Smart railways: the design and construction of an autonomous inspection and maintenance vehicle

摘要

The Railway Inspection and Maintenance Vehicle (RIMV) is a state-of-the-art autonomous ground robot for the railway environment. The robot has specialised hardware tailored for specific functionalities, ensuring optimal performance in its designated tasks. It incorporates a GPS, IMU, and encoder for robust localisation, and it integrates a LiDAR system and a depth camera for collision avoidance. Prioritising safety, the RIMV features an IP camera for real-time environmental monitoring and is equipped with emergency stop mechanisms. An Ubuntu Linux machine manages the robot’s data processing, complemented by a 5G Wi-Fi router for remote monitoring and operation when necessary. ROS2 is the primary platform for robot operations, standing out for its open-source solution and enhanced cybersecurity features. We validated the RIMV in a heritage railway setting with an ultrasonic inspection kit to detect rail-track defects. Beyond this specific application, the RIMV is versatile and designed to serve as a platform for other autonomous inspection and maintenance tasks within the railway sector. Its adaptability highlights its potential to enhance efficiency and safety in railway maintenance, offering invaluable assistance to human operators across varied scenarios.