Design and Operational Assessment of a Railroad Track Robot for Railcar Undercarriage Condition Inspection

Abstract

The operational effectiveness of a railroad track robot that is designed for railcar undercarriage inspection is provided. Beyond describing the robot’s design details and onboard imaging system, the paper analyzes the recorded video images and offers design improvements to increase their clarity. The robot is designed to be deployed trackside, traverse over the rails, and then maneuver in between the rails beneath a stopped train in a siding or a railyard. The under-carriage conditions are documented by onboard video cameras for automated or manual postprocessing. The intent is to inspect the components that are not visible to the conductor or train inspector during a walk-along inspection of a stationary train. An assessment of the existing design, followed by modification and validation, is presented. The results from a prototype unit developed by the Railway Technologies Laboratory at Virginia Tech (RTL) indicate that with proper positioning of off-the-shelf imaging systems such as cameras manufactured by GoPro® in San Mateo, CA, USA and appropriate lighting, it is possible to capture videos that are sufficiently clear for manual (by a railroad engineer), semi-automated, or fully automated (using Artificial Intelligence or Machine Learning methods) inspections of rolling stock undercarriages. Additionally, improvements to the control, mobility, and reliability of the system are documented, although reliability throughout operation and the ability to consistently climb out of the track bed remain points of future investigation.