A train control system includes independent virtual in-train forces modelling engines onboard each of a plurality of locomotives in a train. Each of the plurality of locomotives may also include an analytics engine and a calibration engine configured to assimilate, analyze, and calibrate real time information from other locomotives and from draft gears and couplers interconnecting the locomotives with determinations made by the independent virtual in-train forces modelling engine onboard the respective locomotive, with the plurality of locomotives of the train being configured to operate collectively and coordinate their own acceleration values based on a common goal of minimizing in-train forces without being dependent on a command from a lead locomotive or central command.

A farming system (1) for row crop installations (10) comprises: a first plurality of plants (10A) and a second plurality of fruit or vegetable plants (10B), disposed along a first longitudinal axis (L1) and a second longitudinal axis (L2), respectively, and mutually spaced along a transverse direction (T) to form a first row (F1) and a second row (F2); a supporting structure (11), configured to support the plants and including, for the first row (F1) and the second row (F2), a first plurality of posts (11A) and a second plurality of posts (11B); a first rail (12A), connected to the first plurality of posts (11A); a second rail (12B), connected to the second plurality of posts (11B). The first rail (12A) and the second rail (12B) are oriented longitudinally and spaced transversely from each other to define a track (12). The system comprises a trolley (13), movable along the track (12) and including a movement actuator (131), configured to move the trolley (13) on the track (12).

A farming system (1) for row crop installations (10) comprises: a first plurality of plants (10A) and a second plurality of fruit or vegetable plants (10B), disposed along a first longitudinal axis (L1) and a second longitudinal axis (L2), respectively, and mutually spaced along a transverse direction (T) to form a first row (F1) and a second row (F2); a supporting structure (11), configured to support the plants and including, for the first row (F1) and the second row (F2), a first plurality of posts (11A) and a second plurality of posts (11B); a first rail (12A), connected to the first plurality of posts (11A); a second rail (12B), connected to the second plurality of posts (11B). The first rail (12A) and the second rail (12B) are oriented longitudinally and spaced transversely from each other to define a track (12). The system comprises a trolley (13), movable along the track (12) and including a movement actuator (131), configured to move the trolley (13) on the track (12).

A method for safely determining a position information of a train on a track includes an on-board system determining appearance characteristics, current distances relative to the train and current angular positions relative to the train of passive trackside structures with a first sensor arrangement of a first localization stage of the on-board system. The on-board system stores a map data base in which georeferenced locations and appearance characteristics of the passive trackside structures are registered. A first position information about the train is derived from a comparison of determined current distances and current angular positions and the registered locations of allocated passive trackside structures by the first localization stage. A second position information about the train is derived from satellite signals determined by a second sensor arrangement of a second localization stage. The first and second position information undergo a data fusion resulting in a consolidated position information.

An obstacle detection device includes: a sensor unit including a camera, a laser distance measuring device, and an optical element, and setting optical axes of the camera and the laser distance measuring device to an optical axis in the same direction using the optical element; a monitoring area control unit calculating a monitoring area to be monitored by the sensor unit using a position of a train, map information indicating a position of a track of the train, and an attitude angle of the train, and performing control to cause a direction of the optical axis of the sensor unit to be on a course of the train using a drive mirror; and an obstacle determination unit detecting an obstacle on the course of the train based on monitoring results of the camera and the laser distance measuring device, and determining whether a collision avoidance action is necessary.

An obstacle detection device includes: a sensor unit including a camera, a laser distance measuring device, and an optical element, and setting optical axes of the camera and the laser distance measuring device to an optical axis in the same direction using the optical element; a monitoring area control unit calculating a monitoring area to be monitored by the sensor unit using a position of a train, map information indicating a position of a track of the train, and an attitude angle of the train, and performing control to cause a direction of the optical axis of the sensor unit to be on a course of the train using a drive mirror; and an obstacle determination unit detecting an obstacle on the course of the train based on monitoring results of the camera and the laser distance measuring device, and determining whether a collision avoidance action is necessary.

A rail vehicle system, a rail vehicle, and a visual sensing device are provided. The rail vehicle system includes a system control device, a rail, and a rail vehicle. The rail vehicle includes a processing device and the visual sensing device. In a process where the rail vehicle travels along the rail, the visual sensing device captures images in front of the rail vehicle, and the visual sensing device emits a laser beam toward a front side of the rail vehicle. The visual sensing device receives the reflected laser beam to generate a laser sensing data. The processing device determines whether or not to change at least one of a travel direction and a travel speed of the rail vehicle according to the images captured by the visual sensing device and the laser sensing data.

A rail vehicle system, a rail vehicle, and a visual sensing device are provided. The rail vehicle system includes a system control device, a rail, and a rail vehicle. The rail vehicle includes a processing device and the visual sensing device. In a process where the rail vehicle travels along the rail, the visual sensing device captures images in front of the rail vehicle, and the visual sensing device emits a laser beam toward a front side of the rail vehicle. The visual sensing device receives the reflected laser beam to generate a laser sensing data. The processing device determines whether or not to change at least one of a travel direction and a travel speed of the rail vehicle according to the images captured by the visual sensing device and the laser sensing data.

A system and method includes commencing movement of a vehicle system including a plurality of vehicles from a stationary state. Operation of the vehicle system is controlled to control spacing between the vehicles of the vehicle system.

A system and method includes commencing movement of a vehicle system including a plurality of vehicles from a stationary state. Operation of the vehicle system is controlled to control spacing between the vehicles of the vehicle system.