Apparatuses, systems, and methods for monitoring moving vehicles
Railcar inspection systems, methods, and apparatuses are disclosed, including a railcar inspection portal. The railcar inspection portal includes a physical structure positioned around a railroad track, and through which a railcar can travel. The railcar inspection portal can include wheel detection sensors along the railroad track for detecting the presence of a railcar passing over the sensors. The sensors can transmit signals, corresponding to railcars passing over the sensors, to computing devices for determining railcar speeds. The railcar inspection portal can include imaging devices configured to capture images and readings of railcars passing through the inspection portal. Based on a determined speed corresponding to a passing railcar, the computing devices can control the imaging devices to capture specific areas or components of the passing railcar, or individual cars thereon. The computing devices can process the captured images to detect defects corresponding to the passing railcar, or individual cars thereon.
1. A system comprising:
one or more imaging devices, each of the one or more imaging devices being configured to capture images of a corresponding target region of a passing railcar traveling along a railway, each target region corresponding to one or more railcar components of the passing railcar;
one or more wheel detection sensors configured to detect a presence and/or a non-presence of wheels traveling along a railway, the one or more wheel detection sensors being located upstream from the one or more imaging devices such that the passing railcar passes the one or more wheel detection sensors before passing the one or more imaging devices; and
one or more computing devices in communication with the one or more wheel detection sensors and the one or more imaging devices, the one or more computing devices being configured to:
determine a current estimated train speed of the passing railcar based at least in part on detection data received from the one or more wheel detection sensors;
determine one or more trigger timings, each trigger timing corresponding to a particular imaging device of the one or more imaging devices, wherein each trigger timing is based at least in part on the current estimated train speed and, for each particular imaging device of the one or more imaging devices, a distance offset and a trigger latency; and
output capture instructions for each of the one or more imaging devices to capture images of the passing railcar according to a corresponding trigger timing of the one or more trigger timings, wherein the capture instructions comprises, for each corresponding imaging device of the one or more imaging devices, burst instructions indicating a particular number of images to be captured and a particular capture rate for capturing the particular number of images.
2. The system of claim 1 , wherein the distance offset is, for each particular imaging device of the one or more imaging devices, a distance between the one or more wheel detection sensors and the particular imaging device.
3. The system of claim 2 , wherein the distance offset comprises a plurality of distances between the particular imaging device and each wheel detection sensor of the one or more wheel detection sensors.
4. The system of claim 1 , wherein the trigger latency comprises, for each particular imaging device of the one or more imaging devices, a timing delay between a transmission time at which the capture instructions are outputted and a receipt time at which the particular imaging device receives the capture instructions.
5. The system of claim 1 , wherein the trigger latency comprises, for each particular imaging device of the one or more imaging devices, a processing time required for the particular imaging device to capture a first image after receiving the capture instructions.
6. The system of claim 1 , wherein the trigger latency comprises, for each particular imaging device of the one or more imaging devices, clock discrepancies between an imaging clock of the particular imaging device and a control clock of the one or more computing devices.
7. The system of claim 1 , wherein the one or more imaging devices comprises a plurality of imaging devices and the capture instructions synchronize image capture timings among the plurality of imaging devices.
8. The system of claim 7 , wherein the capture instructions cause all imaging devices of the plurality of imaging devices to capture images within a microsecond of one another.
9. A method comprising:
receiving detection data from one or more wheel detection sensors, the detection data indicating detection of a train;
determining, based at least in part on the detection data, a first estimated speed of a first railcar of the train;
determining a plurality of first trigger timings, each first trigger timing of the plurality of first trigger timings corresponding to a respective imaging device of a plurality of imaging devices, wherein each first trigger timing is based at least in part on, for each imaging device of the plurality of imaging devices:
a distance offset for the imaging device;
a trigger latency for the imaging device; and
the first estimated speed;
outputting first capture instructions for each of the plurality of imaging devices to capture images of the first railcar according to a first trigger timing specific to each of the plurality of imaging devices, the first capture instructions comprising, for each corresponding imaging device of the plurality of imaging devices, first burst instructions indicating a first particular number of images to be captured and a first particular capture rate for capturing the first particular number of images;
determining, based at least in part on the detection data, a second estimated speed of a second railcar of the train;
determining a plurality of second trigger timings, each second trigger timing of the plurality of second trigger timings corresponding to a respective imaging device of the plurality of imaging devices, wherein each second trigger timing is based at least in part on, for each imaging device of the plurality of imaging devices:
the distance offset for the imaging device;
the trigger latency for the imaging device; and
the second estimated speed; and
outputting second capture instructions for each of the plurality of imaging devices to capture images of the second railcar according to a second trigger timing specific to each of the plurality of imaging devices, the second capture instructions comprising, for each corresponding imaging device of the plurality of imaging devices, second burst instructions indicating a second particular number of images to be captured and a second particular capture rate for capturing the second particular number of images.
10. The method of claim 9 , wherein the second estimated speed is different from the first estimated speed.
11. The method of claim 9 , wherein the trigger latency comprises, for each imaging device of the plurality of imaging devices:
a timing delay between a transmission time at which capture instructions are outputted and a receipt time at which the imaging device receives the capture instructions; and
a processing time required for the imaging device to capture a first image after receiving the capture instructions.
12. The method of claim 9 , wherein the first estimated speed or the second estimated speed, respectively, synchronize image capture timings among the plurality of imaging devices.
13. The method of claim 12 , wherein the capture instructions cause all imaging devices of the plurality of imaging devices to capture images within a microsecond of one another.
14. A non-transitory, computer readable medium storing instructions that, when executed by one or processors, causes a computing system to:
receive detection data from one or more wheel detection sensors, the detection data indicating detection of a train;
determine, based at least in part on the detection data, a first estimated speed of a first passing railcar of the train;
determine a plurality of first trigger timings, each first trigger timing of the plurality of first trigger timings corresponding to a respective imaging device of a plurality of imaging devices, wherein each first trigger timing is based at least in part on, for each imaging device of the plurality of imaging devices:
a distance offset for the imaging device;
a trigger latency for the imaging device; and
the first estimated speed;
output first capture instructions for each of the plurality of imaging devices to capture three or more first images of the first passing railcar according to a first trigger timing specific to each of the plurality of imaging devices, the three or more first images comprising:
a first central image capture in which a target region of the first passing railcar is positioned in an inner portion of a field of view of the corresponding image device of the plurality of imaging devices;
a first leading image capture in which the target region of the first passing railcar is located between the inner portion and a leading edge of the field of view of the corresponding image device of the plurality of imaging devices; and
a first lagging image capture in which the target region of the first passing railcar is located between the inner portion and a trailing edge of the field of view of the corresponding image device of the plurality of imaging devices;
determine, based at least in part on the detection data, a second estimated speed of a second passing railcar of the train;
determine a plurality of second trigger timings, each second trigger timing of the plurality of second trigger timings corresponding to a respective imaging device of a plurality of imaging devices, wherein each second trigger timing is based at least in part on, for each imaging device of the plurality of imaging devices:
the distance offset for the imaging device;
the trigger latency for the imaging device; and
the second estimated speed; and
output second capture instructions for each of the plurality of imaging devices to capture three or more second images of the second passing railcar according to a second trigger timing specific to each of the plurality of imaging devices, the three or more second images comprising:
a second central image capture in which a target region of the second passing railcar is positioned in an inner portion of a field of view of the corresponding image device of the plurality of imaging devices;
a second leading image capture in which the target region of the second passing railcar is located between the inner portion and a leading edge of the field of view of the corresponding image device of the plurality of imaging devices; and
a second lagging image capture in which the target region of the second passing railcar is located between the inner portion and a trailing edge of the field of view of the corresponding image device of the plurality of imaging devices.
15. The non-transitory, computer readable medium of claim 14 , wherein the second estimated speed is different from the first estimated speed.
16. The non-transitory, computer readable medium of claim 14 , wherein the trigger latency comprises, for each imaging device of the plurality of imaging devices:
a timing delay between a transmission time at which capture instructions are outputted and a receipt time at which the imaging device receives the capture instructions; and
a processing time required for the imaging device to capture a first image after receiving the capture instructions.
17. The non-transitory, computer readable medium of claim 14 , wherein each of the first capture instructions and the second capture instructions comprise instructions for each of the plurality of imaging devices to capture images according to a corresponding image capture rate, wherein the image capture rate is based at least in part on the first estimated speed or the second estimated speed, respectively.
18. The non-transitory, computer readable medium of claim 14 , wherein the first estimated speed or the second estimated speed, respectively, synchronize image capture timings among the plurality of imaging devices.
19. The non-transitory, computer readable medium of claim 18 , wherein the capture instructions cause all imaging devices of the plurality of imaging devices to capture images within a microsecond of one another.
20. The non-transitory, computer readable medium of claim 14 , wherein:
the first capture instructions for each of the plurality of imaging devices are instructions for each of the plurality of imaging devices to capture a corresponding first image burst;
the second capture instructions for each of the plurality of imaging devices are instructions for each of the plurality of imaging devices to capture a corresponding second image burst; and
the instructions, when executed by the one or processors, further cause the computing system to:
determine one or more first conditions of the first passing railcar based on one or more first image bursts;
determine one or more second conditions of the second passing railcar based on one or more second image bursts;
determine a first confidence value for each of the one or more first conditions based at least in part on an analysis of the corresponding first image bursts; and
determine a second confidence value for each of the one or more second conditions based at least in part on an analysis of the corresponding second image bursts.