RAIL INSPECTION VEHICLE USING IR SENSOR

AND SPOT MARKING SYSTEM

A PROJECT REPORT

Submitted by

RANJITH KUMAR T 211616115041

SIBICHAKKRAVARTHY K 211616115046

In partial fulfillment for the award of the degree

Of

BACHELOR OF ENGINEERING

in

MECHATRONICS ENGINEERING

RAJALAKSHMI ENGINEERING COLLEGE, THANDALAM

ANNA UNIVERSITY: CHENNAI 600 025

SEPTEMBER 2020

i
 ANNA UNIVERSITY :: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report “RAIL INSPECTION VEHICLE USING

IR SENSOR AND SPOT MARKING SYSTEM” is the bonafide work of
“RANJITH KUMAR T (211616115041), SIBICHAKKRAVARTHY K
(211616115046)” who carried out the project under my supervision.

SIGNATURE SIGNATURE

DR.V.SANTHANAM Mr. M. SRIDHARAN

HEAD AND PROFESSOR Assistant Professor,
Department Of Mechatronics Engineering, Department Of Mechatronics Engineering,
Rajalakshmi Engineering College, Rajalakshmi Engineering College,
Thandalam, Thandalam,
Chennai – 602 105. Chennai – 602 105.

This project is submitted for VIVA-VOCE examination held on ............................

at Rajalakshmi Engineering College, Chennai.

INTERNAL EXAMINER EXTERNAL EXAMINER

ii
 ABSTRACT

There are many issues and accidents recorded mainly due to failure in the
condition of the railway tracks. There are many problems faced due to the
occurrence of cracks in the railway tracks, though even continuous monitoring of
the surfaces could not extend complete eradication of this problem. The
technique related with the use of ultrasonic sensor which detects the crack and
using radio frequency. It sends the signal to the user via GSM is been in use; in
addition technique using magnetic flux detection is the one existing. These entire
existing system face problem in the consumption of power for its usage and it
could not be much compactable for usage. The proposed work is with the
infrared sensor which detects the occurrence of crack upon the surfaces and as
the crack is been detected it automatically sprays paint upon the detected spot,
the overall structure is in form a portable vehicle and it detects the count of the
cracks. Automatic detection is possible without any inspection behind. The
model is much portable and does not face any problem in its operation. When
compared with the existing methods the range of the sensor along with its
accuracy is much better, it does not require complete continuous guidance and
maintenance upon its usage.

iii
 ACKNOWLEDGEMENT

Initially we thank the almighty for being with us through every walk of life it
is our privilege to express our sincerest thanks to our respected Chairman Mr.
S.Meganathan, B.E., F.I.E. and sincerest thanks to our beloved chairperson Dr.
(Mrs)Thangam Meganathan ,M.A., M.Phil., Ph.D for providing us with the
requisite infrastructure and extending support in all endeavors.

Our heartfelt thanks to Dr. S. N. Murugesan, our Principal for his kind
support and resources provided to complete our work in time. We also thank Dr.
G. Thanigaiyarasu, B.E., M.Sc., (Engg-), Dean Mechanical Sciences for his
suggestion and guidance for completion of project.

We deeply express our sincere thanks to Dr. V. Santhanam, M.E., Ph.D.

Head of our Department, for his encouragement and continues support to complete
the project in time.

We are glad to express our sincere indebtedness to our department project

coordinator Dr. M. Balakarthikeyan, M.E., Ph.D. Department of Mechatronics
engineering for their constructive criticism throughout the duration of our project.

We are glad to express our sincere thanks and regards to our guide &
supervisor MR. M. Sridharan, M.E Assistant Professor, Department of
Mechatronics Engineering for his guidance and suggestion throughout the course
of the project. Finally we express our thanks for all teaching, non- teaching faculty
of our Mechatronics Engineering department and our parents for helping us with
the necessary suggestions and guidance during the time of project.

iv
 TABLE OF CONTENT
CHAPTER TITLE PAGE NO.

ABSTRACT iii

LIST OF FIGURES viii

1 INTRODUCTION 1

1.1 HISTORY OF RAILWAYS 1

1.2 RAIL INSPECTION 3

1.3 PROBLEM STATEMENT 4

1.4 RAIL FLAWS 5

1.4.1.Defects Due To Rolling Contact Stress 5

1.4.2. Others Forms Of Surface And Internal
Defects
6
1.5 NDT TESTING 7
1.5.1.Uses Of NDT
7
1.5.2.Types Of NDT Test
7

2 LITERATURE REVIEW 14

v
 2.1 BASED OF METHODOLOGY 14

2.2 BASED OF MARKING SYSTEM 16

2.3 BASED ON FRAME DESIGN 17

2.4 INFERENCE FROM LITERATURE

18
REVIEW

3 DESIGN AND METHODOLOGY 19

3.1. WORKING PRINCIPLE 19

3.2. BLOCK DIAGRAM 20

3.3. FLOW CHART 21
3.4. DESIGN ALGORITHM 21
3.5. COMPONENTS USED 22
3.6. DESIGN CALCULATION 22
3.7. SELECTION OF MATERIALS 24
3.7.1 Selection Of Frame 24
3.7.2. Selection Of Motor 25
3.7.3. Selection Of Arduino
25
3.7.4. Selection Of Infrared
Radiation Sensor 26
3.7.5 Selection Of Pine Wood 27
3.7.6 Selection Of Motor Driver 27

3.8. MODEL DESIGN 28

3.8.1 Components Design 30
4 HARDWARE DESCRIPTION 32
4.1. DC GEAR MOTOR 32
vi
 4.2. INFRARED RADIATION SENSOR 33
4.3. MOTOR DRIVE MODULE 36
4.4. BATTERY 39
4.5. ARDUINO UNO 41
4.6. MILD STEEL MATERIAL 43
4.6.1. Properties Of Mild Steel 43
4.7. PINE WOOD 45
4.8. SOLENOID PUSH PULL ACTUATOR 46
4.9. PAINT SPRAYER 46
5 CONSLUSION AND FUTURE WORK 48
REFERENCE 50
APPENDIX 52

vii
 LIST OF FIGURES
FIGURE NO. TITLE PAGE
NO.
1.1. Old Wagonways In Ancient Greece 1

1.2. Watt’s Puming Engine For Mines 2

1.3. Richard Trevithick’s Locomotive Design 2

1.4. Electric Powered Trains 3

1.5. Diesel Powered Trains 3

1.6. First Passenger MagLev Train 3

1.7. Inspection Car On Pennsylvania Railroad 4

1.8. Broken Rail 5

1.9. Damage Rail 5

1.10. Squats 6

1.11. Tongue Lipping 6

1.12. Gauge Corner Cracking 6

1.13. Visual Inspection 8

1.14. Liquid Penetration 9

viii
1.15. Magnetic Particle Inspection 10
11
1.16. Eddy Current Inspection
12
1.17. Ultrasonic Inspection
13
1.18. Radio-Graphic Inspection
3.1. Block Diagram Of Rail Inspection 20
Vehicle
3.2. Flow Chart Of Rail Inspection Vehicle 21
28
3.3. Design Orthogonal View
28
3.4. Design Top View
29
3.5. I Beam Dimensions
29
3.6. Wheel Dimensions
30
3.7. Actual Frame Design
30
3.8. Wheel Design
31
3.9. T-Section Design
31
3.10. Motor Clamp Design
32
4.1. DC Gear Motor
33
4.2. Infrared Radiation Sensor
36
4.3. Working Of Infrared Radiation Sensor

ix
 36
4.4. Motor Driver Module
38
4.5. Pin Diagram Of Motor Drive Module
39
4.6. Battery
41
4.7. Arduino UNO
4.8. Pin Diagram Of Atmega 328P 42
43
4.9. Mild Steel
45
4.10. Pine Wood
4.11. Paint Sprayer Mechanism 47

x
 CHAPTER-1

INTRODUCTION

1.1 HISTORY OF RAILWAYS:

The railways is one of the oldest method of transport. The rails are been used
in 6th century BC. These were known as wagonways Fig.1.1 and they are powered
by animals and humans. Then came the metal rails called the plateways which
introduced steam engines. James Watt, a scottish inventor and a mechanical
engineer made great improvements in steam engines which can pump water out of
mines

Fig.1.1 Old Wagon-ways In Ancient Greece

Watt designed the reciprocating engine in 1769, which can power a wheel.
But it was mostly used in cotton mills and other places. It is a very big equipment
uses the low pressure on boiling the water. Then Watt investigated the steam
engines and created the high pressure engine that is small in size and can be used
to power a vehicle in Fig.1.2. He has patented his work in 1784.
1
 Fig.1.2 watt’s pumping engine for mines

The first full-scale working railway steam locomotive was built in the United
Kingdom in 1804 by Richard Trevithick, a British engineer born in Cornwall. On
21 February 1804, the world's first steam-powered railway journey took place
when Trevithick's unnamed steam locomotive hauled a train along the tramway of
the Penydarren ironworks, near Merthyr Tydfil in South Wales shows in Fig.1.3.

Fig. 1.3 Richard Trevithick's Locomotive Design.

Then the locomotive design was improved by many scientists over many
period. Then railway was not even the main way of transport. It was just been used
to transport goods in the industries. In 1825 only the railway are been publicly used
as a mode of transportation. From there the railway has been changed and the
improvement is been came to electric powered Fig.1.4 and diesel powered engine
Fig.1.5.
2
 Fig. 1.4 Electric Powered Trains. Fig. 1.5 Diesel Powered Trains

Now there are many high speed rail systems in many places such as magnetic
levitation Fig.1.6 and superconducting levitation, etc.

Fig. 1.6 First Passenger MagLev Train

1.2 Rail Inspection:

The rail tracks are first inspected visually. For over a period of time the visual
method is only followed. But due to this many errors are made and accidents
occurred. Due to this there is a great search for technology to inspect the rail cracks.

In 1927, Dr. Elmer Sperry built a massive rail inspection vehicle. Magnetic
induction was the method used on the first rail inspection vehicle Fig1.7. This was
3
done by passing high amount of magnetic field through the rail track and thus the
crack is been detected by the flux leakage in the cracks using the search coils.

Fig .1.7 Inspection Car On Pennsylvania Railroad

1.3PROBLEM STATEMENT:

The rail inspection is the practice of examining rail tracks for flaws that could
lead to catastrophic failures. In this technology there are many methods established
first inspection vehicle discovered in 1891 but the system was so big and complex.
But today’s technology As improved a lot my using ultrasonic method , eddy
current method, magnetic particle Inspection (MPI), Radiography, magnetic
induction method, electromagnetic acoustic transducer (EMAT). But this types of
methods are very efficient but very large cost and big in size. So to Reduce the
labours pain while inspecting we are using automatic inspecting vehicle in low cost
And in simple method by IR sensor and ultrasonic sensor while detecting in will
give signal to receiver and at a time by using paint spraying it will spray on the
cracks .so that it will move Automatically so we can reduce labors time and pain in
track and we can stop the system also in this system we can upgrade many ways.

4
1.4Rail Flaws:

The rail tracks are long bars which is very good. This may be of different
types mainly

1. Broken Rails(Fig.1.8)

2. Damaged Rails(Fig.1.9)

Fig.1.8 Broken Rail Fig.1.9 Damage Rail

1.3.1 Defects due to rolling contact stresses:

1. Squats(Fig.1.10)

2. Tongue Lipping(Fig.1.11)

3. Gauge Corner Cracking(Fig.1.12)

5
 Fig. 1.10 Squats Fig. 1.11 Tongue Lipping

Fig. 1.12 Gauge Corner Cracking.

1.3.2 Other forms of surface and internal defects:

1.3.2.(a). Corrosion.
1.3.2.(b). Inclusions.
1.3.2.(c). Shelling.
1.3.2.(d). Transverse Fixtures.
1.3.2.(e). Wheel Burn.

6
1.5 NDT TESTING:

Non-destructive testing is a descriptive term used for the examination of

materials and components in such a way that allows materials to be examined
without changing or destroying their usefulness.

NDT plays a crucial role in everyday life and is necessary to assure safety
and reliability. Typical examples are found in aircraft, spacecraft (shuttle), motor
vehicles, pipelines, bridges, trains, power stations, refineries, buildings and oil
platforms which are all inspected using NDT.

1.4.1 USES OF NDT:

 Accident prevention and to reduce costs

 To improve product reliability

 To determine acceptance to a given requirement

 To give information on repair criteria.

1.4.2 TYPES OF NDT TEST:

1.4.2(a). Visual Inspection

1.4.2(b). Liquid Penetrant Inspection

1.4.2(c). Magnetic Particle Inspection

1.4.2(d). Eddy Current Inspection

1.4.2(e). Ultrasonic Inspection

1.4.2(f). Radio-graphic Inspection

7
 1. VISUAL INSPECTION:
Visual inspection Fig.1.13 is a common method of quality control, data
acquisition, and data analysis. Visual Inspection, used in maintenance of facilities,
mean inspection of equipment and structures using either or all of raw human
senses such as vision, hearing, touch and smell and/or any non-specialized
inspection equipment. Inspections requiring Ultrasonic, X-Ray equipment, Infra-
red, etc. are not typically regarded as Visual Inspection as these Inspection
methodologies require specialized equipment, training and certification.

2. LIQUID PENETRANT INSPECTION:

The principle of liquid penetrant testing Fig.1.14 is that the liquid penetrant is drawn into
the surface-breaking crack by capillary action and excess surface penetrant is then
removed; a developer (typically a dry powder) is then applied to the surface, to draw out
the penetrant in the crack and produce a surface indication. Cracks as narrow as 150 nano
meters can be detected.The indications produced are much broader than the actual
flaw and are therefore more easily visible.

8
 Liquid penetrant testing can be applied to any non-porous clean material,
metallic or non-metallic, but is unsuitable for dirty or very rough surfaces. Surface
cleaning is a vital part of the penetrant testing technique. The method can be
manual, semi-automatic or fully automated.Penetrant inspection, continuous-
operation production lines in which the specimens are cleaned, dipped, washed,
dried, etc on a time cycle are common.

There are three major groups of penetrant process:

a) Water-soluble.

b) Post-emulsifiable with water rinsing.

c) Solvent removable, the difference being in the method used to remove the
excess penetrant.

Fig. 1.14 Liquid Penetration

9
3. MAGNETIC PARTICLE INSPECTION:

The part is magnetized. Finely milled iron particles coated with a dye pigment
are then applied to the specimen. These particles are attracted to magnetic flux
leakage fields and will cluster to form an indication directly over the discontinuity.
This indication can be visually detected under proper lighting conditions.

Magnetic particle Inspection (MPI) Fig.1.15 is a non-destructive testing (NDT)

process for detecting surface and shallow subsurface discontinuities in
ferromagnetic materials such as iron, nickel, cobalt, and some of their alloys. The
process puts a magnetic field into the part. The piece can be magnetized by direct
or indirect magnetization. Direct magnetization occurs when the electric current is
passed through the test object and a magnetic field is formed in the material.
Indirect magnetization occurs when no electric current is passed through the test
object, but a magnetic field is applied from an outside source. The magnetic lines
of force are perpendicular to the direction of the electric current, which may be
either alternating current (AC) or some form of direct current (DC) (rectified AC).

Fig.1.15 Magnetic Particle Inspection.

10
4. EDDY CURRENT INSPECTION:

Eddy current testing Fig.1.16 is particularly well suited for detecting surface
cracks but can also be used to make electrical conductivity and coating thickness
measurements. Here a small surface probe is scanned over the part surface in an
attempt to detect a crack.

Fig. 1.16 Eddy Current Inspection.

5. ULTRASONIC INSPECTION:

Ultrasonic Testing Fig.1.17 is the propagation of ultrasonic waves in the

object or material tested. In most common UT applications, very short ultrasonic
pulse-waves with center frequencies ranging from 0.1-15 MHz, and occasionally
up to 50 MHz, are transmitted into materials to detect internal flaws or to
characterize materials. A common example is ultrasonic thickness measurement,
which tests the thickness of the test object, for example, to monitor pipework
corrosion

Ultrasonic testing is often performed on steel and other metals and alloys,
though it can also be used on concrete, wood and composites, albeit with less
resolution. It is used in many industries including steel and aluminium construction,
metallurgy, manufacturing, aerospace, automotive and other transportation sectors.

11
 NO BLOCK BLOCK

Fig. 1.17 Ultrasonic Inspection.

6. RADIOGRAPHIC INSPECTION:

In Radiography Testing Fig.1.18 the test-part is placed between the

radiation source and film (or detector). The material density and thickness
differences of the test-part will attenuate (i.e. reduce) the penetrating radiation
through interaction processes involving scattering and/or absorption. The
differences in absorption are then recorded on film(s) or through an electronic
means. In industrial radiography there are several imaging methods available,
techniques to display the final image, i.e, Film Radiography, Real Time
Radiography (RTR), Computed Tomography (CT), Digital Radiography (DR), and
Computed Radiography (CR).

There are two different radioactive sources available for industrial use X-ray and
Gamma-ray. These radiation sources use higher energy level, i.e. shorter
wavelength, versions of the electromagnetic waves. Because of the radioactivity
involved in radiography testing, it is of paramount importance to ensure that the
Local Rules is strictly adhered during operation.

12
Fig. 1.18 Radiographic Inspection.

13
 CHAPTER - II

LITERATURE REVIEW

Rail accidents are mainly occurred due to rail track flaws like cracks,
breakages, etc. This problem is due to poor maintenance of rail tracks. The rail
tracks are not inspected more frequently. Even though our inspection systems are
pretty good the size of the inspection vehicle and the time taken for inspection is
very big and hence a system that is very portable, fast and time saving is necessary.
By this proposed system we can reduce the time and increase the frequency of the
inspection.

2.1. BASED ON METHODOLOGY

Peter Cawley (2002) published a paper on "Practical Long Range Guided

Wave Inspection - Application To Pipes And Rail". Ultrasonic inspection systems
that operate in the MHz range have been used for many years for the in-service
testing of rail. Two specific areas that can present significant challenges for
ultrasonic testing as currently deployed are the detection of smooth
transverse/vertical defects and the volumetric examination of alumino-thermic
welds. These two areas are of great importance as 39.5% of rail breaks on the UK
rail network operated by Rail track plc. . Guided wave inspection is very attractive
in this application as it is particularly sensitive to transverse vertical defects since
the waves travel along the length of a rail. All the defects are seen and it is also
possible to classify them by measuring the signals obtained in different transmitted
mode - received mode combinations. This is made possible by individual
addressing of the different transducers within the array.
14
 Zenglu Song (2011) et.al. published a paper on "Detection of Damage and
Crack in Railhead by Using Eddy Current Testing". Eddy current testing is a NDT
method used to detect discontinuities and defects in conductive materials. Using
this technique, two different types of artificial defects in a railhead were evaluated
in order to analyze the relationship between different types of defects and eddy
current signals, and to obtain data on the size of the rail surface defects and crack
location. The actually used rail sample was also studied. Surface cracks and defects
were clearly observed as amplitude and phase changes of detected signals. This
study succeeds in quantitatively analyzing and discriminating the damage types.

S. Ramesh (2014) et.al. has done a project on rail inspection using the RF
transmitter, CAN controller, GPS and GSM module. The vehicle uses RF
transmitter and receiver for transmitting signals. The ATMEL processor is used to
process the signals. The CAN controller is used for managing multiple lane signals
in the rail track network. The GPS is used for locating the crack position. And the
GSM module is used to send the message to the inspector.

Sumedh Bahatkar (2015) et.al. proposed a system on both vision and

vibration based rail inspection system. The system uses vision system and
vibrational sensor for recording the images and videos and also records the noise
between the rail tracks. The 89C51 IC microcontroller is used to process the input
and output. The ADC circuit converts the analog signals to digital signals. The
system uses the Image Processing, Data Acquisition and Data Analysis.

15
 L. Yao (2015) et.al has done a project on “Detection of high speed railway
track static regularity with laser trackers”. Track regularity is of vital importance in
the safety of high speed railway operation. A laser tracker can collect highly
accurate three-dimensional (3D) point measurements. Therefore, it is considered as
a promising surveying technique for the detection of railway track. This study
proposes a new approach that uses a laser tracker as the main sensor for obtaining
the coordinates of left and right track points to detect potential track static
irregularities. A field experiment was conducted to validate the results by
comparing the results with the field measurements gathered using a track
inspection trolley. The results show that the track static regularity detection method
with laser trackers is feasible and indicate that track geometry parameters such as
gauges, elevations and lateral deviations of centreline, super elevations, lateral
profiles and vertical profiles obtained using the laser tracker and a track inspection
trolley are in a good agreement.

2.2. BASED ON MARKING SYSTEM

M. Vincze (2002) has done a project on "Automatic Robotic Spray Painting

of Low Volume High Variant Parts". With the advance in IT technology sensors
and processing power exist to achieve fully automated robot programming in
industrial tasks. This paper reports on the EU-project FlexPaint, which devised a
methodology to automatically generate robot programs for spray painting of
unknown parts. The solution uses four steps: laser triangulation sensing, geometric
feature detection, tool path planning, and the generation of the collision-free
executable robot program. Demonstrations at industrial partners show the results.

16
 Vigneshwar S A (2017) et.al. has deviced a project on title "Design of
Automatic Paint Spraying Machine". At present two workers work in a single paint
booth, one for handling the component while the other worker paints the
component. In this proposed paper, the pump casings are cylindrical components
which are painted while being rotated by a three phase induction motor. A
pneumatic cylinder is used to lift the paint gun so that the paint is applied to the
entire height of the pump casing. The paint gun is actuated by another pneumatic
cylinder. The process is controlled by ATmega16 microcontroller. When the pump
casing is placed, the paint spray starts and the paint gun is lifted. When the paint
gun has reached the required height, the spray stops and the paint gun is lowered.
A worker is needed only to handle the component, thereby reducing the number of
workers per paint booth by one and also the time taken for painting is reduced.

2.3. BASED ON FRAME DESIGN

Qijin Chen (2015) et.al. has proposed a system “Railway Track Irregularity
Measuring by GNSS/INS Integration”. Railway track irregularity measuring is a
task of fundamental importance and critical to guarantee operating safety and to
arrange proper maintenance, particularly for the high-speed lines. Conventional
light-weight track survey trolley combined with high-precision survey equipment,
can achieve high accuracy but is not efficient enough for the track irregularity
measuring. In the proposed paper use GNSS/INS integrated technique to measure
the railway track irregularity. Key technologies of the integration algorithm aiming
at the track irregularity measuring are proposed to improve the performance of the
GNSS/INS system. Real track irregularity measuring experiments are conducted to
validate the proposed method based on GNSS/INS integration. The results indicate
the proposed method based on GNSS/INS is much more efficient compared to the
conventional method based on total station.

17
2.4. INFERENCE FROM LITERATURE REVIEW

By studying the above mentioned research papers it noticed that mostly all
works are more complex in technology and some are slow in process. So the
proposed system that can be portable, fast and quick responsive. Other proposals
have more data processing and transmission. Thus the system is simplified to very
quick responsive to defects.

18
 CHAPTER 3

DESIGN AND METHODOLGY

3.1 WORKING PRINCIPLE

The system is initiated by the starter switch which actitaves the whole
system. The Arduino microcontroller starts the cycle by initiating the IR sensors.
The sensor emits the IR signals to the surface of rail tracks. Thus the length
between the IR sensor and the rail track is determined. The Arduino processes the
time between the transmitter and receiver signal to calculate the distance.

The microcontroller then compares the output with the threshold value
assigned to the microcontroller. If the error value exceeds the threshold value then
the controller comes to know that the crack is present. Then the microcontroller
sends the signal to the solenoid push-pull actuator.

The solenoid push-pull actuator press the paint can which is being mounted in
the frame facing the direction of the crack detection area. This the paint is been
sprayed and the mark has been done in the railway track.

In case, If the IR sensor doesn't detect any crack, the microcontroller sends the
activation signal to the DC motors of the rail inspection vehicle. Thus the rail
inspection vehicle is moved forward to certail limit in order to scan the next
portion of track.

This cycle is repeated until the rail inspection vehicle is been stopped
mannually at the end of inspection area by the inspection staffs. So after this
inspection done the inspection staffs can easily find the spots marked by the rail
inspection vehicle and repair the crack in the rail tracks.
19
3.2 BLOCK DIAGRAM

Fig 3.1 Block diagram of Rail inspection vehicle

The block diagram (Fig 3.1) shows the working of the rail inspection vehicle.
Once the IR sensor detects the crack, the arduino will get triggered. The triggered
arduino will insist the push-pull solenoid to open. It will make the paint sprayer to
spray the paint in the track that will be useful for the workers to find the exact
location of crack.

The below (Fig 3.2) shows the flow chart of the rail inspection vehicle. The
sensor will read that is it will check the track. Once the crack have detected it will
spray the paint. If not it will just move forward until the crack is founded.

20
3.3 FLOW CHART

Fig 3.2Flow chart of Rail inspection vehicle

21
3.4 DESIGN ALGORITHM

Starting with the identification of our problem we decided to work on

methodology. The following steps will show the design algorithm of the Rail
Inspection Vehicle Using Ir Sensor And Spot Marking System. The above flow
chart (Fig 3.2) shows the described explanation of rail tract inspection.

STEP 1: The infrared radiation (IR) sensor will be placed in the “I” shape beam
centered bottom of the track.

STEP 2:If the sensor detects the crack, it will trigger the arduino which will be
connected parallel to the sensor.

STEP 3: Once, the arduino gets triggered it will make the solenoid to spray the paint in
the defected area.

STEP 4:In case, if it find no crack in the railway track it will move forward as usual.

STEP 5: Once it find the crack the above steps will be repeated and the worker will
repair the cracked area.

3.5 COMPONENTS USED

i. DC gear motor 12v 60 rpm(4)

ii. Infrared radiation sensor

iii. 12v Battery

iv. Arduino UNO

v. Mild steel material for frame

vi. Pine wood(2)

22
 vii. Motor driver L298

viii. Solenoid push-pull actuator

ix. Paint sprayer(2).

3.6 DESIGN CALCULATION:

Output voltage = 12 volts

Output current =7 Amphere
Power output Po = V×I

=12×7

= 84 Watt

Speed of motor = 60 rpm

Angular momentum ω = 2πN/60

=(2×3.14×60)/60

=6.28 rad/sec

Torque of motor Tm = Po/ω

= 84/6.28
= 1.2936 Nm

Static coefficient of friction (mildsteel on steel) μs =0.4

Kinetic coefficient of friction (mildsteel on steel)μk =0.23

23
Total Mass m = 98.1 N(approx.)
Normal force Fn = m×g = 10 × 9.8 = 98N
Force of Friction(Static) Fs = μs×Fn
= 0.4×98

= 39.2 N

Force of Friction(Kinetic) Fk = μk×Fn

= 0.23×98

= 22.54 N

Centre of Gravity (T-Section) = (x,y)

Length of T-Section L= 0.75 cm
Since the t section is symmetrical about y axis, x= L/2

= 0.75/2

= 0.375m

Area of upper rectangle a1 = 0.75×0.15

= 0.1125 m2

Area of lower rectangle a2 = 0.35×0.15

= 0.0525 m2

24
Y1= 0.35+(0.15/2)=0.425m

Y2 = 0.35/2 =0.175 m
Coordinate of y axis, y = ((a1×y1)+(a2×y2))/(a1+a2)

= ((1125×42.5)+(525×17.5))/(1125+525)

= 0.3454 m

Centre of Gravity (T-Section) = (x,y) = (0.375,0.3454)

3.7 SELECTION OF MATERIALS

3.7.1 SELECTION OF FRAME

Mild steel has a relatively low tensile strength; surface hardness can be
increased through carburizing. Low-carbon steels display yield-point run out
where the material has two yield points.Very little carbon and other annoying
elements to block dislocations in crystal structure, which means less tensile
strength.It is very hard material and it can withstand more tensile stress than
aluminium. So we choose mild steel instead of aluminium.

 Young’s modulus of mild steel = 21*1010 Nm2.

 Young’s modulus of aluminium= 7*1010 Nm2.

Yield Strength is defined as amount of stress applied to the material

that will deform it permanently.

25
  Yield strength of mild steel = 25*107 Nm2.
 Yield strength of aluminium = 2*108 Nm2.

Thus, we choose mild steel framing for the design of rail tract inspection

3.7.2 SELECTION OF MOTOR

 Length of the Rail inspection vehicle = 0.75 m

 Width of the Rail inspection vehicle = 0.15 m
 Height of the Rail inspection vehicle = 1 m
 Weight of the Rail inspection vehicle = 76.518 N(Approx.)

Thus, we require 12V DC motor with 10kg torque with tolerance. We have chosen
DC motor since it is shock resistant and more reliable than AC.

3.7.3 SELECTION OF ARDUINO

We are using an ARDUINO for this project because it is easy to get

triggered by the PC. Instead of Arduino if we use PLC it is a tedious process to get
triggered it creates a cloud to get triggered with plc.

 Micro-controller: ATmega328p – 8bit AVR family micro-controller.

 Operating voltage: 5 V.
 Analog input pins: 6(A0 –A5).
 Digital I/O pins: 14 (out of which 6 provide PWM output).
 Dc current on I/O pins: 40 mA.

 Dc current on 3.3 V pins: 50 mA.

26
  Flash memory: 32KB (0.5 KB is used for bootloader).
 SRAM: 2 KB.
 EEPROM: 1 KB.
 Frequency: 16 MHz (clock speed).

3.7.4 SELECTION OF INFRARED RADIATION SENSOR

An Infrared light emitting diode (IR LED) is a special purpose LED

emitting infrared rays ranging from 700 nm to 1 mm wavelength. Different IR
LEDs may produce infrared light of differing wavelengths, just like different LEDs
produce light of different colours.IR LEDs are usually made of gallium arsenide or
aluminium gallium arsenide. In complement with IR receivers, these are
commonly used as sensors.
The appearance of IR LED is same as a common LED. Since the human eye
cannot see the infrared radiations, it is not possible for a person to identify if an IR
LED is working. A camera on a cell phone camera solves this problem.

3.7.4.(a). IR Sensor Module Features:

 Operating voltage: 5 VDC Operating voltage

 I/O pins: 5 V and 3.3 V compliant

 Range: Up to 20 cm

 Sensing range: Adjustable Sensing range

 Type: Built-in Ambient Light Sensor

 Current: 20 mA supply current

 Mounting hole.

27
 3.7.5.SELECTION OF PINE WOOD

Pine wood is a renewable resources and it is easy to work with that. Pine wood
belongs to the group resistant to biological influences, such as the defeat of mushrooms.
It is a very stiff wood and it makes durable. It is economically less when compared to
other kind of wood, light weight which will be find easy to carry from one place to
another. Pinewood is a variety of softwood that is easy to work with It is easy to carve
and drill. It has many more advantages than normal wood so we are using pine wood
instead of other kinds.

3.7.5.(a). MECHANICAL FEATURES:

 Static bending - 7*107 - 92*106 Nm2
 Compression parallel to grain - 4*107 - 49*106 Nm2
 Tension along the fibres - 1**107 - 116*105 Nm2
 When shearing along the tangential plane – 6.6*107-8.1*107 Nm2
 Modulus of elasticity in static bending - 8*109- 13.1*106 Nm2
 Pine is a soft breed - up to 40 N / mm.
Due to the fact that pine is a soft wood, it is well handled by cutting tool.
Pine is easily grinded - the height of asperities is 8-60 microns, whereas for ash
and maple - up to 200 microns, because of features of their anatomical roughnesses

3.7.6 SELECTION OF MOTOR DRIVER

The motor drive is a high voltage, high current dual full bridge driver
designed to accept standard TTL logic levels and drive inductive loads such relays,
solenoid, DC and stepping motors. Two enable inputs are provided to enable or
disable the device independently of the input signals.

28
  Motor channels: 2
 Maximum operating voltage: 46 V
 Peak output current per channel: 2 A
 Minimum logic voltage: 4.5 V
 Maximum logic voltage: 7 V
 Package: Multiwatt1

3.8 MODEL DESIGN

Various design and view of each and every component is designed and
assembled with the help of solidworks.

Fig 3.3 Design Orthogonal View

Fig 3.4 Design Top View

29
 All dimensions are in mm

Fig 3.5 I Beam Dimensions

All dimensions are in mm

Fig 3.6 Wheel Dimensions

30
FRAME DESIGN:

Fig 3.7 Actual Frame Design

3.8.1 COMPONENTS DESIGN

Fig 3.8 Wheel Design

31
Fig 3.9 T-Section Design

Fig 3.10 Motor Clamp Design

32
 CHAPTER 4

HARDWARE DESCRIPTION

The desired characteristics of the components that have been employed in the
system is been discussed. There are many mechanical and electrical components have
been used in the system with different specifications in designing the Rail Inspection
Vehicle. Some of the technical aspects are also mentioned.

4.1 DC GEAR MOTOR

Fig 4.1 DC Gear Motor

A DC motor (Fig 4.1) is any of a class of rotary electrical motors that

converts direct current. A gear motor is an all-in-one combination of a motor and
gearbox. The addition of a gear head to a motor reduces the speed while increasing
the torque output. The most important parameters in regards to gear motors are
speed, torque and efficiency. A DC motor is any class of rotary electrical energy
into mechanical energy. The most common types relay on the forces produced by
magnetic fields. Nearly all types of DC motors have some internal mechanism,

33
either electromechanical or electronic; to periodically change the direction of
current in part of the motor.

A DC gear motor is any electric motor coupled with a gear train. In most
cases, the addition of a gear box intended to limit the speed of the motor’s shaft,
and increase the motor’s ability to output torque. DC motors were the first form of
motor widely used, as they could be powered from existing direct-current lighting
power distribution systems. A DC motor’s speed can be controlled over a wide
range, using either a variable supply voltage or by changing the strength of current
in its field windings. Small DC motors are used in tools, toys and appliances. The
universal motor can operate on direct current but is a light weight brushed motor
used for portable power tools and appliances. Larger DC motors are currently used
in propulsion of electric vehicles, elevator and hoists, and in drives for steel rolling
mills.

4.2 INFRARED RADIATION SENSOR

Fig 4.2 Infrared radiation sensor

IR sensor (Fig 4.2) also called infrared light is electromagnetic radiation

with wavelengths longer than those of visible light. It is therefore generally

34
invisible to the human eye, although IR at wavelengths up to 1050 nanometers
from specially pulsed lasers can be seen by humans under certain conditions. Most
of the thermal radiation emitted by objects near room temperature is infrared. As
with all EMR, IR carries radiant energy and behaves both like a wave and like its
quantum particle, the photon. Infrared thermal-imaging cameras are used to detect
heat loss in insulated systems, observe changing blood flow in the skin, and to
detect overheating of electrical apparatus.

Infrared radiation is emitted or absorbed by molecules when they change

their rotational vibrational movements. It excites vibrational modes in a molecule
through a change in the dipole moment, making it a useful frequency range for
study of these energy states for molecules of the proper symmetry. It is used in
industrial, scientific, military, law enforcement, and medical applications. Night-
vision devices using active near infrared illumination allow people or animals to
observe without the observer being detected. Infrared astronomy uses sensor-
equipped telescopes to penetrate dusty regions of space such as molecular clouds,
detect objects.

IR LED Transmitter

IR LED emits light, in the range of Infrared frequency. IR light is invisible to

us as its wavelength (700nm – 1mm) is much higher than the visible light range. IR
LEDs have light emitting angle of approx. 20-60 degree and range of approx. few
centimeters to several feets, it depends upon the type of IR transmitter and the
manufacturer. Some transmitters have the range in kilometres. IR LED white or
transparent in colour, so it can give out amount of maximum light.

35
Photo Receiver

Photo diode acts as the IR receiver as its conducts when light falls on it.
Photo diode is a semiconductor which has a P-N junction, operated in Reverse Bias,
means it start conducting the current in reverse direction when Light falls on it, and
the amount of current flow is proportional to the amount of Light. This property
makes it useful for IR detection. Photo diode looks like a LED, with a black colour
coating on its outer side; Black colour absorbs the highest amount of light.

Variable Resistor

The variable resistor is used to calibrate the range of the sensor. This sensor
is used here to adjust the the distance of range where the track is placed. The
distance is measured by the time delay of the IR sensor between the IR
transmission and the receiving of IR sensor.

Principle of Working:

The principle of an IR sensor working as an Object Detection Sensor can be

explained using the following Fig (4.3). An IR sensor consists of an IR LED and
an IR Photodiode; together they are called as Photo – Coupler or Opto –
Coupler.When the IR transmitter emits radiation, it reaches the object and some of
the radiation reflects back to the IR receiver. Based on the intensity of the
reception by the IR receiver, the output of the sensor is defined

36
 Fig 4.3 Working of infrared radiation sensor
Applications:

[i]. Proximity Sensor

[ii]. Item Counter

[iii]. Bulgar Alarm

[iv]. Radiation Thermometer

[v]. Human Body Detection

[vi]. Gas Analyzers.

4.3 MOTOR DRIVE MODULE

Fig 4.4 Motor Drive Module

37
 The L298N is an integrated monolithic circuit in a 15- lead Multi Watt and
power S020 packages. It is a high voltage, high current dual full-bridge driver de-
signed to accept standard TTL logic level sand drive inductive loads such as relays,
solenoids, DC and stepping motors. Two enable inputs are provided to enable or
disable the device independently of the input signals. The emitters of the lower
transistors of each bridge are connected together and the corresponding external
terminal can be used for connection of an external sensing resistor. An addition
supply input is provided so that the logic works at a lower voltage.

L298N motor driver IC has many applications in the embedded field,

especially on the robotics side. Most of the microcontrollers operate on very low
voltage and current while the motors require higher voltages and current So, the
microcontrollers cannot provide them such higher current. For this purpose, we use
motor driver ICs.The motor driver is a little current amplifier. It takes a low current
signal and gives out a high current signal which can drive a motor. It can also
control the direction of the motor. Motor drives are of many kinds depending upon
the maximum supply voltage, maximum output current, rated power dissipation,
load voltage, and number outputs, etc. Here we are going to discuss motor driver
L298N. It is used in dc motor speed control project and you can interface dc motor
easy with micro controller using this motor driver. The (Fig 4.5) shows the pin
diagram of motor driver L298N.

38
 Fig 4.5 Pin Diagram Of Motor Drive Module

INPUTS: Four inputs are provided to the four power amplifiers of L298N. We can use
push buttons and whenever specific push button is pressed, specific motor will start
running. Two inputs will monitor each motor. Instead of push button, we can use logic
toggle in proteus simulation for our ease.Enable bits are used to select specific amplifier
ENA can select two amplifiers A1, A2 and similarly ENB can select two amplifiers B1,
B2. While using as a bridge circuit, ENA selects bridge A and ENB selects bridge B. To
drive both the motors by using H bridges, both enable bits are set high.

39
OUTPUTS: There are four outputs. The output for motor A is obtained from out1
out2 pins and similarly for motor Boutput is obtained from out3 out4 pins. L298N
does not have built in protection diodes we usedexternal diodes to prevent the IC
from getting damaged.This IC is using two different voltages. On input side, 5v is
given to the pin 9 (Vss), push buttons and enable bits.On output side,pin 4 (Vs)
supplies the motors and it can be upto 46 volts.Here we are not using the current
sensing scheme, so we have grounded those pins 1 & 15. Motors speed will be lower
if low voltages are on output side.

4.4 BATTERY

Fig 4.6 Battery

40
 A battery (Fig 4.6) is a device consisting of one or more electrochemical
cells with external connections for powering electrical devices such as flaslights,
mobile phones, and electric cars.

When a battery is supplying electric power,its positive terminal is the

cathode and its negative terminal is the anode. The terminal marked negative is the
source of electrons that will flow through an external electric circuit to the positive
terminal. When a battery is connected to an external electric load, a redox reaction
converts high-energy reactants to lower-energy products, and the free-energy
difference is delivered to the external circuit as electrical energy. Historically the
term “BATTERY” specifically referred to a device composed of multiple cells,
however the usage has evolved to include devices composed of a single cell.

Primary batteries are used once and the discarded, as the electrode material
are irreversibly changed during discharge; a common examples is the alkaline
battery used for flashlights and a multitude of portable electrode materials are
irreversibly changed during discharge; a common example is the alkaline battery
used for flashlights and a multitude of portable electronic devices. Secondary
batteriescan discharged and recharged multiple times using an apllied electric
current the original composition of the electrodes can be restored by reversecurrent.
Examples include the lead-acid batteries used in vehicles and lithium-ion batteries
used for portable electronics such as laptops and mobile phones.

41
 4.5ARDUINO UNO

Fig 4.7 Arduino UNO

The Arduino UNO (Fig 4.7) is an open-source micro-controller board based on the
microchip ATmega328p micro-controller and developed by Arduino. The board is
equipped with sets of digital and analog input/output (I/O) pins that may be
interfaced to various expansion boards and other circuits. The board has 14 digital
I/O pins (six cable of PWM output), 6 analog I/O pins, and is programmable with the
arduino IDE (Integrated Development Environment), via a type B USB cable. It can
be powered by the USB CABLE. I t can be powered by the USB cable or by an
external 9-volt battery, though it accept voltages between 9-volt battery, though it
accepts voltages between 7 and 20 volts. It is also similar to the arduino Nano and
Leonardo. The hardware reference design is distributed under a creative commons
attribution share-A like 2.5 license and is available on the arduino website. Layout
and production files for some versions of the hardware are also available.

42
 Fig 4.8 Pin diagram of ATMEGA 328P

The (Fig 4.8) shows the pin diagram of ATMEGA 328P. The word
“UNO” means “one” in Italian and was chosen to mark the Italian and was chosen
to mark the initial release of Arduino Software. The UNO board is the first in a
series of USB-based Arduino boards; it and version 1.0 of the arduino IDE were
the reference versions of Arduino, which have now evolved to newer releases. The
ATmega328 on the board comes pre-programed with a boot-loader that allows
uploading new code to it without the use of an external hardware programmer.
While the UNO communicates using the original STK500 protocol, it differs from
all preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead; it uses the Atmega16U2 programmed as a USB-to-serial converter.

The Arduino UNO is a micro-controller board based on the

ATmega328. It has 20 digital input/output pins (of which 6 can be used as PWM
outputs and 6 can be used as analog inputs), a 16 MHz resonator, a USB connection,
a power jack, an in-circuit system programming (ICSP) header, and a reset button.

43
4.6MILD STEEL MATERIAL

Fig 4.9 Mild steel

Mild steel(Fig 4.9) contains approximately 0.05-0.25% carbon making it
malleable and ductile. Mild steel has a relatively low tensile strength, but it is
cheap and easy to form; surface hardness can be increased through carburizing.
Low-carbon steel display yield-point run-out where the material has two yield
points. It is an alloy of iron and carbon and, sometimes, other elements such as
chromium. Because of its high tensile strength and low cost, this material is best
used buildings, infrastructure, tools, ships, trains, cars, machines, electrical
appliances and weapons. Steel was produced in bloomery furnaces for thousand of
years, but its large-scale, industrial use began only after more efficient production
methods were devised in the 17th century,with the introduction of the blast furnace
and production of crucible steel.
4.6.1 PROPERTIES OF MILD STEEL

 Mild steel, also called plain-carbon steel is a type of steel alloy which is the most
common high volume steel in production. Mild steel contains a small amount of
carbon and provides material properties that are acceptable for many application

44
 Mild Steel can be easy to shape and machine because it is very flexible and

can be hardened by a heat treatment process called carburising. This makes

 In order for steel to be considered low carbon, there are certain

characteristics it must meet. For example, the steel has to have less than
0.3% carbon in its total make-up to be considered low carbon. Mild steel is
considered the most common form of steel as the cost is comparatively
small, so is generally used when large amounts of steel are needed.
 Low carbon steel properties include; it is easily workable and easier to form
straight from the forming process, whether that process is hot forming or
cool forming
it a suitable material for producing a variety of products in the consumer
industry.

 When it comes to welding, low carbon steel is one of the most easily welded
metals. The reason for this is due to the low carbon content. Where more
strength is needed for i.e. structural uses, more carbon is added to the metal.
However the harder the steel gets the more likely it is to crack when you
weld it.

 High carbon steels like stainless steel require special techniques in order to
weld the material and is likely to break when used in some construction
projects when flexibility is needed, which is why Mild Steel is commonly
used.

45
4.7 PINE WOOD

Fig 4.10 Pine wood

Pine wood(Fig 4.10) is medium-weight and relatively soft. Its strength and
elasticity are good. As with other coniferous woods, the properties of the wood
depend upon the density of the annual growth rings: The higher the proportion of
summer wood, the heavier and harder the wood. The heartwood has good natural
durability except where it is in direct contact with earth or moisture. It has a high
natural moisture content, which can lead to a blue staining of the wood through
fungal infection. The colouring only affects the appearance, not the physical
properties of the wood.Commercial pines are grown in plantations for timber that
is denser and therefore more durable than spruce.
Pine wood can be worked easily by hand or machine. It can be sliced or
peeled. Nailed, screwed or glued connections are straightforward. The surface can
be finished with all kinds of paints. The sapwood lends itself well to impregnation,
less so the heartwood. Pine may also refer to the lumber derived from pine trees;
pine is one of the more extensively used types of wood used as lumber.

46
 Application:

4.7.1 Building and construction

4.7.2 Interior furnishing, furniture
4.7.3 Manufacture of composite wood materials
4.7.4 Wood and paper pulp Masts and poles
4.7.5 Windows, facade panelling.

4.8 SOLENOID PUSH-PULL ACTUATOR

A push solenoid is a pull solenoid with an added shaft that extends out the
bottom of the solenoid plunger to provide a pushing function. The attachment end
of the moving plunger is always at the end. The push-pull solenoid is the magnetic
attraction and the force curves in the catalog are nearly identical. There are any
misconceptions of how these units work magnetically and must be understood to
be skilled enough to discuss with potential customers. Pull force-when energized,
the plunger retracts pulling the load. Push force-when energized, the push rod
extends pushing the load.

4.9 PAINT SPRAYER

A paint sprayer is designed to pull the paint from the bottle using a solenoid
push-pull valve. It use basic liquid mechanics and plumbing principles. The pump,
powered by a trigger, forces the liquid through a nozzle that breaks up the flow of
the paint, turning into a fine mist or stream. It is a bottle that can squirt, spray or
mist fluids. A common use of spray bottles is dispensing cool cleaners, cosmetics
and chemical specialties. Another wide use of spray bottles in mixing down
concentrates such as oil with water.The device that turns a liquid into mist by
pressurization. Many spray nozzles are rarely called atomizer.

47
Fig 4.11 Paint sprayer mechanism

48
 CHAPTER – VI
CONCLUSION AND FUTURE SCOPE

The system developed here has achieved the at-most results that have been
stated in the problem statement. The system has a greater repeatabilty and
precision. The vehicle detects the medium and deep cracks which are all needed to
be taken care immediately. The system is much more slower than we expect.

From the result analysis the system has accomplished most of the aspects
from our problem statement observation. The vehicle moves in a way that the full
strech of track has been scanned properly. The crack detection and the spot
marking is also works fine and with great repeatability.

Even though the vehicle gives the results good the system travel time is
slower than we expect. The system is good in detecting cracks but in some places
the system skips some small cracks. That is not a negative in the system since the
important and critical cracks can be detected clearly.

The vehicle is slow due to the speed control implemented in the Arduino code.
By adjusting the speed to a optimal rate the required speed can be achieved. Or
else the motor with higher rpm can be used but it is not suggested by the team. The
slowness of the vehicle does not add any negative to the system but it can be
improved.

49
 Thirdly the system can be made more smarter that it can be scheduled to go on
a inspection. It can also hold the activity log of the cracks detected and give a
detailed report on the condition of railway tracks

Secondly the detection of crack, the system detect critical cracks that is more
important to be repaired. But the system should be improved to detect even smaller
cracks. This can be achieved by adjusting the threshold value to optimum or or
sensor of more sensitivity and precision can also be installed.

50
 REFERENCES

[1]. Ajeya G R, Ashwini N, Kavitha S, Latha D C, Chaithra G ”Robust Railway

Track Crack Detection Scheme”, International Research Journal of Engineering
and Technology (IRJET), Volume: 03 Issue: 05 | May-2016.

[2]. Amir Falamarzi, Sara Moridpour, Majidreza Nazem (2019) “A Review On

Existing Sensors And Devices For Inspecting Railway Infrastructure” Jurnal
Kejuruteraan volume 31(1) 2019: 1-10

[3]. Indian Railways final draft for rail inspection vehicle (RIV)
"https://rdso.indianrailways.gov.in/works/uploads/File/Rail%2520Inspection%252
0Vehicle%2520(RIV)%2520Specification(1).pdf".

[4]. Peter Cawley (2002) "Practical Long Range Guided Wave Inspection -
Application To Pipes And Rail". Refer to
"https://www.researchgate.net/publication/43476982_Practical_guided_wave_ins
pection_and_applications_to_structural_health_monitoring".

[5]. Qijin Chen, Quan Zhang and Yahao Cheng (2015) has proposed a
system “Railway Track Irregularity Measuring by GNSS/INS Integration”
published in 26th International Technical meeting of the satellite division of the
institute of navigation (ION GNSS+ 2013) , 2180-2194, 2013.

51
[6]. Reenu George “Automatic Broken Track Detection Using IR Transmitter and
Receiver”, International Journal of Advanced Research in Electrical, Electronics
and Instrumentation Engineering (IJAREEIE), Volume 4, Issue 4, April 2015.

[7]. Somalraju, “Robust Railway Crack Detection Scheme (RRCDS) Using

LEDLDR Assembly,” IEEE Int. Conf. on Networking, Sensing and Control, vol.
6, iss. 3, pg. 453-460 , May2012.

[8]. Steven Veerapon Sawadsavi “Development Of Machine - Vision

Technology For Inspection Of Railroad Track”. Refer pdf.
"http://www.ideals.illinois.edu/bitstream/handle/2142/18420/Sawadisavi_Steven.
pdf".

[9]. Vigneshwar S A, Padmaharinadhan V, Prabhu G, Kavin S, Saifur

Rahaman A, Sivaranjani A, Sundar Ganesh (2017) “Design of Automatic Paint
Spraying Machine”. Volume - 4. No. 1&2.

[10]. Weston, P.F., Ling, C.S., Li, P., Goodman, C.J.,Goodall, R.M., and Roberts,
C.J. (2007): “Monitoring vertical track irregularity from in-service railway
vehicles”. Proceedings of the Institution of Mechanical Engineers, Part F: Journal
of Rail and Rapid Transit. Vol. 221(F1), pp.75–88.

52
 APPENDIX

COMPONENTS OF RAIL INSPECTION VEHICLE

SI.NO COMPONENT QUANTITY PRICE

1 DC Gear Motor 4 1600

2 Infrared Radiation Sensor 2 160

3 12V Battery 1 850

4 Arduino UNO 1 400

5 Mild Steel Material - 380

6 Pine Wood 2 1000

7 Motor Drive L298N 2 400

8 Solenoid Push-Pull Actuator 2 850

9 Paint Sprayer 2 240

10 Connecting Wires As per 60

required

TOTAL 6100

53