GB2622609A - System and method for managing pantograph arrangements on rail vehicles - Google Patents

System and method for managing pantograph arrangements on rail vehicles Download PDF

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Publication number
GB2622609A
GB2622609A GB2213851.5A GB202213851A GB2622609A GB 2622609 A GB2622609 A GB 2622609A GB 202213851 A GB202213851 A GB 202213851A GB 2622609 A GB2622609 A GB 2622609A
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United Kingdom
Prior art keywords
pantograph
arrangement
damage
pantograph arrangement
foreign object
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Application number
GB2213851.5A
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GB202213851D0 (en
Inventor
Bartlett-Tasker Haydon
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Hack Partners Ltd
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Hack Partners Ltd
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Publication date
Application filed by Hack Partners Ltd filed Critical Hack Partners Ltd
Priority to GB2213851.5A priority Critical patent/GB2622609A/en
Publication of GB202213851D0 publication Critical patent/GB202213851D0/en
Priority to PCT/IB2023/059389 priority patent/WO2024062442A1/en
Publication of GB2622609A publication Critical patent/GB2622609A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • B60L5/22—Supporting means for the contact bow
    • B60L5/24—Pantographs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/62—Vehicle position
    • B60L2240/622—Vehicle position by satellite navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/12—Driver interactions by confirmation, e.g. of the input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/46—Control modes by self learning

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Sustainable Energy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

A system 200, method and computer program for managing pantograph arrangements 210 on rail vehicles 204 includes at least one camera 202 arranged in a railway environment that captures images of a pantograph arrangement in its field of view. At least one processor is communicably coupled to the camera(s) which receives and processes the images to detect whether there is damage to the pantograph or the presence of a foreign object in or around the pantograph indicated in the image(s). If damage or the presence of a foreign object is detected, the processor performs at least one action, which may be generating an alert (404, figure 4) indicative of the problem and send it to a device associated with an entity that manages the pantograph arrangement. The alert may include a location of the rail vehicle at the time the image(s) was captured or the image itself depicting the damage or foreign object. The processor may receive a response to the alert from the entity indicating whether the detection of the problem was accurate or not.

Description

SYSTEM AND METHOD FOR MANAGING PANTOGRAPH
ARRANGEMENTS ON RAIL VEHICLES
TECHNICAL FIELD
This invention relates to managing pantograph arrangements. In particular, though not exclusively, this invention relates to a system for managing pantograph arrangements on rail vehicles and a method for managing pantograph arrangements on rail vehicles.
BACKGROUND
With advances in technology, electric trains have been incorporated in transportation throughout the globe. Such trains often utilise pantographs and/or other similar apparatus to harness electric current from overhead lines for powering the trains. Pantographs are critical assets ensuring operational working of railways. Railways face reduced reliability and catastrophic incidents when pantographs are damaged by objects, resulting in system failures. Typically, such failures are infrastructure-borne, wherein the overhead lines or other railway infrastructure strikes the pantograph causing chips, cracks or completely destroying the pantograph. In other cases, such failures are train-borne, wherein foreign objects or debris get caught in the pantograph and/or pantograph well, thereby damaging the overhead lines and/or the pantograph. In such cases, significant disruptions are caused which not only affect passengers but cost millions of dollars in lost economic output and for infrastructure repairs.
Due to this, objects which may cause damage to the pantograph or rail infrastructure must be identified in a timely manner before the damage occurs, so that operators can take action to avoid the incident.
However, existing systems merely identify the damage to the pantograph and do not monitor the pantograph well where foreign objects may lie and cause incidents.
Therefore, in light of the foregoing discussion, there exists a need to overcome the aforementioned drawbacks associated with managing 5 pantograph arrangements on rail vehicles.
SUMMARY OF THE INVENTION
A first aspect of the invention provides a system for managing pantograph arrangements on rail vehicles, the system comprising: at least one camera that, in operation, captures images of a railway environment in which at least one rail vehicle operates, the at least one camera being arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view; at least one processor communicably coupled to the at least one 15 camera, wherein the at least one processor is configured to: - receive the images from the at least one camera; - process the images to detect whether at least one of: a damage to the pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one image; 20 and - perform at least one action when it is detected that at least one of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image amongst the images.
The system for managing pantograph arrangements on rail vehicles, in operation, detects indication of at least one of: damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement. The system performs at least one action if such indication is detected. It will be appreciated that the system detects issues in the pantograph arrangement, which is beneficially time-effective and cost-effective.
Throughout the present disclosure, the term "pantograph arrangement" refers to an apparatus mounted on a roof of the at least one rail vehicle, to collect power through contact with an overhead line. It will be appreciated that the pantograph arrangement acts as a current collector, and collects current from the overhead line for powering the at least one rail vehicle. Examples of the pantograph arrangement include, but are not limited to, a single arm pantograph arrangement, a double arm pantograph arrangement. In some embodiments, one pantograph arrangement is installed onto a rail vehicle. In other embodiments, multiple pantographs are installed onto a rail vehicle. In such embodiments, the multiple pantographs may be installed in opposite directions in order to enable efficient current collection when the rail vehicle is running in a reverse direction as well.
Optionally, the pantograph arrangement comprises a pantograph and a pantograph well. The pantograph is a mechanical device which collects current from the overhead line. Optionally, the pantograph comprises at least: a lower arm, an upper arm, a balance rod, a collector head and a spring. The lower arm, the upper arm and the balance rod form an arm assembly to which the collector head is connected at a top portion of the arm assembly. Moreover, the spring is connected to a bottom portion of the arm assembly to enable easy movement of the arm assembly. It will be appreciated that the arm assembly may be moved to vary the height of the pantograph. Since overhead lines may be at varying heights, varying the height of the pantograph is beneficial for collecting the current.
The pantograph well refers to an area surrounding the pantograph. Optionally, the pantograph well comprises a base frame, at least one 30 insulator, and a compressed air assembly. Optionally, the pantograph well is defined by the base frame. It will be appreciated that the compressed air assembly is utilised for varying height of the pantograph. Herein, compressed air is provided at a lower portion of the upper arm and the collector head, which pushes the arm assembly 5 (and, hence, the pantograph) upwards. When the compressed air is not provided, the arm assembly returns to its resting position. A technical advantage of capturing images of the pantograph and the pantograph well is that foreign objects in the pantograph well can be timely identified and removed in addition to monitoring damage of the 10 pantograph.
Throughout the present disclosure, the term "rail vehicle" refers to a vehicle which is utilised for transporting people or cargo on a rail transport system. Examples of the at least one rail vehicle include, but are not limited to, a railroad car, a railcar, a railway wagon, a railway carriage, a railway truck, a rail wagon, a rail carriage, a rail truck, a train car, a train wagon, a train carriage, a train truck. Optionally, the at least one rail vehicle is implemented as at least one of: a train, a tram, an electric bus. Optionally, the at least one rail vehicle is an electric rail vehicle. It will be appreciated that electric rail vehicles are zo operated using electricity, and thereby utilise the pantograph arrangement.
Throughout the present disclosure, the term "camera" refers to an optical instrument which captures images of the railway environment. It will be appreciated that the at least one camera is arranged such that the pantograph arrangement of the at least one rail vehicle lies in its field of view. The term "field of view" of the at least one camera refers to an observable extent of the railway environment that is captured by the at least one camera. The field of view of the at least one camera is expressed in terms of degrees or radians. The field of view of the at least one camera may depend on the size of the at least one camera.
Optionally, the field of view of the at least one camera is greater than 150 degrees. As an example, the field of view of the at least one camera may be 150, 160, 170, 180, 190, 200, 210, 220 degrees, and so forth.
The railway environment is an environment of railway transportation infrastructure. The railway environment includes, but is not limited to, at least one train, at least one train track, at least one railway station. It will be appreciated that the at least one rail vehicle operates in the railway environment. Notably, the at least one camera is arranged in the railway environment since the pantograph arrangement is a part of the railway environment.
Optionally, the at least one camera is arranged at a height on at least one object, wherein the at least one object is present at one or more of: along a side of a railway track on which the at least one rail vehicle operates, across the railway track on which the at least one rail vehicle operates, between two adjacent pairs of railway tracks. Optionally, the at least one object is part of at least one of: a railway infrastructure, a normal infrastructure. Herein, the at least one object may be a signal pole, which may be part of the railway infrastructure. Alternatively, the at least one object may be an electricity pole, which may be part of the normal infrastructure. The term "normal infrastructure" refers to any infrastructure that is not part of the railway infrastructure. Optionally, the at least one object is at least one of: a bridge, a building, a tree, a pole, and the like. In an example, the at least one object is a pole.
Notably, the at least one camera captures the images at a given location. Herein, the given location is a location of the at least one camera (i.e., a location of the at least one object), since the at least one camera is stationary.
When the at least one object is present along sides of the railway track 30 on which the at least one rail vehicle operates, the at least one camera captures the side perspective view of the pantograph arrangement since the object would be present on either side of the at least one rail vehicle when the at least one rail vehicle crosses the at least one object. When the at least one object is present across the railway track on which the at least one rail vehicle operates, the at least one camera captures the top perspective view of the pantograph arrangement since the object would be present on top of the at least one rail vehicle when the at least one rail vehicle crosses the at least one object. Moreover, when the at least one object is present between two adjacent pairs of railway tracks, the at least one camera captures the side perspective view of the pantograph arrangement since the object would be present on a side of the at least one rail vehicle when the at least one rail vehicle crosses the at least one object. A technical advantage of arranging the at least one object in the above-mentioned manner is that it can accurately capture the pantograph arrangement from multiple locations and view different perspectives of the pantograph arrangement.
Optionally, the at least one camera is arranged to capture at least one of: a top perspective view, a side perspective view, of the pantograph arrangement of the at least one rail vehicle. The top perspective view shows the pantograph arrangement of the at least one rail vehicle from the top and the side perspective view shows the pantograph arrangement of the at least one rail vehicle from the side. It will be appreciated that the top perspective view and the side perspective view accurately show the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement, if the same exists. Since the at least one camera is placed at the height on the at least one object, it captures a perspective view of the pantograph arrangement. The perspective view is a two-dimensional representation of a three-dimensional space (i.e., the railway environment) where an apparent size of the at least one rail vehicle decreases as its distance from the at least one camera increases. A technical advantage of this is that such placement provides a beneficial angle for feature extraction of the pantograph arrangement, in the at least one image.
In some embodiments, the at least one camera captures a top perspective view of the pantograph arrangement of the at least one rail vehicle. In other embodiments, the at least one camera is implemented as a first camera which captures a top perspective view of the pantograph arrangement of the at least one rail vehicle, and a second camera which captures a side perspective view of the pantograph arrangement of the at least one rail vehicle. In other embodiments, there may be multiple cameras arrangements in many locations along a railway track. The multiple cameras may be arranged to capture different perspectives of the pantograph arrangement.
Throughout the present disclosure, the term "processor" refers to a hardware, software, firmware, or a combination of these configured to control operation of the system. In this regard, the at least one processor performs several complex processing tasks. The at least one processor is communicably coupled to other components of the system wirelessly and/or in a wired manner. In an example, the at least one processor may be implemented as a programmable digital signal processor (DSP). In another example, the at least one processor may be implemented via a cloud server that provides a cloud computing service. Optionally, the at least one processor is communicably coupled to the at least one camera using a communication network. The communication network may be a wired network, a wireless network, or any combination thereof. Examples of the communication network include, but are not limited to, Local Area Networks (LANs), Wide Area Networks (WANs), Internet, radio networks and telecommunication networks.
Notably, the at least one processor receives the images through a communication network. Beneficially, once received, the at least one processor processes the images to timely identify damage to the pantograph arrangement, the presence of the foreign object in or around the pantograph arrangement" and perform the at least one action for remedying the same. In this regard, the images may be stored at a data repository of the system, wherein the at least one processor is communicably coupled with the data repository.
It will be appreciated that the pantograph arrangement may not be visible in all of the images captured by the at least one camera. This may be because the at least one camera is installed on the object and the at least one rail vehicle is often in motion, such that the pantograph arrangement is visible in the few images when the at least one rail vehicle passes the at least one camera. Moreover, it will be appreciated that the at least one image is indicative of the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
The term "damage to the pantograph arrangement" refers to chips, cracks or general wear-and-tear which, in time, damage the pantograph arrangement, and reduce the efficacy of the pantograph arrangement. Examples of the damage to the pantograph arrangement include, but are not limited to, a worn collector head, a chip in the pantograph arrangement, a crack in the pantograph arrangement, inaccurate functioning of the arm assembly, inaccurate functioning of the compressed air assembly, misalignment of the pantograph system. Optionally, the damage to the pantograph system may be caused by at least one of: the overhead lines, the railway infrastructure, striking the pantograph arrangement. It will be appreciated that such striking of the overhead lines and/or the railway infrastructure damages the pantograph arrangement.
The term "foreign object" refers to an object which is foreign to the pantograph arrangement. It will be appreciated that when an object which does not belong in or around the pantograph arrangement is detected therein, it may be deemed as the foreign object. Examples of the foreign object include, but are not limited to, vegetation, apparel, accessories, stationary, electrics, containers, wires. Notably, such foreign objects get caught within the pantograph system and continue residing therein, causing damage to the overhead lines and/or the pantograph system.
Notably, the images are processed by the at least one processor to detect the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
Optionally, when processing the images, the at least one processor employs at least one computer vision algorithm. The term "computer vision algorithm" refers to an algorithm which enables a computer to recognise objects and/or irregularities when processing the images. Herein, the at least one computer vision algorithm is utilised to detect the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement. It will be appreciated that the at least one computer vision algorithm utilises pattern recognition to detect any variation (i.e., damage and/or the presence of the foreign object) in the pantograph arrangement. Examples of the at least one computer vision algorithm include, but are not limited to, a scale-invariant feature transform (SIFT) algorithm, a speeded up robust features (SURF) algorithm, a Viola-Jones object detection algorithm, a Lucas-Kanade optical flow algorithm, a Kalman filter algorithm, a mean shift algorithm, an adaptive thresholding algorithm, a graph cut algorithm, a you only look once (YOLO) algorithm. Beneficially, the at least one computer vision algorithm accurately processes the images, reducing false-positive results.
Moreover, the at least one computer vision algorithm is time-effective since it appropriately utilises processing capabilities, which assists in timely remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
It will be appreciated that timely detecting the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement is beneficial since an underlying issue may be fixed in a timely manner to avoid incurring losses.
The at least one action refers to an act which assists in ultimately remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement. Optionally, the at least one action is predicted based at least on: the damage to the pantograph arrangement, the foreign object present in or around the pantograph arrangement, the location of the at least one rail vehicle. Notably, when it is detected that at least one of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is not indicated in the at least one image, no action is performed by the at least one controller. Beneficially, when the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement is not detected, it means that the pantograph arrangement is functioning properly and that there is no underlying issue to remedy.
Optionally, performing the at least one action comprises: - generating an alert indicative of at least the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement; and - sending the alert to a device associated with an entity that manages the pantograph arrangements on the rail vehicles.
In operation, the alert is provided at the device as soon as the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement is detected. The term "alert" as used herein refers to a form of signal or message that is conveyed to the entity that manages the pantograph arrangements on the rail vehicles that damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement is detected. Herein, the alert is targeted to the entity such that the entity may fix the pantograph arrangement and avoid any further issues with respect to the pantograph arrangement. A technical advantage of this is that the entity can then timely fix the issue before a major fault occurs.
Optionally, the at least one processor is further configured to determine a corrective action to be performed for remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement, and wherein the alert is also indicative of the corrective action. Throughout the present disclosure, the term "corrective action" refers to a physical action which is performed for remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement, and wherein the alert is also indicative of the corrective action. Examples of the corrective action include, but are not limited to, removing the foreign object from the pantograph arrangement, repairing the damage to the pantograph arrangement, servicing the pantograph arrangement. It will be appreciated that the corrective action accurately instructs the entity in remedying issues with respect to the pantograph arrangement. This, beneficially, saves time and effort of the entity in deciding the corrective measure manually.
Notably, the alert is also indicative of the corrective action. In an 30 example, if a shoe is detected in a pantograph well of train number 245067, running from King's Cross to Cambridge, an alert generated with respect to this may indicate a corrective action of removing the shoe. Optionally, a set of corrective actions for remedying issues with respect to the pantograph arrangement are pre-determined. In this regard, the set of corrective actions may be stored at the data repository associated with the at least one processor. Moreover, each corrective action from the set of corrective actions may be predetermined for remedying a given issue with respect to the pantograph arrangement. Herein, the at least one processor may be configured to determine the corrective action to be performed for remedying the given issue. Beneficially, the corrective action being indicated in the alert enables the entity to timely remedy the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
Optionally, the alert also comprises at least one of: a location of the at least one rail vehicle at a time of capturing the at least one image, the at least one image depicting the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement. It will be appreciated that the location of the at least one rail vehicle at the time of capturing the at least one image is determined based on a location of the at least one camera that captured the at least one image. Moreover, the location of the at least one camera depends on a location of the at least one object onto which the at least one camera is installed. For example, the alert may read: "Attention! A potential pantograph debris has been detected on the pantograph of the 700 train that has just passed Platform 1 in East Croydon". Moreover, the at least one image may be provided to the entity in the alert for confirmation purposes. The entity may be able to assess the at least one image to confirm or deny the damage and/or the presence of the foreign object. It will be appreciated that the location assists in determining an accurate location of the at least one rail vehicle at a given time for remedying the damage to the pantograph arrangement and/or the presence of a foreign object in or around the pantograph arrangement. Beneficially, the at least one image being provided in the alert allows the entity to manually confirm the damage and/or the presence of a foreign object.
Optionally, the at least one processor is further configured to receive, from the user device, a response from the entity with respect to the alert, wherein the response is indicative of one of: accurate detection of the damage and/or the presence of the foreign object, inaccurate detection of the damage and/or the presence of the foreign object. The response is provided to the at least one processor of the system via the device. Optionally, the response is provided in at least one of: a written manner, a haptic manner, selection of an option from multiple given options, a verbal manner, a gestural manner. For example, two call-to-action buttons may be provided in the alert, of which, the entity may choose "accurate detection of the damage and/or the presence of the foreign object".
Herein, when the response is of the accurate detection of the damage and/or the presence of the foreign object, it indicates that the entity will be performing the corrective action. However, when the response is of inaccurate detection, it indicates that the detection is incorrect, and that the at least one computer vision algorithm employed by the at least one processor is to be improved. A technical advantage of this is that the response either indicates that the damage and/or the presence of the foreign object will be remedied, or improves the at least one computer vision algorithm for detecting the damage and/or the presence of the foreign object in or around the pantograph arrangement.
Optionally, the at least one processor is further configured to: generate statistical information based on at least one of: the 30 damage to the pantograph arrangement, the presence of the foreign object in or around the pantograph arrangement, the at least one image; and represent, via an interactive user interface, at least one of: the statistical information, a report generated based on the statistical 5 information.
The term "statistical information" refers to information which provides statistical insights regarding various aspects of management of the pantograph arrangement. Examples of the statistical information include, but are not limited to, a time at which the alarm was generated, an entity for whom the alarm was generated, a number of rail vehicles analysed in a duration of time, a number of alerts raised, a number of pantographs analysed, a number of foreign objects detected, a number of damaged pantographs detected. Optionally, the statistical information is represented in a form of at least one of: data values, a representation of data values. Examples of the representation of data values include, but are not limited to, a histogram, a pie chart, a line diagram, and a heat map. For example, the statistical information pertaining to the number of pantograph arrangements analysed in one day may be represented as a number (i.e., the data value), and the statistical information pertaining to a number of pantograph arrangements analysed per day over multiple days (i.e., the representation of data values) may be represented as a bar graph or a line diagram.
The term "interactive user interface" refers to an interface via which the entity can interact with the system. Optionally, the interactive user interface is displayed on the device associated with the entity. It will be appreciated that at least one of: the statistical information, the report generated based on the statistical information are represented to the entity via the interactive user interface. The term "report" refers to an analysis of the statistical information. The report may be represented in at least one of: a written form, a graphical form, a combination of the written form and the graphical form. Optionally, in this regard, the processor is configured to generate the report, based on the statistical information. Automatic report generation enables efficient identification of damage to and/or foreign objects in or around the pantograph arrangement. Optionally, the report is represented to the entity. Beneficially, the statistical information and the report provides in-depth insight into issues pertaining to pantograph arrangements in the railway environment.
Optionally, processing data stored at the data repository further includes data pertaining to whether at least one of: the damage to the pantograph arrangement, the presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image amongst the images. Moreover, data stored at the data repository further includes the at least one image, the location of the at least one camera, the location of the at least one rail vehicle, the alert, the statistical information, and the report.
A second aspect of the invention provides a method for managing pantograph arrangements on rail vehicles, the method comprising: - capturing images of a railway environment in which at least one rail vehicle operates using at least one camera, the at least one camera being arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view; receiving the images from the at least one camera; - processing the images to detect whether at least one of: a damage to the pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one image amongst the images; and performing at least one action when it is detected that at least 30 one of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image.
Optionally, the step of performing the at least one action comprises: - generating an alert indicative of at least the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement; and - sending the alert to a device associated with an entity that manages the pantograph arrangements on the rail vehicles.
Optionally, the method further comprises determining a corrective action to be performed for remedying the damage to the pantograph arrangement and/or the presence of a foreign object in or around the pantograph arrangement, and wherein the alert is also indicative of the corrective action.
Optionally, the alert also comprises at least one of: a location of the at least one rail vehicle at a time of capturing the at least one image, the at least one image depicting the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
Optionally, the method further comprises receiving, from the user device, a response from the entity with respect to the alert, wherein the response is indicative of one of: accurate detection of the damage and/or the presence of the foreign object, inaccurate detection of the damage and/or the presence of the foreign object.
Optionally, the pantograph arrangement comprises a pantograph and a 25 pantograph well.
Optionally, the at least one camera is arranged to capture at least one of: a top perspective view, a side perspective view, of the pantograph arrangement of the at least one rail vehicle.
Optionally, the at least one camera is arranged at a height on at least one object, wherein the at least one object is present at one or more of: along sides of a railway track on which the at least one rail vehicle operates, across the railway track on which the at least one rail vehicle operates, between two adjacent pairs of railway tracks.
Optionally, when processing the images, the method employs at least one computer vision algorithm.
Optionally, the method further comprises: - generating statistical information based on at least one of: the 10 damage to the pantograph arrangement, the presence of the foreign object in or around the pantograph arrangement, the at least one image; and - representing, via an interactive user interface, at least one of: the statistical information, a report generated based on the statistical 15 information.
A third aspect of the invention provides a computer program product for managing pantograph arrangements on rail vehicles, the computer program product comprising a non-transitory machine-readable data storage medium having stored thereon program instructions that, when executed by a processing device, cause the processing device to: - receive images of a railway environment in which at least one rail vehicle operates, from at least one camera, the at least one camera being arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view; - process the images to detect whether at least one of: a damage to a pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one image amongst the images; and - perform at least one action when it is detected that at least one 30 of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image.
In an embodiment, the non-transitory machine-readable data storage medium can direct a machine (such as computer, other programmable data processing apparatus, or other devices) to function in a particular manner, such that the program instructions stored in the non-transitory machine-readable data storage medium case a series of steps to implement the function specified in a flowchart corresponding to the instructions. Examples of the non-transitory machine-readable data storage medium includes, but is not limited to, an electric storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, or any suitable zo combination thereof.
Optionally, performing the at least one action comprises: generating an alert indicative of at least the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement; and - sending the alert to a device associated with an entity that manages the pantograph arrangements on the rail vehicles.
Optionally, the processing device is further caused to determine a corrective action to be performed for remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement, and wherein the alert is also indicative of the corrective action.
Optionally, the alert also comprises at least one of: a location of the at least one rail vehicle at a time of capturing the at least one image, the at least one image depicting the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
Optionally, the processing device is further caused to receive, from the user device, a response from the entity with respect to the alert, wherein the response is indicative of one of: accurate detection of the damage and/or the presence of the foreign object, inaccurate detection of the damage and/or the presence of the foreign object.
Optionally, the pantograph arrangement comprises a pantograph and a pantograph well.
Optionally, the at least one camera is arranged to capture at least one of: a top perspective view, a side perspective view, of the pantograph arrangement of the at least one rail vehicle.
Optionally, the at least one camera is arranged at a height on at least one object, wherein the at least one object is present at one or more of: along sides of a railway track on which the at least one rail vehicle operates, across the railway track on which the at least one rail vehicle operates, between two adjacent pairs of railway tracks.
Optionally, when processing the images, the processing device employs at least one computer vision algorithm.
Optionally, the processing device is further caused to: generate statistical information based on at least one of: the damage to the pantograph arrangement, the presence of the foreign object in or around the pantograph arrangement, the at least one image; and - represent, via an interactive user interface, at least one of: the statistical information, a report generated based on the statistical information.
Throughout the description and claims of this specification, the words 5 "comprise" and "contain" and variations of the words, for example "comprising" and "comprises", mean "including but not limited to", and do not exclude other components, integers or steps. Moreover, the singular encompasses the plural unless the context otherwise requires: in particular, where the indefinite article is used, the specification is to 10 be understood as contemplating plurality as well as singularity, unless the context requires otherwise.
Preferred features of each aspect of the invention may be as described in connection with any of the other aspects. Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible.
BRIEF DESCRIPTION OF THE DRAWINGS
One or more embodiments of the invention will now be described, by way of example only, with reference to the following diagrams wherein: Figure 1 illustrates a block diagram of a system for managing pantograph arrangements on rail vehicles, in accordance with an embodiment of the present disclosure; Figure 2 is a schematic illustration of an environment for implementing a system for managing pantograph arrangements on rail vehicles, in accordance with an embodiment of the present disclosure; Figure 3 is an exemplary illustration of an image captured by at least one camera, in accordance with an embodiment of the
present disclosure;
Figure 4 illustrates statistical information represented via an interactive user interface, in accordance with different embodiments of the present disclosure; and Figure 5 is a flowchart illustrating steps of a method for managing pantograph arrangements on rail vehicles, in accordance with an
embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE DRAWINGS
Referring to Figure 1, illustrated is a block diagram of a system 100 for managing pantograph arrangements on rail vehicles, in accordance with an embodiment of the present disclosure. As shown, the system 100 comprises at least one camera (implemented as a camera 102) and at least one processor (implemented as a processor 104) communicably coupled to the camera 102. The camera 102 captures images of a railway environment in which at least one rail vehicle operates.
Moreover, the camera 102 is arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view. The processor 104 is configured to receive the images from the camera 102, and process the images to detect whether at least one of: a damage to the pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one image amongst the images.
Referring to Figure 2, illustrated is a schematic illustration of an environment for implementing a system 200 for managing pantograph arrangements on rail vehicles, in accordance with an embodiment of the present disclosure. As shown, the system 200 comprises at least one camera (implemented as a camera 202). The camera 202, in operation, captures images of a railway environment in which at least one rail vehicle (implemented as an electric train 204) operates. The camera 202 is arranged at a height on at least one object (implemented as a pole 206), wherein the pole 206 is present near a railway track 208 on which the electric train 204 operates. The camera 202 is arranged such that a pantograph arrangement 210 of the train 204 would lie in its field of view. Notably, the pantograph arrangement 208 comprises a pantograph 212 and a pantograph well 214. The pantograph arrangement 210 collects current from at least one overhead electrical line (implemented as an overhead line 216) for powering the electric train 204.
Referring to Figure 3, illustrated is an exemplary illustration of an image 300 captured by at least one camera, in accordance with an embodiment of the present disclosure. The at least one camera is part of a system for managing pantograph arrangements on rail vehicles. The at least one camera, in operation, captures images of a railway environment in which at least one rail vehicle (implemented as an electric train 302) operates. Moreover, the at least one camera is arranged at a height in the railway environment such that a pantograph arrangement 304 of the electric train 302 would lie in its field of view. As shown, the at least one camera may be arranged to capture a top perspective view of the pantograph arrangement 304 of the electric train 302. Notably, the pantograph arrangement 304 comprises a pantograph 306 and a pantograph well 308. Optionally, the image is indicative of at least one of: a damage to the pantograph arrangement 304, presence of a foreign object in or around the pantograph arrangement 304.
Referring to Figure 4, illustrated is statistical information 400 represented via an interactive user interface, in accordance with different embodiments of the present disclosure. The statistical information 400 is generated based on at least one of: damage to a pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, at least one image. Optionally, at least one of: the statistical information 400, a report generated based on the statistical information 400, is represented via the interactive user interface. As shown, the statistical information 400 comprises at least one of: a histogram 402, an alert 404. The histogram 402 is indicative of a history of alerts raised and trains analysed on different days. The alert 404 is indicative of at least the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement. Optionally, the alert 404 also comprises at least one of: a location of the at least one rail vehicle at a time of capturing the at least one image, the at least one image depicting the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement. Optionally, the alert 404 is also indicative of a corrective action to be performed for remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
Figures 2, 3 and 4 are merely examples, which should not unduly limit the scope of the claims herein. A person skilled in the art will recognize 25 many variations, alternatives, and modifications of embodiments of the present disclosure.
Referring to Figure 5, illustrated is a flowchart illustrating steps of a method for managing pantograph arrangements on rail vehicles, in accordance with an embodiment of the present disclosure. At step 502, 30 images of a railway environment in which at least one rail vehicle operates are captured using at least one camera, the at least one camera being arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view. At step 504, the images are received from the at least one 5 camera. At step 506, the images are processed to detect whether at least one of: a damage to the pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one image amongst the images. At step 508, at least one action is performed when it is detected that at least one of: the damage to the 10 pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image.
The steps 502, 504, 506 and 508 are only illustrative and other alternatives can also be provided where one or more steps are added, one or more steps are removed, or one or more steps are provided in a different sequence without departing from the scope of the claims herein.

Claims (15)

  1. CLAIMSWhat is claimed is: 1. A system for managing pantograph arrangements on rail vehicles, the system comprising: at least one camera that, in operation, captures images of a railway environment in which at least one rail vehicle operates, the at least one camera being arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view; at least one processor communicably coupled to the at least one camera, wherein the at least one processor is configured to: - receive the images from the at least one camera; - process the images to detect whether at least one of: a damage to the pantograph arrangement, presence of a foreign object in or 15 around the pantograph arrangement, is indicated in at least one of the images; and - perform at least one action when it is detected that at least one of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at 20 least one image.
  2. 2. A system according to claim 1, wherein performing the at least one action comprises: - generating an alert indicative of at least the damage to the pantograph arrangement and/or the presence of the foreign object in or 25 around the pantograph arrangement; and - sending the alert to a device associated with an entity that manages the pantograph arrangements on the rail vehicles.
  3. 3. A system according to claim 2, wherein the at least one processor is further configured to determine a corrective action to be performed for remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement, and wherein the alert is also indicative of the corrective action.
  4. 4. A system according to claim 2 or 3, wherein the alert also comprises at least one of: a location of the at least one rail vehicle at a time of capturing the at least one image, the at least one image depicting the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement.
  5. 5. A system according to claim 4, wherein the at least one processor is further configured to receive, from the user device, a response from the entity with respect to the alert, wherein the response is indicative of one of: accurate detection of the damage and/or the presence of the foreign object, inaccurate detection of the damage and/or the presence of the foreign object.
  6. 6. A system according to any of the preceding claims, wherein the pantograph arrangement comprises a pantograph and a pantograph well.
  7. 7. A system according to any of the preceding claims, wherein the at least one camera is arranged to capture at least one of: a top perspective view, a side perspective view, of the pantograph arrangement of the at least one rail vehicle.
  8. 8. A system according to any of the preceding claims, wherein the at least one camera is arranged at a height on at least one object, wherein the at least one object is present at one or more of: along sides of a railway track on which the at least one rail vehicle operates, across the railway track on which the at least one rail vehicle operates, between two adjacent pairs of railway tracks.
  9. 9. A system according to any of the preceding claims, wherein when processing the images, the at least one processor employs at least one 5 computer vision algorithm.
  10. 10. A system according to any of the preceding claims, wherein the at least one processor is further configured to: - generate statistical information based on at least one of: the damage to the pantograph arrangement, the presence of the foreign 10 object in or around the pantograph arrangement, the at least one image; and - represent, via an interactive user interface, at least one of: the statistical information, a report generated based on the statistical information.
  11. 11. A method for managing pantograph arrangements on rail vehicles, the method comprising: - capturing images of a railway environment in which at least one rail vehicle operates using at least one camera, the at least one camera being arranged in the railway environment such that a pantograph 20 arrangement of the at least one rail vehicle would lie in its field of view; - receiving the images from the at least one camera; - processing the images to detect whether at least one of: a damage to the pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one 25 image; and - performing at least one action when it is detected that at least one of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image.
  12. 12. A method according to claim 11, wherein the step of performing the at least one action comprises: - generating an alert indicative of at least the damage to the pantograph arrangement and/or the presence of the foreign object in or 5 around the pantograph arrangement; and - sending the alert to a device associated with an entity that manages the pantograph arrangements on the rail vehicles.
  13. 13. A method according to claim 12, wherein the method further comprises determining a corrective action to be performed for remedying the damage to the pantograph arrangement and/or the presence of the foreign object in or around the pantograph arrangement, and wherein the alert is also indicative of the corrective action.
  14. 14. A method according to any of claims 11-13, wherein the method 15 further comprises: - generating statistical information based on at least one of: the damage to the pantograph arrangement, the presence of the foreign object in or around the pantograph arrangement, the at least one image; and - representing, via an interactive user interface, at least one of: the statistical information, a report generated based on the statistical information.
  15. 15. A computer program product for managing pantograph arrangements on rail vehicles, the computer program product comprising a non-transitory machine-readable data storage medium having stored thereon program instructions that, when executed by a processing device, cause the processing device to: - receive images of a railway environment in which at least one rail vehicle operates, from at least one camera, the at least one camera being arranged in the railway environment such that a pantograph arrangement of the at least one rail vehicle would lie in its field of view; - process the images to detect whether at least one of: a damage to a pantograph arrangement, presence of a foreign object in or around the pantograph arrangement, is indicated in at least one image; and - perform at least one action when it is detected that at least one of: the damage to the pantograph arrangement, presence of the foreign object in or around the pantograph arrangement, is indicated in the at least one image.
GB2213851.5A 2022-09-22 2022-09-22 System and method for managing pantograph arrangements on rail vehicles Pending GB2622609A (en)

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CN102507601A (en) * 2011-11-08 2012-06-20 南京大学 Online abrasion detection method and system for pantograph of electric locomotive
EP3205528A1 (en) * 2016-02-09 2017-08-16 Sncf Reseau Method, device and system for detecting fault(s) in a pantograph of a moving vehicle on a railway
CN107167098A (en) * 2017-04-21 2017-09-15 南京理工大学 Municipal rail train pantograph on-line measuring device and method
WO2021043388A1 (en) * 2019-09-03 2021-03-11 Schweizerische Bundesbahnen Sbb Device and method for detecting wear and/or damage on a pantograph

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CN112757904B (en) * 2021-01-26 2022-11-29 中车青岛四方机车车辆股份有限公司 Control circuit of rail vehicle, control method and control device thereof

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Publication number Priority date Publication date Assignee Title
CN102507601A (en) * 2011-11-08 2012-06-20 南京大学 Online abrasion detection method and system for pantograph of electric locomotive
EP3205528A1 (en) * 2016-02-09 2017-08-16 Sncf Reseau Method, device and system for detecting fault(s) in a pantograph of a moving vehicle on a railway
CN107167098A (en) * 2017-04-21 2017-09-15 南京理工大学 Municipal rail train pantograph on-line measuring device and method
WO2021043388A1 (en) * 2019-09-03 2021-03-11 Schweizerische Bundesbahnen Sbb Device and method for detecting wear and/or damage on a pantograph

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