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Logo Institut für Geodäsie und Photogrammetrie der TU Braunschweig
AeroInspekt
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AeroInspekt

AeroInspekt Header

Automated Measurement of Rail Infrastructure in the Hamburg Harbour

In the CTA terminal run by the Hamburger Hafen und Logistik AG (HHLA), containers are transshipped mostly automated. The rails used by the automatic gantry cranes must be checked regularly for deformations and measured with millimeter precision. The current methods to do this are cost intensive as the cranes have to be stopped for several hours.

AeroInspekt aims to measure the rails using a multicopter without interfering the operation of the terminal. The drone is taking highly overlapping aerial images of the rail areas and calculate a three-dimensional model out of them by photogrammetry.

Overview of the automatic terminal CTA
Overview of the automatic terminal CTA

Automated reactive flight planning

To measure the rails with millimeter precision the flight system takes aerial images with a ground resolution of under 1 mm. To map the whole measurement area, unobstructed images of the rails are needed. Significant parts of the rails will normally be covered by the operating cranes, leading to a loss of relevant information in the mapping result.

The ground control app Inspekt GS developped in AeroInspekt solves this problem with the implementation of an automated reactive flight planning function. It recognizes relevant obstrucctions with a machine learning approach while still in flight. The accordingly marked sections are covered again until sufficient data is gathered.

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Automated Analysis

To connect the three-dimensional data to the harbour reference system with millimeter precision, specifically designed hybrid markers are installed in the track bed. With a combination of prisms and machine-processable optical markers these can be both measured from the ground with a total station and recognized automatically in the aerial images. After the flight, the raw data is processed with a photogrammetry workflow to create a three-dimensional point cloud.

To extract the rails position from the point cloud, we created the program Inspekt XT. It detects the rails profile in periodically generated two-dimensional slices and calculateds the rails position. The issued measurement report can by used by the responsible authorities to recognize a breach of thresholds that might disturb the operation and take appropriate actions.

DJI Matrice 600 Pro on a survey mission over the gantry cranes in 35 meters height
DJI Matrice 600 Pro on a survey mission over the gantry cranes in 35 meters height
Hybrid markers in the track bed (right) and automated detection in the aerial image (left)
Hybrid markers in the track bed (right) and automated detection in the aerial image (left)
Dense point cloud of the measurement area (2.5 million points per square meter)
Dense point cloud of the measurement area (2.5 million points per square meter)
Automatic extraction of the rails position from the point cloud by analysis of profile slices
Automatic extraction of the rails position from the point cloud by analysis of profile slices

Publications

  • Ghassoun, Y.; Gerke, M.; Khedar, Y.; Backhaus, J.; Bobbe, M.; Meissner, H.; Tiwary, P. K.; Heyen, R. Implementation and Validation of a High Accuracy UAV-Photogrammetry Based Rail Track Inspection System. Remote Sens. 2021, 13 (3), 384. https://doi.org/10.3390/rs13030384.
Project AeroInspekt
  Automated Multirotor Measurement and Inspection System
Funding Period August 2018 - Oktober 2020
Cooperation partners Hamburger Hafen und Logistik AG (HHLA)
  Institute of Flight Guidance (IFF)
Funding Institution BMVI - IHATEC
Funding Code 19H18006B
Contacts Yahya Ghassoun (IGP)
  Markus Bobbe (IFF)
  Fank Pölger (HHLA)
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