WO2020165916A1 - Procédés et systèmes pour la réparation de croisements de voies ferrées - Google Patents

Procédés et systèmes pour la réparation de croisements de voies ferrées Download PDF

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Publication number
WO2020165916A1
WO2020165916A1 PCT/IN2020/050135 IN2020050135W WO2020165916A1 WO 2020165916 A1 WO2020165916 A1 WO 2020165916A1 IN 2020050135 W IN2020050135 W IN 2020050135W WO 2020165916 A1 WO2020165916 A1 WO 2020165916A1
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WO
WIPO (PCT)
Prior art keywords
repairing
crossing
target portion
actions
welding
Prior art date
Application number
PCT/IN2020/050135
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English (en)
Inventor
Rohit Khanna
Original Assignee
Low Heat Metal Bonds Private Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Low Heat Metal Bonds Private Limited filed Critical Low Heat Metal Bonds Private Limited
Publication of WO2020165916A1 publication Critical patent/WO2020165916A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/042—Track changes 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
    • B61L27/53—Trackside diagnosis or maintenance, e.g. software upgrades for trackside elements or systems, e.g. trackside supervision of trackside control system conditions
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
    • E01B31/02—Working rail or other metal track components on the spot

Definitions

  • This disclosure relates generally to a repairing system, and more particularly to a method and system for repairing a crossing of railway tracks.
  • a crossing also known as frog and or V-rail, is a point of crossing of two rails.
  • the crossing can be assembled from several pieces of rails.
  • the crossing can be a single casting of manganese steel. Due to its structural shape, the crossing is prone to frequent wear and tear. This may cause many defects, such as collapsing and spalling of the crossing, breaking of transverse connecting bolts, loosening of spacers, and so on. Such defects shorten the service life of the railway tracks, and may consequently affect the safe running of trains. As such, it becomes necessary to repair the crossings in a timely manner, to avoid adverse consequences.
  • a common method of repairing the crossings is performing welding on the damaged portion of the crossing.
  • the welding is performed manually, upon manually identifying the damaged portion of the crossing.
  • the manual method is time and labour intensive.
  • Some conventional techniques provide for automatic or robotic welding of railway tracks. However, no techniques are available for repairing the crossing of the railway tracks. Further, some techniques use camera (for e.g. charge-coupled device (CCD)) based sensors for developing images or models for assisting in the automatic welding. However, these camera based sensors are not able to capture the image of the tracks to be welded with high accuracy, and hence the results of welding may be not be satisfactory. Furthermore, the images or models obtained by the camera based sensors suffer from inaccuracies introduced by the shadows captured within. This further affects the quality and of welding.
  • CCD charge-coupled device
  • a method of repairing a crossing of railway tracks may include generating a three-dimensional model of a portion of the crossing of the railway tracks by using a LASER sensor.
  • the method may further include determining a target portion of the crossing of the railway tracks at which repairing is required, and an extent of repairing required, based on the three-dimensional model of the portion of the crossing.
  • the method may further include generating a sequence of one or more actions to be performed for repairing the identified target portion, based on the three-dimensional model.
  • the method may further include triggering a repairing arm to perform the one or more actions at the identified target portion, based on the sequence of one or more actions.
  • a system for repairing a crossing of railway tracks may include a LASER sensor configured to obtain data associated with a portion of the crossing of railway tracks.
  • the system may further include a repair controller device coupled to the LASER sensor.
  • the repair controller device may further include a processor and a memory communicatively coupled to the processor.
  • the memory stores processor-executable instructions, which on execution, may cause the processor to generate a three-dimensional model of a portion of the crossing of the railway tracks using the data obtained by the LASER sensor.
  • the processor-executable instructions may further cause to determine the target portion of the crossing of the railway tracks at which repairing is required, and an extent of repairing required based on the three- dimensional model, and further to generate a trigger to perform the one or more actions at the identified target portion, based on the sequence of one or more actions.
  • the system may further include a repairing arm coupled to the repair controller device. The repairing arm may be configured to perform the one or more actions at the identified target portion, upon receiving the trigger generated by the repair controller device.
  • FIG. 1 illustrates a system for repairing a crossing of railway tracks, in accordance with an embodiment.
  • FIG. 2 illustrates a block diagram of a memory of a repair control device, in accordance with an embodiment.
  • FIG. 3 illustrates an isometric view of a system for repairing a crossing of railway tracks, in accordance with another embodiment.
  • FIG. 4 illustrates a flowchart of a method for repairing a crossing of railway tracks, in accordance with an embodiment.
  • a system 100 for repairing a crossing of railway tracks is illustrated in the FIG. 1 , in accordance with an embodiment.
  • the system 100 may include a Light Amplification by Stimulated Emission of Radiation (LASER) sensor 102.
  • the LASER sensor 102 may obtain data associated with a portion of the crossing of railway tracks.
  • the system 100 may further include a repair controller device 104, and a repairing arm 1 14 coupled to the repair controller device 104.
  • the repairing arm 1 14 may perform one or more actions at the identified target portion, upon receiving a trigger generated by the repair controller device 104.
  • the repair controller device 104 may include a processor 106 and a memory 108.
  • the memory 108 may store instructions that, when executed by the processor 106, cause the processor 106 to perform various actions in order to repair a crossing of railway tracks, for example, by way of generating a trigger to perform the one or more actions at the identified target portion, based on a sequence of one or more actions, as discussed in greater detail in FIG. 2-FIG. 4.
  • the processor 106 may include a microprocessor, such as AMD® ATHLON® microprocessor, DURON® microprocessor OR OPTERON® microprocessor, ARM’s application, embedded or secure processors, IBM® POWERPC®, INTEL’S CORE® processor, ITANIUM® processor, XEON® processor, CELERON® processor or other line of processors, etc.
  • the processor 106 may be implemented using mainframe, distributed processor, multi-core, parallel, grid, or other architectures. Some embodiments may utilize embedded technologies like application-specific integrated circuits (ASICs), digital signal processors (DSPs), Field Programmable Gate Arrays (FPGAs), etc.
  • the memory 108 may be a non volatile memory or a volatile memory.
  • non-volatile memory may include, but are not limited to a flash memory, a Read Only Memory (ROM), a Programmable ROM (PROM), Erasable PROM (EPROM), and Electrically EPROM (EEPROM) memory.
  • volatile memory may include, but are not limited to Dynamic Random Access Memory (DRAM), and Static Random-Access memory (SRAM).
  • the memory 108 may also store various data (e.g., LASER sensor data, sequence data, trigger data, comparison data, etc.) that may be captured, processed, and/or required by the system 100.
  • the repair controller device 104 may further include a display 1 10 and a user interface 112.
  • the repair controller device 104 may interact with a user and vice versa through the display 1 10.
  • the display 1 10 may be used to display the image using the data obtained by the LASER sensor 102, to the user.
  • the user interface 1 12 may be used by the user to provide inputs to the repair controller device 104.
  • the repair controller device 104 may receive LASER data 210 associated with the portion of the crossing, generated by the LASER sensor 102.
  • the repair controller device 104 may further generate a three-dimensional model of a portion of the crossing using the LASER data 210 generated by the LASER sensor 102. Based on the three-dimensional model, the repair controller device 104 may determine a target portion of the crossing of the railway tracks at which repairing is required, and an extent of repairing required.
  • the repair controller device 104 may further generate a sequence of one or more actions to be performed for repairing the identified target portion, based on the three-dimensional model.
  • the repair controller device 104 may then generate a trigger to perform the one or more actions at the identified target portion, based on the sequence of one or more actions.
  • the repair controller device 104 may interact with the LASER sensor 102 and the repairing arm 1 14 over a network 1 16 for sending or receiving various data.
  • the network 1 16 may be a wired or a wireless network and the examples may include, but are not limited to the Internet, Wireless Local Area Network (WLAN), Wi-Fi, Long Term Evolution (LTE), and Worldwide Interoperability for Microwave Access (WiMAX).
  • WLAN Wireless Local Area Network
  • Wi-Fi Wireless Fidelity
  • LTE Long Term Evolution
  • WiMAX Worldwide Interoperability for Microwave Access
  • the system 100 may be deployed on railway tracks in proximity to a crossing of the railway tracks that require repairing. It may be noted that the crossings may undergo wear and tear in form of development of cracks or loss of material loss. The repairing of the crossing may therefore require performing welding or depositing material at one or more portions of the crossing.
  • the memory 108 may include modules that may perform various functions, so as to repair the crossing of railway tracks.
  • the memory 108 may include a model generating module 202, a target portion determining module 204, a sequence generating module 206, and a triggering module 208.
  • all such aforementioned modules 202-208 may be represented as a single module or a combination of different modules.
  • each of the modules 202-208 may reside, in whole or in parts, on one device or multiple devices in communication with each other.
  • the memory 108 may receive sensor data 210 from the LASER sensor 102 which may be stored within the memory 108.
  • the model generating module 202 may receive LASER data 210 from the LASER sensor 102. Based on the LASER data 210 received, the model generating module 202 may generate a three- dimensional model of a portion of the crossing of the railway tracks.
  • the LASER data 210 may include distance from a target portion of the crossing.
  • the LASER data 210 may further include multiple distances from the target portion, obtained from multiple positions and orientations of the LASER sensor 102. Further, the LASER data 210 may include one or more x-coordinates, y-coordinates, and z-coordinates of the target portion.
  • the model generating module 202 may generate multiple two-dimensional images of the crossing, based on the LASER data 210. The model generating module 202 may then generate a three-dimensional model of the crossing, by combining the multiple two- dimensional images.
  • the target portion determining module 204 may analyze the three-dimensional model to identify a target portion of the crossing, which requires repairing. In some embodiments, the target portion determining module 204 may further determine an extent of repairing required at the identified target portion. It may be understood that the target portion determining module 204 may employ one or more known techniques for identifying the target portion of the crossing, and determining the extent of repairing required. By way of an example, the target portion determining module 204 may employ one or both of edge detection and blob detection techniques.
  • the target portion determining module 204 may compare the three-dimensional model of the crossing (which requires repairing) generated by the model generating module 202 with a three-dimensional model of an original crossing (which has not undergone any wear and tear, and thus does not require repairing). In other words, the target portion determining module 204 may determine dimensions i.e. length, width and depth of the crossing of the railway tracks (which requires repairing) using the three-dimensional model. The target portion determining module 204 may then compare these dimensions with dimensions of an original crossing.
  • the sequence generating module 206 may generate a sequence of one or more actions to be performed for repairing the identified target portion.
  • the one or more actions may include performing welding or material deposition. It may be understood that the one or more actions may include any other action as well, for repairing the crossing of the railway tracks, without deviating from the scope of invention.
  • the sequence generating module 206 may determine a length and/or width of weld to obtained, position at which the welding is to be performed, duration for which welding is to be performed at the position, path to be followed by the repairing arm for obtaining the weld, etc.
  • the sequence generating module 206 may determine an amount of material to be deposited, position at which the material is to be deposited, duration of time for which material is be deposited, path to be followed by the repairing arm for depositing the material, etc.
  • the sequence generating module 206 may generate the sequence of one or more actions to ensure that temperature at the position of repairing does not rise beyond a predetermined temperature limit.
  • the sequence generating module 206 may generate the sequence in order to perform skip welding.
  • Such a sequence may include initiating performing of a first welding uninterruptedly for a first predetermined period time at a first location, followed by initiating performing of a second welding uninterruptedly for a second predetermined period time at a second location.
  • the first location and the second location may be separated by a predetermined distance, and the performing of second welding may be initiated after elapsing of a predetermined time period after the initiation of performing of the second welding.
  • the predetermined distance and predetermined time period may be based on the material of the crossing.
  • the predetermined distance and the predetermined time period may be based on the melting point of the material of the crossing.
  • the welding may not be performed continuously at one position, but intermittently by halting welding at one position and skipping to another position. In this manner, high build-up of temperature at one position, and hence damages ensuing due to high temperature build up are avoided.
  • the triggering module 208 may be coupled to the repairing arm 1 14 (as shown in FIG. 1 ) of the system 100.
  • the triggering module 208 may trigger the repairing arm 114 to perform the one or more actions at the identified target portion.
  • the one or more actions may be based on the sequence of one or more actions generated by the sequence generating module 206.
  • the one or more actions may include, among others, performing welding and material deposition.
  • the repairing arm may include a welding nozzle and/or a material deposition nozzle.
  • the repairing arm 1 14 may be a coordinate robotic arm or a Selective Compliance Assembly Robot Arm (SCARA), or any other robotic arm known in the art.
  • SCARA Selective Compliance Assembly Robot Arm
  • the repairing arm 1 14 may be configured to move linearly along at least one of X-axis, Y- axis, and Z-axis.
  • the triggering module 208 may further cause aligning of the repairing arm 114 with the identified target portion of the crossing, for performing the one or more actions at the identified target portion.
  • the triggering module 208 may cause the repairing arm 1 14 may move linearly along at least one of X-axis, Y-axis, and Z-axis, so as to align with the identified target portion of the crossing.
  • the triggering module 208 may further guide the repairing arm 114 along a path for obtaining a desired welding shape and size.
  • a system 300 (analogous to the system 100) for repairing a crossing 302 of railway tracks 304 is illustrated, in accordance with another embodiment.
  • the system 300 may be installed proximate to the crossing 302 of the railway tracks 304, so as to repair the crossing 302.
  • the system 300 may include a frame 306 supported on one or more clamping units 308.
  • the system 300 may be installed by fixing the one or more clamping units 308 on the ground or to the tracks 304.
  • the system 300 may include a LASER sensor 310, and a repair controller device (not shown).
  • the LASER sensor 310 may obtain LASER data associated with a portion of the crossing 302.
  • the LASER sensor 310 may transmit a LASER beam towards the railway crossing, and the receive the LASER beam upon reflection from a point on the surface of the railway crossing. The LASER sensor 310 may then calculate the time taken by the LASER beam to be received after transmission, and then calculate the distance of the point from the sensor. The distance data may later be used for generating a three- dimensional model of railway crossing. The distance data may be calculated as follows:
  • N is the integer number of wave half cycles of the round-trip and DN the remaining fractional part
  • the repair controller device may be coupled to the LASER sensor 310.
  • the repair controller device may receive the LASER data from the LASER sensor 310, and perform various actions in order for repairing the crossing 302.
  • the repair controller device may be provided at any suitable position on the system 300.
  • the repair controller device may generate a three-dimensional model of a portion of the crossing 302 using the data obtained by the LASER sensor 310.
  • the repair controller device may further determine a target portion of the crossing of the railway tracks at which repairing is required and an extent of repairing required, based on the based on the three-dimensional model.
  • the repair controller device may generate a sequence of the one or more actions to be performed for repairing the identified target portion.
  • the repair controller device may further generate a trigger to perform the one or more actions at the identified target portion, based on the sequence of one or more actions.
  • the repair controller device has been explained already in conjunction with FIGs. 1 and 2.
  • the system 300 further includes a repairing arm 312 coupled to the repair controller device.
  • the repairing arm 312 receives the trigger generated by the repair controller device to perform the one or more actions at the identified target portion of the crossing 302.
  • the one or more actions include performing welding at the identified target portion of the crossing 302.
  • the repairing arm 312 includes a welding nozzle (not shown in the FIG. 3).
  • the repairing arm 312 may be a coordinate robotic arm or a Selective Compliance Assembly Robot Arm (SCARA), or any other robotic arm known in the art.
  • SCARA Selective Compliance Assembly Robot Arm
  • the repairing arm 312 is configured to move linearly along X-axis, Y-axis, and Z-axis.
  • the repairing arm 312 aligns itself with the identified target portion of the crossing 302 for performing welding. It will be appreciated by those skilled in the art that the repairing arm 312 may move linearly along one or more of the X-axis, the Y-axis, and the Z-axis so as to align with the identified target portion of the crossing 302. In alternate embodiments, the repairing arm 312 may be aligned manually via the repair controller device. A user may communicate with the repair controller device to provide instructions via a user interface of the repair controller device to align and move the repairing arm 312, so as to perform the welding. Additionally, the user may communicate with the repair controller device remotely over a wireless network.
  • the repairing arm 312 may perform gas metal arc welding (GMAW), such as metal inert gas (MIG) welding.
  • GMAW gas metal arc welding
  • MIG metal inert gas
  • the repairing arm 312 may retrieve a welding wire from a welding wire spool 314.
  • the welding wire is preferably of the same material as of the railway track.
  • the welding wire may be protected and guided by an electrode conduit and liner, to help prevent buckling and maintain an uninterrupted wire feed.
  • the welding wire spool 314 may include a driving motor, a set of driving rollers, and wire feed controls to control speed of feeding of the welding wire.
  • the welding wire spool 314 may start supplying welding wire to a wire feeder (not shown on FIG. 3).
  • the wire feeder may heat the welding wire by creating an arc, thereby melting the welding wire.
  • the welding wire is then deposited at the target portion of the crossing 302 via the welding nozzle (not shown on FIG. 3).
  • FIG. 4 a flowchart 400 of a method for repairing a crossing of railway tracks is illustrated, in accordance with an embodiment.
  • the method for repairing the crossing may be performed by a repair controller device 104 of the system 100 (as shown in FIG. 1 ).
  • a three-dimensional model of a portion of the crossing of the railway tracks may be generated.
  • the three-dimensional model may be generated using a LASER sensor.
  • a target portion of the crossing of the railway tracks may be determined at which repairing is required. Additionally, at step 404, an extent of repairing required may be determined.
  • a sequence may be generated of one or more actions to be performed for repairing the identified target portion.
  • a repairing arm may be triggered to perform the one or more actions at the identified target portion, based on the sequence of one or more actions.
  • a three-dimensional model of a portion of the crossing of the railway tracks may be generated.
  • the three-dimensional model may be generated by a model generating module 202.
  • the three-dimensional model may be generated based on LASER data received from a LASER sensor.
  • the LASER data may include a distance from a target portion of the crossing, one or more x- coordinates, y-coordinates, and z-coordinates of the target portion.
  • a target portion of the crossing at which repairing is required is identified, and an extent of repairing required is determined.
  • the extent of the repairing may include a length of welding to be performed at the target portion, and a depth of material to be deposited at the target portion.
  • the identification of the target portion and the determination of the extent of repairing required is performed by a target portion determining module 204. It may be understood one or more known techniques may be employed for identifying the target portion of the crossing, and determining the extent of repairing required. By way of an example, the techniques may include edge detection and blob detection techniques.
  • the three- dimensional model of the crossing (which requires repairing) may be compared with a three-dimensional model of an original crossing (which has not undergone any wear and tear, and thus does not require repairing).
  • dimensions i.e. length, width and depth of the crossing (which requires repairing) are determined using the three-dimensional model, and these dimensions are then compared with the dimensions of an original crossing.
  • a sequence of one or more actions to be performed for repairing the identified target portion may be generated.
  • the sequence may be generated by a sequence generating module 206.
  • the one or more actions may include performing welding or material deposition.
  • a length and/or width of weld to obtained, a position at which the welding is to be obtained, a duration of time for which welding is to be performed at the position, a path to be followed by the repairing arm for obtaining the weld, etc. may be determined. Further, an amount of material to be deposited, position at which the material is to be deposited, duration of time for which material is be deposited, and path to be followed by the repairing arm for depositing the material may be determined.
  • the sequence of the one or more actions may be determined to ensure that temperature at the position of repairing does not rise beyond a predetermined temperature limit.
  • the sequence may be generated in order to perform skip welding.
  • Such a sequence may include initiating performing of a first welding uninterruptedly for a first predetermined period time at a first location, followed by initiating performing of a second welding uninterruptedly for a second predetermined period time at a second location.
  • the first location and the second location may be separated by a predetermined distance, and the performing of second welding may be initiated after elapsing of a predetermined time period after the initiation of performing of the second welding.
  • a repairing arm 1 14 may be triggered to perform the one or more actions at the identified target portion.
  • the one or more actions may be based on the sequence of one or more actions generated at the step 406. Further, at step 408, the repairing arm 1 14 may be aligned with the identified target portion of the crossing, for performing the one or more actions at the identified target portion.
  • the repairing arm 312 may be aligned with the identified target portion of the crossing 302 for performing welding. For example, the repairing arm 312 may be triggered to move linearly along one or more of the X-axis, the Y-axis, and the Z-axis so as to align with the identified target portion of the crossing 302. In alternate embodiments, the repairing arm 312 may be aligned manually via the repair controller device, by a user communicating with the repair controller device via a user interface of the repair controller device, or remotely over a wireless network.
  • One or more techniques for repairing crossings of railway tracks are described, in the above disclosure. These techniques employ a LASER sensor, a repair controller device, and repairing arm to automatically perform repairing at the crossing.
  • the repairing may include performing welding or material deposition.
  • These techniques thus, provide time and labor efficient way for repairing the crossings, thereby overcoming the shortcomings of the manual method of welding the railway tracks.
  • these techniques enabled by the LASER sensor, and the computer controlled repairing arm ensure an accurate and precise repairing of the crossing. This further helps in avoiding unnecessary wastage of material, besides saving time in performing the repairing actions.
  • the LASER sensors are also able to avoid disadvantages of inaccuracies introduced by the shadows captured in the images obtained by other types of sensors.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne des procédés et des systèmes de réparation de croisements de voies ferrées. Dans un mode de réalisation, le système (100) peut comprendre un capteur LASER (102) configuré pour obtenir des données associées à une partie du croisement de voies ferrées. Le système (100) peut en outre comprendre un dispositif de commande de réparation (104). Le dispositif de commande de réparation (104) peut générer un modèle tridimensionnel d'une partie du croisement à l'aide des données obtenues par le capteur LASER (102), déterminer une partie cible du croisement sur laquelle la réparation est requise, et l'ampleur de la réparation requise, générer une séquence d'une ou plusieurs actions à exécuter pour réparer la partie cible identifiée, et générer un déclencheur pour effectuer la ou les actions au niveau de la partie cible identifiée. Le système peut comprendre un bras de réparation (114) conçu pour effectuer la ou les actions au niveau de la partie cible identifiée.
PCT/IN2020/050135 2019-02-15 2020-02-11 Procédés et systèmes pour la réparation de croisements de voies ferrées WO2020165916A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN112967387A (zh) * 2021-03-31 2021-06-15 神华神东煤炭集团有限责任公司 矿用刮板磨损后的修复方法和系统
CN112967387B (zh) * 2021-03-31 2024-05-24 神华神东煤炭集团有限责任公司 矿用刮板磨损后的修复方法和系统

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