WO2017008122A1 - Impact detection system - Google Patents

Impact detection system Download PDF

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Publication number
WO2017008122A1
WO2017008122A1 PCT/AU2016/050620 AU2016050620W WO2017008122A1 WO 2017008122 A1 WO2017008122 A1 WO 2017008122A1 AU 2016050620 W AU2016050620 W AU 2016050620W WO 2017008122 A1 WO2017008122 A1 WO 2017008122A1
Authority
WO
WIPO (PCT)
Prior art keywords
impact
image
detection system
impact detection
threshold value
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.)
Ceased
Application number
PCT/AU2016/050620
Other languages
French (fr)
Inventor
Ilidio Gouveia DA COSTA
Anthony Michael GODBER
David Wallis
Matthew Shurmer
Paul Nicholson
Gareth Topham
Richard PEARMAN
Peter Knight
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.)
Technological Resources Pty Ltd
Original Assignee
Technological Resources Pty Ltd
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
Priority claimed from AU2015902787A external-priority patent/AU2015902787A0/en
Application filed by Technological Resources Pty Ltd filed Critical Technological Resources Pty Ltd
Priority to AU2016293384A priority Critical patent/AU2016293384A1/en
Priority to US15/740,447 priority patent/US11052852B2/en
Priority to BR112017028409-0A priority patent/BR112017028409B1/en
Priority to CA2992287A priority patent/CA2992287C/en
Publication of WO2017008122A1 publication Critical patent/WO2017008122A1/en
Anticipated expiration legal-status Critical
Priority to AU2021202770A priority patent/AU2021202770A1/en
Priority to AU2023208143A priority patent/AU2023208143A1/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/0875—Registering performance data using magnetic data carriers
    • G07C5/0891—Video recorder in combination with video camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0081—On-board diagnosis or maintenance
    • 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
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/50—Trackside diagnosis or maintenance, e.g. software upgrades
    • B61L27/57—Trackside diagnosis or maintenance, e.g. software upgrades for vehicles or trains, e.g. trackside supervision of train conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G01P15/0891—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values with indication of predetermined acceleration values
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R2021/01302—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle body vibrations or noise
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B60R2021/01322—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value comprising variable thresholds, e.g. depending from other collision parameters
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Definitions

  • the present invention relates to an impact detection system for a vehicle and a method of detecting an impact on a vehicle.
  • Trains that transport mined material from a mine operation such as a mine site typically operate along fenced railways with restricted access. However, in unrestricted areas that are not fenced, trains periodically collide with cattle or wildlife that wanders onto the railroad track. The trains may also collide with other vehicles or pedestrians. Similar such collisions can also occur with road vehicles travelling along roads, such as freeways and highways, which are normally fenced near or within urban areas but become unfenced as they enter rural areas.
  • the train may need to stop in order to determine with which object the train collided, which is undesirable for many operators. In many instances, if a train collides with livestock such as a cow, it may not be necessary for the train to stop.
  • an impact detection system for a vehicle comprising:
  • a sensor arrangement arranged to measure a characteristic of an impact of an object against the vehicle
  • a trigger determiner associated with the sensor arrangement for determining whether the characteristic of the impact is greater than a predefined threshold value
  • an image capturing device arranged to capture an image of the object; wherein the system is arranged to automatically make the captured image available for inspection in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time.
  • the impact detection system comprises a storage device, wherein the image capturing device is arranged to continuously capture images and store the images in the storage device, and the system is arranged to retrieve the captured image of the object from the storage device in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value.
  • the system is arranged to tag the captured image of the object in the storage device in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value, and to make the tagged image available for inspection so that the object in the image can be identified substantially in realtime.
  • the image capturing device is arranged to capture an image of the object in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value.
  • the sensor arrangement comprises a transducer capable of generating an electrical signal that varies according to impact force applied to the transducer.
  • the transducer may be a force washer.
  • the sensor arrangement comprises an array of transducers, wherein the signals generated by the transducers are combined.
  • the sensor arrangement comprises an accelerometer arranged to generate an electrical signal that varies in response to movement of a part of the vehicle caused by a head-on impact, and the system is arranged to:
  • the impact detection system comprises a discriminator arranged to discriminate between signals generated by a collision with an object and signals generated in error by a non-collision.
  • the discriminator may be arranged to recognise signals generated in error resulting from:
  • vibrations experienced by the vehicle as the vehicle moves during use ; surface anomalies of a surface on which the vehicle is travelling; and/or electrical noise.
  • the predefined threshold value is equivalent to an impact by an object having a relative momentum with respect to the vehicle greater than substantially
  • the image capturing device comprises a camera arranged to capture a still image.
  • the camera may be arranged to capture multiple successive still images at predetermined time intervals.
  • the image capturing device comprises a video camera arranged to capture a video recording.
  • the system may be arranged to extract a still image frame from the video recording.
  • the system comprises a communication system arranged to communicate with a remote operation centre.
  • the system may be arranged to use the communications system to automatically communicate the captured image to the operation centre in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time at the operation centre.
  • the system may be arranged to send an alert signal to the operation centre to indicate to the operation centre that a captured image is available for inspection. ln an embodiment, the system is arranged to analyse the image so as to automatically identify the object.
  • the image capturing device is arranged to capture several images, wherein the captured images cover a period of time encompassing a time of the collision.
  • a railroad train including an impact detection system according to the first aspect of the invention.
  • the railroad train may be an autonomously controlled railroad train.
  • the impact detection system is mounted onto a cowcatcher of the railroad train.
  • a road vehicle including an impact detection system according to the first aspect of the invention.
  • a method of detecting an object colliding with a vehicle comprising:
  • Figure 1 is a schematic representation of an impact detection system in accordance with an embodiment of the present invention
  • Figure 2 is a schematic representation of a mounting arrangement of a load sensitive sensor of the impact detection system of Figure 1 ;
  • FIG. 3 is a flow chart illustrating a method of detecting an impact in accordance with an embodiment of the present invention. Detailed Description of an Embodiment of the Invention
  • Embodiments of the present invention relate to an impact detection system for a vehicle, particularly a train, such as of a type suitable for transporting mined material from a mine operation.
  • the train may for example be autonomously controlled.
  • trains that are at least partially controlled by a human operator as well as road vehicles are also envisaged.
  • the impact detection system comprises a sensor arrangement for measuring a characteristic of an impact when the train collides with or impacts against an object.
  • the impact detection system further comprises a trigger determiner that determines whether the detected characteristic exceeds a predefined threshold value.
  • the sensor arrangement may for example comprise one or more load sensitive sensors, wherein each load sensitive sensor generates a variable electrical signal which changes in response to the impact force applied to the sensor.
  • the impact detection system further comprises an image capturing device that is disposed on the train so as to face outwardly and arranged to capture at least one image of the object with which the train has collided. For example, an image may be captured that is representative of a field of view from the train at the time of the collision.
  • At least one of the captured image is automatically made available for inspection enabling the object to be identified.
  • the object may for example be a stationary object or a moving object such as a vehicle, a person or an animal.
  • the captured image may for example be made available by automatically communicating the image to an operation centre where the object with which the train collided can be identified.
  • the impact detection system in accordance with embodiments of the present invention provides significant advantages.
  • the system enables informed decisions to be made as to whether the train needs to stop or can continue without stopping following detection of a collision based on identification of the object that was struck.
  • FIG. 1 of the accompanying drawings there is shown a schematic representation of an impact detection system 100 for a vehicle in accordance with an embodiment of the present invention.
  • the vehicle in this embodiment is a train that is autonomously controlled.
  • the sensor arrangement of the impact detection system 100 comprises four load sensitive sensors 102.
  • Each sensor 102 generates an electrical signal such as a voltage that changes in response to a force applied to the sensor 102.
  • the sensors 102 are disposed on a locomotive body 104 of the train. Specifically, the sensors 102 are disposed on respective bolts of the locomotive body 104 as further illustrated in Figure 2.
  • the generated electrical signals are collected at a control unit 106 which is arranged to control and coordinate operations of components of the system 100.
  • This control unit 106 may for example be implemented using a processor.
  • the impact detection system 100 further comprises an amplifier (not shown) that amplifies the electrical signals generated by the load sensitive sensors 102.
  • the impact detection system 100 further comprises an image capturing device 108.
  • the impact detection system 100 comprises two image capturing devices 108, each of which is positioned within the cockpit of the locomotive such that images can be captured through a windscreen 1 10 of the train.
  • each of the image capturing devices 108 is arranged to capture video.
  • the video is typically captured continuously from the cockpit of the locomotive 104 and image frames of the video are stored in a storage device 1 12, such as a hard disc of a computer.
  • the image frames are stored in the storage device 1 12 for a predetermined time period before being erased.
  • the image frames may be stored in the storage device 1 12 for at least 12 hours, 24 hours, 2 days or 7 days.
  • the image capturing devices 108 may alternatively capture multiple successive still images that are captured at predetermined intervals.
  • the control unit 106 together with a trigger determiner 1 14 determines whether the impact force detected by the sensors 102 exceeds a predefined threshold value.
  • the electrical signal generated by each load sensitive sensor 102 may be communicated to the trigger determiner 1 14 such that any one of the load sensitive sensors 102 may generate a trigger signal that causes at least one captured image to be automatically made available for inspection.
  • the predefined threshold value can, for example, be equivalent to an impact by an object that has a relative momentum with respect to the locomotive greater than 150 kg.m.s "1 .
  • the control unit 106 tags an image frame of the captured video stored at the storage device 1 12. The tagged image frame is representative of a field of view from the train substantially at impact.
  • the control unit 106 then instructs the system 100 to retrieve the tagged image frame from the storage device 1 12 and to communicate the tagged image frame to an operation centre 1 16 that is remote relative to the system 100.
  • an operation centre 1 16 that is remote relative to the system 100.
  • at least one additional image frame that was captured before occurrence of the impact is retrieved from the storage device 1 12 and communicated to the operation centre 1 16.
  • a human operator at the operation centre can identify the object that the train collided with based on the image frames that were captured.
  • any suitable image frame may be retrieved and communicated to the operation centre.
  • an image frame that is captured after occurrence of the impact may be retrieved and communicated to the operation centre.
  • only image frames that were captured before occurrence of the impact may be retrieved and communicated to the operation centre.
  • a decision may be made as to whether the train needs to stop or can continue without stopping. For example, if the object is livestock, such as a cow, the train may continue without stopping, but a decision can be made to reimburse the owner of the cow. Conversely, if the object is a person, then the train would need to stop.
  • the tagged image frame together with the image frame captured before the impact are communicated to the operation centre 1 16 via a
  • the system 100 further comprises a network interface 120 that enables communication of data via the
  • the impact detection system 100 further comprises an
  • a coupler of a train is a component arranged to couple a railway vehicle to a further railway vehicle, such as a further train carriage, a further locomotive, an ore car, a fuel car or the like.
  • the coupler has a component that is moveable to absorb compression and tension movements between two railway vehicles. If a coupler is positioned at a front area of a train where no further railway vehicle is to be coupled to the train, the moveable component of the coupler is typically stationary for normal operations of the train. However, upon application of an impact on the front area of the train, the moveable component of the coupler moves towards the train. This movement may be measured using the accelerometer 122.
  • the accelerometer 122 that is attached to the moveable component of the coupler 124 is arranged to measure an acceleration of the movement of the component when an object impacts against the train.
  • the accelerometer 122 is independent of the load sensitive sensors 102 and is arranged to detect head on collisions, which are more rare than side impact collisions detected by the load sensitive sensors 102.
  • a signal generated by the accelerometer 122 is collected at the control unit 106 and compared against a threshold value. As with the load sensitive sensors 102, if the threshold value is exceeded a trigger signal is generated that causes at least one captured image to be automatically made available for inspection, for example by tagging a relevant image frame of the captured video stored at the storage device 1 12.
  • the signals from the accelerometer 122 may be analysed with the electrical signals from the load sensitive sensors 102 at the control unit 106 so that both side and head on collisions are detected and a determination can be made as to the location of impact.
  • the system 100 further includes a discriminator to differentiate between actual collisions and electrical signals generated by the load sensitive sensors 102 that may be generated in error, namely detected impacts not caused by a collision with an object. Such false impact detections may be caused by electrical noise, vibrations experienced by the train, track surface anomalies or unexpected jolts to the train.
  • FIG 2 there is illustrated a mounting arrangement for a load sensitive sensor 102 of the impact detection system 100 illustrated in Figure 1 .
  • the load sensitive sensor is a force washer 102 attached to a bolt 202 that extends through a wall 204 of the locomotive body 104 of the train.
  • the bolt 202 can be one of the bolts used to secure a cowcatcher to the locomotive body 104.
  • the force washer 102 is located inside the locomotive body 104. Between the wall 204 and the head of the bolt 202, the force washer 102 is disposed between a pair of washers 206. A further washer 208 is positioned between the wall 204 and the force washer 102.
  • an optional bearing material 210, a mounting flange 212 and a further washer 214 are disposed on the bolt 202 and secured on the bolt 202 by a nut 216. It will be appreciated that this arrangement relates to an exemplary embodiment and other implementations for attaching the force washer 102 to the locomotive body 104 are envisaged.
  • the force washer 102 can be provided on a nut joining a truck bumper to the truck.
  • the image capturing device 108 is arranged to capture at least one still image in response to the detection of a force of an impact at the sensors 102 that is above the predefined threshold value. It will be clear to a person skilled in the art that the still image will be captured immediately, e.g. less than 1 second, after the impact is detected such that upon inspection of the captured image the object can be identified.
  • the impact detection system 100 is arranged to communicate an alert signal to the operation centre 1 16 when an impact is detected, the alert signal being indicative that at least one image is available.
  • the impact detection system may further be arranged to facilitate retrieval of at least one captured image by an operator at the operation centre 1 16.
  • the operator will need to retrieve the image immediately after the impact is detected such that a decision can be made as to whether the train needs to stop or can continue without stopping.
  • FIG. 3 of the accompanying drawings there is shown a flowchart illustrating a method 300 of detecting an impact on a train in accordance with an embodiment of the present invention.
  • the method 300 may for example be implemented by the impact detection system 100 shown in Figure 1 .
  • video is continuously captured 302 from the train and image frames of the video are stored 302 in the data storage device 1 16 of the impact detection system 100.
  • a characteristic of an object impacting the train during a collision is detected 304.
  • the impact force may for example relate to a collision of the train with a stationary or moving object. It is further determined 306 whether the detected characteristic of the impact exceeds a predefined threshold value. If the detected characteristic is above the predefined threshold value, an image frame that is indicative of a field of view of the object substantially at impact is tagged 308 in response to detection of the collision in step 304.
  • the tagged image frame optionally together with at least one further image frame which was captured before and/or after the collision, are retrieved 310 from the storage device 1 12 and communicated 312 to the operation centre 1 16.
  • an operator can identify the object.

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Abstract

An impact detection system is disclosed for detecting and identifying an object colliding with a vehicle. The impact detection system comprises a sensor arrangement arranged to measure a characteristic of an impact of the object against the vehicle, a trigger determiner associated with the sensor arrangement for determining whether the characteristic of the 5 impact is greater than a predefined threshold value, and an image capturing device arranged to capture an image of the object. The system is arranged to automatically make the captured image available for inspection in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time.

Description

IMPACT DETECTION SYSTEM
Field of the Invention
The present invention relates to an impact detection system for a vehicle and a method of detecting an impact on a vehicle. Background of the Invention
Trains that transport mined material from a mine operation such as a mine site typically operate along fenced railways with restricted access. However, in unrestricted areas that are not fenced, trains periodically collide with cattle or wildlife that wanders onto the railroad track. The trains may also collide with other vehicles or pedestrians. Similar such collisions can also occur with road vehicles travelling along roads, such as freeways and highways, which are normally fenced near or within urban areas but become unfenced as they enter rural areas.
Upon occurrence of an impact, the train may need to stop in order to determine with which object the train collided, which is undesirable for many operators. In many instances, if a train collides with livestock such as a cow, it may not be necessary for the train to stop.
However, it would be advantageous to know that the train has collided with a cow so that the owner of the cow can be reimbursed.
Similar recording of a collision would also be advantageous on any road vehicles, such as goods trucks and road-trains, which also often traverse long distances and that may collide with livestock on a road, but that may not need to stop after such a collision.
Summary of the Invention
According to a first aspect of the invention, there is provided an impact detection system for a vehicle, the impact detection system comprising:
a sensor arrangement arranged to measure a characteristic of an impact of an object against the vehicle;
a trigger determiner associated with the sensor arrangement for determining whether the characteristic of the impact is greater than a predefined threshold value; and
an image capturing device arranged to capture an image of the object; wherein the system is arranged to automatically make the captured image available for inspection in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time.
In an embodiment, the impact detection system comprises a storage device, wherein the image capturing device is arranged to continuously capture images and store the images in the storage device, and the system is arranged to retrieve the captured image of the object from the storage device in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value.
In an embodiment, the system is arranged to tag the captured image of the object in the storage device in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value, and to make the tagged image available for inspection so that the object in the image can be identified substantially in realtime.
In an embodiment, the image capturing device is arranged to capture an image of the object in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value.
In an embodiment, the sensor arrangement comprises a transducer capable of generating an electrical signal that varies according to impact force applied to the transducer. The transducer may be a force washer. In an embodiment, the sensor arrangement comprises an array of transducers, wherein the signals generated by the transducers are combined.
In an embodiment, the sensor arrangement comprises an accelerometer arranged to generate an electrical signal that varies in response to movement of a part of the vehicle caused by a head-on impact, and the system is arranged to:
determine whether a magnitude of the electrical signal is greater than a predefined threshold value; and
automatically make a captured image available for inspection in response to determining that the magnitude of the electrical signal is greater than the predefined threshold value so that the object in the image can be identified substantially in realtime.
In an embodiment, the impact detection system comprises a discriminator arranged to discriminate between signals generated by a collision with an object and signals generated in error by a non-collision.
The discriminator may be arranged to recognise signals generated in error resulting from:
vibrations experienced by the vehicle as the vehicle moves during use; surface anomalies of a surface on which the vehicle is travelling; and/or electrical noise.
In an embodiment, the predefined threshold value is equivalent to an impact by an object having a relative momentum with respect to the vehicle greater than substantially
150 kg.m.s"1.
In an embodiment, the image capturing device comprises a camera arranged to capture a still image. The camera may be arranged to capture multiple successive still images at predetermined time intervals.
In an embodiment, the image capturing device comprises a video camera arranged to capture a video recording. The system may be arranged to extract a still image frame from the video recording.
In an embodiment, the system comprises a communication system arranged to communicate with a remote operation centre.
The system may be arranged to use the communications system to automatically communicate the captured image to the operation centre in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time at the operation centre.
Alternatively, the system may be arranged to send an alert signal to the operation centre to indicate to the operation centre that a captured image is available for inspection. ln an embodiment, the system is arranged to analyse the image so as to automatically identify the object.
In an embodiment, the image capturing device is arranged to capture several images, wherein the captured images cover a period of time encompassing a time of the collision.
According to a second aspect of the invention, there is provided a railroad train including an impact detection system according to the first aspect of the invention. The railroad train may be an autonomously controlled railroad train.
In an embodiment, the impact detection system is mounted onto a cowcatcher of the railroad train.
According to a third aspect of the invention, there is provided a road vehicle including an impact detection system according to the first aspect of the invention.
According to a fourth aspect of the invention, there is provided a method of detecting an object colliding with a vehicle, the method comprising:
determining a characteristic of an impact of the object against the vehicle;
determining whether the characteristic of the impact is greater than a predefined threshold value;
capturing an image of the object;
automatically making the captured image available for inspection in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time.
Brief Description of the Drawings
The invention will be more fully understood from the following description of specific embodiments of the invention. The description is provided with reference to the accompanying drawings.
Figure 1 is a schematic representation of an impact detection system in accordance with an embodiment of the present invention; Figure 2 is a schematic representation of a mounting arrangement of a load sensitive sensor of the impact detection system of Figure 1 ; and
Figure 3 is a flow chart illustrating a method of detecting an impact in accordance with an embodiment of the present invention. Detailed Description of an Embodiment of the Invention
Embodiments of the present invention relate to an impact detection system for a vehicle, particularly a train, such as of a type suitable for transporting mined material from a mine operation. The train may for example be autonomously controlled. However, trains that are at least partially controlled by a human operator as well as road vehicles are also envisaged. The impact detection system comprises a sensor arrangement for measuring a characteristic of an impact when the train collides with or impacts against an object. The impact detection system further comprises a trigger determiner that determines whether the detected characteristic exceeds a predefined threshold value. The sensor arrangement may for example comprise one or more load sensitive sensors, wherein each load sensitive sensor generates a variable electrical signal which changes in response to the impact force applied to the sensor.
The impact detection system further comprises an image capturing device that is disposed on the train so as to face outwardly and arranged to capture at least one image of the object with which the train has collided. For example, an image may be captured that is representative of a field of view from the train at the time of the collision.
When a characteristic of the impact is detected that is above the predefined threshold value, at least one of the captured image is automatically made available for inspection enabling the object to be identified. The object may for example be a stationary object or a moving object such as a vehicle, a person or an animal. The captured image may for example be made available by automatically communicating the image to an operation centre where the object with which the train collided can be identified.
The impact detection system in accordance with embodiments of the present invention provides significant advantages. In particular, the system enables informed decisions to be made as to whether the train needs to stop or can continue without stopping following detection of a collision based on identification of the object that was struck.
Referring initially to Figure 1 of the accompanying drawings, there is shown a schematic representation of an impact detection system 100 for a vehicle in accordance with an embodiment of the present invention. The vehicle in this embodiment is a train that is autonomously controlled.
In this particular example, the sensor arrangement of the impact detection system 100 comprises four load sensitive sensors 102. However, any suitable number of sensors that are arranged to detect a force of an impact is envisaged. Each sensor 102 generates an electrical signal such as a voltage that changes in response to a force applied to the sensor 102. In this embodiment, the sensors 102 are disposed on a locomotive body 104 of the train. Specifically, the sensors 102 are disposed on respective bolts of the locomotive body 104 as further illustrated in Figure 2.
The generated electrical signals are collected at a control unit 106 which is arranged to control and coordinate operations of components of the system 100. This control unit 106 may for example be implemented using a processor. The impact detection system 100 further comprises an amplifier (not shown) that amplifies the electrical signals generated by the load sensitive sensors 102.
The impact detection system 100 further comprises an image capturing device 108. In this example, the impact detection system 100 comprises two image capturing devices 108, each of which is positioned within the cockpit of the locomotive such that images can be captured through a windscreen 1 10 of the train. In this example, each of the image capturing devices 108 is arranged to capture video. The video is typically captured continuously from the cockpit of the locomotive 104 and image frames of the video are stored in a storage device 1 12, such as a hard disc of a computer. In this implementation, the image frames are stored in the storage device 1 12 for a predetermined time period before being erased. For example, the image frames may be stored in the storage device 1 12 for at least 12 hours, 24 hours, 2 days or 7 days.
It will be appreciated that the image capturing devices 108 may alternatively capture multiple successive still images that are captured at predetermined intervals. When the load sensitive sensors 102 detect an impact force of an object impacting against the sensors, they generate a corresponding electrical signal. The control unit 106 together with a trigger determiner 1 14 determines whether the impact force detected by the sensors 102 exceeds a predefined threshold value. For example, the electrical signal generated by each load sensitive sensor 102 may be communicated to the trigger determiner 1 14 such that any one of the load sensitive sensors 102 may generate a trigger signal that causes at least one captured image to be automatically made available for inspection. The predefined threshold value can, for example, be equivalent to an impact by an object that has a relative momentum with respect to the locomotive greater than 150 kg.m.s"1. When the impact force detected by the sensors 102 exceeds the predefined threshold value, the control unit 106 tags an image frame of the captured video stored at the storage device 1 12. The tagged image frame is representative of a field of view from the train substantially at impact.
The control unit 106 then instructs the system 100 to retrieve the tagged image frame from the storage device 1 12 and to communicate the tagged image frame to an operation centre 1 16 that is remote relative to the system 100. In this particular example, at least one additional image frame that was captured before occurrence of the impact is retrieved from the storage device 1 12 and communicated to the operation centre 1 16. In this way, upon inspection of the image frame, a human operator at the operation centre can identify the object that the train collided with based on the image frames that were captured.
It will be appreciated that any suitable image frame may be retrieved and communicated to the operation centre. For example, an image frame that is captured after occurrence of the impact may be retrieved and communicated to the operation centre. Alternatively, only image frames that were captured before occurrence of the impact may be retrieved and communicated to the operation centre.
It will further be appreciated that the object with which that train has collided may
alternatively be identified automatically, for example using image recognition software.
Based on identification of the object of the collision, a decision may be made as to whether the train needs to stop or can continue without stopping. For example, if the object is livestock, such as a cow, the train may continue without stopping, but a decision can be made to reimburse the owner of the cow. Conversely, if the object is a person, then the train would need to stop.
In the embodiment shown in Figure 1 , the tagged image frame together with the image frame captured before the impact are communicated to the operation centre 1 16 via a
communications network 1 18 such as the Internet. In this regard, the system 100 further comprises a network interface 120 that enables communication of data via the
communications network 1 18. However, other implementations are envisaged. For example, if the train is at least partially controlled by a human operator, an image frame may be displayed on a display in the train. In one embodiment, the impact detection system 100 further comprises an
accelerometer 122 that is attached to a moveable coupler 124 disposed on a front area of the locomotive body 104 of the train. A coupler of a train is a component arranged to couple a railway vehicle to a further railway vehicle, such as a further train carriage, a further locomotive, an ore car, a fuel car or the like. In this regard, the coupler has a component that is moveable to absorb compression and tension movements between two railway vehicles. If a coupler is positioned at a front area of a train where no further railway vehicle is to be coupled to the train, the moveable component of the coupler is typically stationary for normal operations of the train. However, upon application of an impact on the front area of the train, the moveable component of the coupler moves towards the train. This movement may be measured using the accelerometer 122.
Referring back to Figure 1 , the accelerometer 122 that is attached to the moveable component of the coupler 124 is arranged to measure an acceleration of the movement of the component when an object impacts against the train. The accelerometer 122 is independent of the load sensitive sensors 102 and is arranged to detect head on collisions, which are more rare than side impact collisions detected by the load sensitive sensors 102. A signal generated by the accelerometer 122 is collected at the control unit 106 and compared against a threshold value. As with the load sensitive sensors 102, if the threshold value is exceeded a trigger signal is generated that causes at least one captured image to be automatically made available for inspection, for example by tagging a relevant image frame of the captured video stored at the storage device 1 12. The signals from the accelerometer 122 may be analysed with the electrical signals from the load sensitive sensors 102 at the control unit 106 so that both side and head on collisions are detected and a determination can be made as to the location of impact. The system 100 further includes a discriminator to differentiate between actual collisions and electrical signals generated by the load sensitive sensors 102 that may be generated in error, namely detected impacts not caused by a collision with an object. Such false impact detections may be caused by electrical noise, vibrations experienced by the train, track surface anomalies or unexpected jolts to the train.
Referring now to Figure 2, there is illustrated a mounting arrangement for a load sensitive sensor 102 of the impact detection system 100 illustrated in Figure 1 .
In this embodiment, the load sensitive sensor is a force washer 102 attached to a bolt 202 that extends through a wall 204 of the locomotive body 104 of the train. The bolt 202 can be one of the bolts used to secure a cowcatcher to the locomotive body 104.
Specifically, the force washer 102 is located inside the locomotive body 104. Between the wall 204 and the head of the bolt 202, the force washer 102 is disposed between a pair of washers 206. A further washer 208 is positioned between the wall 204 and the force washer 102.
On the outside of the locomotive body 104, an optional bearing material 210, a mounting flange 212 and a further washer 214 are disposed on the bolt 202 and secured on the bolt 202 by a nut 216. It will be appreciated that this arrangement relates to an exemplary embodiment and other implementations for attaching the force washer 102 to the locomotive body 104 are envisaged.
In other embodiments of the invention, such as when applied to a truck, the force washer 102 can be provided on a nut joining a truck bumper to the truck.
In a further embodiment (not shown), the image capturing device 108 is arranged to capture at least one still image in response to the detection of a force of an impact at the sensors 102 that is above the predefined threshold value. It will be clear to a person skilled in the art that the still image will be captured immediately, e.g. less than 1 second, after the impact is detected such that upon inspection of the captured image the object can be identified.
In another embodiment (not shown), the impact detection system 100 is arranged to communicate an alert signal to the operation centre 1 16 when an impact is detected, the alert signal being indicative that at least one image is available. The impact detection system may further be arranged to facilitate retrieval of at least one captured image by an operator at the operation centre 1 16. However, it will be appreciated that the operator will need to retrieve the image immediately after the impact is detected such that a decision can be made as to whether the train needs to stop or can continue without stopping. Referring now to Figure 3 of the accompanying drawings, there is shown a flowchart illustrating a method 300 of detecting an impact on a train in accordance with an embodiment of the present invention. The method 300 may for example be implemented by the impact detection system 100 shown in Figure 1 .
Initially, video is continuously captured 302 from the train and image frames of the video are stored 302 in the data storage device 1 16 of the impact detection system 100.
In a next step, a characteristic of an object impacting the train during a collision is detected 304. The impact force may for example relate to a collision of the train with a stationary or moving object. It is further determined 306 whether the detected characteristic of the impact exceeds a predefined threshold value. If the detected characteristic is above the predefined threshold value, an image frame that is indicative of a field of view of the object substantially at impact is tagged 308 in response to detection of the collision in step 304.
In a further step, the tagged image frame, optionally together with at least one further image frame which was captured before and/or after the collision, are retrieved 310 from the storage device 1 12 and communicated 312 to the operation centre 1 16. Upon inspection of the image frames at the operation centre 1 16, an operator can identify the object.
In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word "comprise" or variations such as "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.

Claims

An impact detection system for a vehicle, the impact detection system comprising: a sensor arrangement arranged to measure a characteristic of an impact of an object against the vehicle;
a trigger determiner associated with the sensor arrangement for determining whether the characteristic of the impact is greater than a predefined threshold value; and
an image capturing device arranged to capture an image of the object; wherein the system is arranged to automatically make the captured image available for inspection in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time.
An impact detection system as claimed in claim 1 , comprising a storage device, wherein the image capturing device is arranged to continuously capture images and store the images in the storage device, and the system is arranged to retrieve the captured image of the object from the storage device in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value.
An impact detection system as claimed in claim 2, wherein the system is arranged to tag the captured image of the object in the storage device in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value, and to make the tagged image available for inspection so that the object in the image can be identified substantially in real-time.
An impact detection system as claimed in claim 1 , wherein the image capturing device is arranged to capture an image of the object in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value.
5. An impact detection system as claimed in any one of the preceding claims, wherein the sensor arrangement comprises a transducer capable of generating an electrical signal that varies according to impact force applied to the transducer.
6. An impact detection system as claimed in claim 5, wherein the transducer is a force washer.
7. An impact detection system as claimed in claim 5 or claim 6, wherein the sensor arrangement comprises an array of transducers and wherein the signals generated by the transducers are combined.
8. An impact detection system as claimed in any one of the preceding claims, wherein the sensor arrangement comprises an accelerometer arranged to generate an electrical signal that varies in response to movement of a part of the vehicle caused by a head- on impact, and the system is arranged to:
determine whether a magnitude of the electrical signal is greater than a predefined threshold value; and
automatically make a captured image available for inspection in response to determining that the magnitude of the electrical signal is greater than the predefined threshold value so that the object in the image can be identified substantially in realtime.
9. An impact detection system as claimed in any one of the preceding claims, comprising a discriminator arranged to discriminate between signals generated by a collision with an object and signals generated in error by a non-collision.
10. An impact detection system as claimed in claim 9, wherein the discriminator is
arranged to recognise signals generated in error resulting from:
vibrations experienced by the vehicle as the vehicle moves during use; surface anomalies of a surface on which the vehicle is travelling; and/or electrical noise.
1 1 . An impact detection system as claimed in any one of the preceding claims, wherein the predefined threshold value is equivalent to an impact by an object having a relative momentum with respect to the vehicle greater than substantially 150 kg.m.s"1.
12. An impact detection system as claimed in any one of the preceding claims, wherein the image capturing device comprises a camera arranged to capture a still image.
13. An impact detection system as claimed claim 12, wherein the camera is arranged to capture multiple successive still images at predetermined time intervals.
14. An impact detection system as claimed in any one of claims 1 to 1 1 , wherein the image capturing device comprises a video camera arranged to capture a video recording.
15. An impact detection system as claimed claim 14, wherein the system is arranged to extract a still image frame from the video recording.
16. An impact detection system as claimed in any one of the preceding claims, comprising a communication system arranged to communicate with a remote operation centre.
17. An impact detection system as claimed in claim 16, wherein the system is arranged to use the communications system to automatically communicate the captured image to the operation centre in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time at the operation centre.
18. An impact detection system as claimed claim 16, wherein the system is arranged to send an alert signal to the operation centre to indicate to the operation centre that a captured image is available for inspection.
19. An impact detection system as claimed in any one of the preceding claims, wherein the system is arranged to analyse the image so as to automatically identify the object.
20. An impact detection system as claimed in any one of the preceding claims, wherein the image capturing device is arranged to capture several images, wherein the captured images cover a period of time encompassing a time of the collision.
21 . A railroad train including an impact detection system as claimed in any one of the preceding claims.
22. A railroad train as claimed in claim 21 , wherein the railroad train is an autonomously controlled railroad train.
23. A railroad train as claimed claim 21 or 22, wherein the impact detection system is mounted onto a cowcatcher of the railroad train.
24. A road vehicle including an impact detection system as claimed in any one of claims 1
A method of detecting an object colliding with a vehicle, the method comprising:
determining a characteristic of an impact of the object against the vehicle;
determining whether the characteristic of the impact is greater than a predefined threshold value;
capturing an image of the object;
automatically making the captured image available for inspection in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time.
26. A method as claimed in claim 25, comprising continuously capturing images, storing the images in the storage device, and retrieving the captured image of the object from the storage device in response to determining that the characteristic of the impact is greater than the predefined threshold value.
27. A method as claimed in claim 26, comprising tagging the captured image of the object in the storage device in response to determining that the characteristic of the impact is greater than the predefined threshold value, and making the tagged image available for inspection so that the object in the image can be identified substantially in real-time.
28. A method as claimed in claim 25, comprising capturing an image of the object in
response to determining that the characteristic of the impact is greater than the predefined threshold value.
29. A method as claimed in any one of claims 25 to 28, comprising using a transducer capable of generating an electrical signal that varies according to impact force applied to the transducer to determine the characteristic of an impact of the object against the vehicle.
30. A method as claimed in claim 29, wherein the transducer is a force washer. A method as claimed in any one of claims 25 to 30, comprising discriminating between signals generated by a collision with an object and signals generated in error by a non- collision.
A method as claimed in claim 31 , wherein the discriminating step comprises recognising signals generated in error resulting from:
vibrations experienced by the vehicle as the vehicle moves during use; surface anomalies of a surface on which the vehicle is travelling; and/or electrical noise.
33. A method as claimed in any one of claims 25 to 32, wherein the predefined threshold value is equivalent to an impact by an object having a relative momentum with respect to the vehicle greater than substantially 150 kg.m.s"1.
34. A method as claimed in any one of claims 25 to 33, comprising using a camera to capture a still image of the object.
35. A method as claimed in any one of claims 25 to 34, comprising using a video camera to capture a video recording of the object.
36. A method as claimed claim 35, comprising extracting a still image frame from the video recording.
37. A method as claimed in any one of claims 25 to 36, comprising automatically
communicating the captured image to an operation centre in response to the trigger determiner determining that the characteristic of the impact is greater than the predefined threshold value so that the object in the image can be identified substantially in real-time at the operation centre.
38. A method as claimed in claim 37, comprising sending an alert signal to the operation centre to indicate to the operation centre that a captured image is available for inspection.
39. A method as claimed in any one of claims 25 to 38, comprising analysing the image so as to automatically identify the object.
PCT/AU2016/050620 2015-07-14 2016-07-14 Impact detection system Ceased WO2017008122A1 (en)

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AU2016293384A AU2016293384A1 (en) 2015-07-14 2016-07-14 Impact detection system
US15/740,447 US11052852B2 (en) 2015-07-14 2016-07-14 Impact detection system
BR112017028409-0A BR112017028409B1 (en) 2015-07-14 2016-07-14 IMPACT DETECTION SYSTEM, RAIL TRAIN AND METHOD OF DETECTING AN OBJECT COLLIDING WITH A VEHICLE
CA2992287A CA2992287C (en) 2015-07-14 2016-07-14 Impact detection system
AU2021202770A AU2021202770A1 (en) 2015-07-14 2021-05-03 Impact Detection System
AU2023208143A AU2023208143A1 (en) 2015-07-14 2023-07-26 Impact detection system

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US20180194314A1 (en) 2018-07-12
AU2016293384A1 (en) 2018-01-18
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US11052852B2 (en) 2021-07-06
BR112017028409A2 (en) 2018-08-28
CA2992287C (en) 2023-10-03
CA2992287A1 (en) 2017-01-19

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