driving device, and one or more onboard sensors configured to detect parameter data representing at least one railway track parameter and/or railway vehicle parameter, describing a condition of the railway track and/or railway vehicle, respectively, and which, optionally, is the automotive inspection robotic vehicle according to any one of Examples 1 to 33, a railway track which includes one or more rails, and a railway vehicle configured to drive on the railway track, wherein the inspection robotic vehicle is sized and configured such that the inspection robotic vehicle, in use, can drive along and adjacent the railway track without protruding into the railway loading gauge of the railway track.
  • the inspection system of Example 34 can optionally include that the inspection robotic vehicle is sized and configured such that the inspection robotic vehicle
  • Example 36 is an inspection system for inspecting a railway track and/or a railway vehicle, the inspection system including: an automotive inspection robotic vehicle for inspecting the railway track and/or the railway vehicle according to any one of Examples 1 to 33, and a railway track including one or more rails, on which a railway vehicle can drive.
  • Example 37 the inspection system of any one of Examples 34 to 36 can optionally include that the inspection robotic vehicle is located and, in use, moveable laterally adjacent to at least one of the rails.
  • Example 38 the inspection system of any one of Examples 34 to 37 can optionally include that the inspection robotic vehicle is located and, in use, moveable between a first rail and a second rail of the railway track.
  • the inspection system of any one of Examples 34 to 38 can optionally include that the railway track includes a plurality of sleepers, on which a first rail and a second rail of the railway track are installed, wherein the inspection robotic vehicle includes one or more crawler tracks, optionally one or more drivable crawler tracks as part of the onboard driving device, having an elongated shape extending in a front rear direction of the automotive inspection robotic vehicle, wherein a length, in the front rear direction, of a contact patch of the one or more crawler tracks of the autonomous inspection robotic vehicle is equal to or greater than 2.5 times, optionally at least 3 times, a distance between two consecutive sleepers of the plurality of sleepers so that the inspection robotic vehicle can drive, optionally generally drives, on at least two of the plurality of sleepers.
  • Example 40 the inspection system of any one of Examples 34 to 39, provided that in combination with the automotive inspection robotic vehicle according to Example 33, can optionally include that a span width of the first and second arms of each pair of robotic arms is equal or less than a distance between a first rail web of the first rail and a second rail web of the second rail and greater than a distance between a first rail head of the first rail and a second rail head of the second rail.
  • Example 41 is a method for inspecting a railway track and/or a railway vehicle, the method including: driving an automotive inspection robotic vehicle according to any one of Examples 1 to 33 to move along and adjacent to the railway track, or driving an inspection robotic vehicle of an inspection system according to anyone of Examples 34 to 40; and detecting, by the one or more onboard sensors of the inspection robotic vehicle, at least one railway track parameter and/or railway vehicle parameter, describing a condition of the railway track and/or railway vehicle, respectively, and/or describing a condition of the surrounding of the railway track.
  • the method of Example 41 can optionally include that the detecting may be carried out when the automotive inspection robotic vehicle moves and/or when the automotive inspection robotic vehicle is stopped in moving.
  • Example 43 the method of Example 41 or 42 can optionally further include: detecting, by the one or more onboard sensors, at least one railway track parameter and/or railway vehicle parameter while the railway vehicle passes, optionally moves over, the inspection robotic vehicle.
  • Example 44 the method of Example 43 can optionally further include determining at least one interaction parameter using the at least one railway track parameter and/or the at least one railway vehicle parameter, wherein the at least one interaction parameter describes an interaction between the railway vehicle and the railway track.
  • Example 45 is an automotive inspection robotic vehicle for inspecting a railway track including: an onboard driving device to allow for moving the inspection robotic vehicle to thereby allow the inspection robotic vehicle to drive along and adjacent to a railway track, an onboard control device configured to control the onboard driving device, one or more onboard sensors configured to detect parameter data representing at least one railway track parameter describing a condition of the railway track; and a holding structure laterally extending on the automotive inspection robotic vehicle and configured to engage with a rail or rails of the railway track to thereby, during use, hold the automotive inspection robotic vehicle on the rail or rails of the railway track.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

Selon divers aspects, un véhicule robotisé d'inspection automobile (100) permettant d'inspecter une voie ferrée et/ou un véhicule ferroviaire est décrit, comprenant : un dispositif d'entraînement embarqué (104) pour permettre le déplacement du véhicule robotisé d'inspection (100) de façon à permettre ainsi au véhicule robotisé d'inspection (100) de se déplacer le long et à côté d'une voie ferrée ; un dispositif de commande embarqué (106) configuré pour commander le dispositif d'entraînement embarqué (104) ; un ou plusieurs capteurs embarqués (108) configurés pour détecter des données de paramètre représentant au moins un paramètre de voie ferrée et/ou un paramètre de véhicule ferroviaire, décrivant un état de la voie ferrée et/ou du véhicule ferroviaire, respectivement ; et une structure de maintien (110) s'étendant latéralement sur le véhicule robotisé d'inspection automobile (100) et conçue pour venir en prise avec un rail ou des rails de la voie ferrée afin de maintenir ainsi, pendant l'utilisation, le véhicule robotisé d'inspection automobile (100) sur le rail ou les rails de la voie ferrée.
EP21749817.9A 2021-07-27 2021-07-27 Véhicule robotisé d'inspection automobile, système d'inspection et procédé d'inspection d'une voie ferrée et/ou d'un véhicule ferroviaire Pending EP4377187A1 (fr)

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PCT/EP2021/070966 WO2023006184A1 (fr) 2021-07-27 2021-07-27 Véhicule robotisé d'inspection automobile, système d'inspection et procédé d'inspection d'une voie ferrée et/ou d'un véhicule ferroviaire

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KR101275916B1 (ko) * 2011-08-10 2013-06-17 한밭대학교 산학협력단 철로점검장치
WO2018152504A1 (fr) * 2017-02-20 2018-08-23 Irobot Defense Holdings, Inc. Caméra à préhension robotique
FR3078160B1 (fr) * 2018-02-22 2020-09-18 Alstom Transp Tech Dispositif d'inspection de sous-chassis de vehicule ferroviaire et procede d'inspection correspondant

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