Railway track deviation

Abstract

A device 65 (172,Fig.17), positioned on a rail 22a of railway track 21, comprises a sensor (e.g. laser or lidar) for determining a distance 64a to a second rail at a first angle, wherein the distance

Description

Field The present specification relates to identification of geometric deviations, particularly in geometric deviations in railway tracks. Background Various factors, such as environmental factors, may cause geometric deviations in railway tracks. There remains a need for improvement in identification and measurements of such deviations. Summary In a first aspect, this specification describes a control module, for identifying a geometrical deviation of a railway track, the control module configured to perform: receiving measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise: a first distance from the first device to a second rail of the railway track at at least a first angle; comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In some examples, the geometrical deviation is at least one of a track buckle or a track gauge deviation. In some examples, when the geometrical deviation is a track buckle, the control module is configured to perform: receiving measurements from at least two sensors of the first device, wherein the measurements further comprise a second distance from the first device to the second rail at a second angle, comparing the measured second distance with a default second distance; and determining that the geometrical deviation is present if there is a difference between either the first distance and the default first distance or the second distance and the default second distance. In some examples, the control module is further configured to perform: determining quantitative information relating to the geometrical deviation based at least in part on the amount of difference between the first distance and the default first distance. In some examples, the quantitative information relating to the geometrical deviation comprises one or more of a plurality of metrics comprising: an amplitude of at least part of the geometrical deviation, or length of at least part of the geometrical deviation, coordinates of a plurality of points of the geometrical deviation, distance of the plurality of points of the geometrical deviation from a centre of the geometrical deviation, and / or shape of the geometrical deviation. In some examples, determining quantitative information relating to the geometrical deviation comprises: simulating a geometrical deviation model based on measurements received from a plurality of devices placed along the geometrical deviation. In some examples, determining the quantitative information and / or simulating the geometrical deviation model is based on a machine learning model. In some examples, the control module is further configured to perform: determining whether the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds; and generating a notification if the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds. In some examples, receiving measurements from a plurality of sensors associated with a plurality of devices positioned along the first rail of the railway track; wherein the identification of the geometrical deviation is based on comparison of the respective distances with respective default distances. In a second aspect, this specification describes a device, positioned on a first rail of a railway track, for identifying a geometrical deviation of the railway track, comprising: at least a first sensor, wherein the first sensor is positioned for determining a first distance to a second rail of the railway track at at least a first angle; wherein the first distance changes in response to a geometrical deviation being present. In some examples, the first sensor is a laser sensor and / or a lidar sensor. In some examples, the device further comprises at least one communications module for sending measurements of the first distance to a control module. In some examples, the device further comprises at least one temperature sensor, wherein the device is configured to determine the first distance when a temperature above a first threshold is detected by the temperature sensors. In some examples, the device further comprises an accelerometer. In some examples, the device is configured to detect, based, at least in part, on data received from the accelerometer, one or more of: movement and / or removal of the device from the first rail; and occurrence of a track buckle and / or track gauge deviation. In some examples, the device further comprises: attachment means for attaching the device to the first rail. In some examples, the attachment means comprise removable attachment means, wherein the removable attachment means one or more of: magnetic attachment means; one or more fixing brackets, wherein the one or more fixing brackets are selectable for use as attachment means for the device based, at least in part, on the shape and / or size of the first rail. In some examples, the measurement of the first distance is based, at least in part, on reflective signals from one or more reflective elements positioned on at least part of the second rail. In some examples, the device comprises a global positioning system receiver. In a third aspect, this specification describes a system for identifying a geometrical deviation of a railway track, the system comprising: a first device, positioned on a first rail of the railway track, the first device comprising: at least a first sensor, wherein the first sensor is positioned for determining a first distance to a second rail of the railway track at at least a first angle; wherein the first distance changes in response to a geometrical deviation being present; a control module configured to perform: receiving measurements comprising at least the first distance; comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In some examples, the system further comprises reflective elements positioned on at least part of the second rail. In some examples, the system further comprises a plurality of devices positioned along the first rail of the railway track, wherein the control module is further configured to perform: receiving measurements from a plurality of sensors associated with the plurality; wherein the Identification of the geometrical deviation is based on comparison of the respective measurements with respective default measurements. In some examples, the plurality of devices is positioned at least a third distance apart from each other on the first rail. In some examples, the control module is part of the first device, or the control module is remote from the first device. In some examples, the geometrical deviation is at least one of a track buckle or a track gauge deviation. In some examples, when the geometrical deviation is a track buckle, the control module Is configured to perform: receiving measurements from at least two sensors of the first device, wherein the measurements further comprise a second distance from the first device to the second rail at a second angle, comparing the measured second distance with a default second distance; and determining that the geometrical deviation Is present if there is a difference between either the first distance and the default first distance or the second distance and the default second distance. In some examples, the control module is further configured to perform: determining quantitative information relating to the geometrical deviation based at least in part on the amount of difference between the first distance and the default first distance. In some examples, the quantitative Information relating to the geometrical deviation comprises one or more of a plurality of metrics comprising: an amplitude of at least part of the geometrical deviation, or length of at least part of the geometrical deviation, coordinates of a plurality of points of the geometrical deviation, distance of the plurality of points of the geometrical deviation from a centre of the geometrical deviation, and / or shape of the geometrical deviation. In some examples, determining quantitative information relating to the geometrical deviation comprises: simulating a geometrical deviation model based on measurements received from a plurality of devices placed along the geometrical deviation. In some examples, determining the quantitative information and / or simulating the geometrical deviation model is based on a machine learning model. In some examples, the control module is further configured to perform: determining whether the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds; and generating a notification if the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds. In some examples, receiving measurements from a plurality of sensors associated with a plurality of devices positioned along the first rail of the railway track; wherein the identification of the geometrical deviation is based on comparison of the respective distances with respective default distances. In some examples, the first sensor is a laser sensor and / or a lidar sensor. In some examples, the device further comprises at least one communications module for sending measurements of the first distance to a control module. In some examples, the device further comprises at least one temperature sensor, wherein the device is configured to determine the first distance when a temperature above a first threshold is detected by the temperature sensors. In some examples, the device further comprises an accelerometer. In some examples, the device is configured to detect, based, at least in part, on data received from the accelerometer, one or more of: movement and / or removal of the device from the first rail; and occurrence of a track buckle and / or track gauge deviation. In some examples, the device further comprises: attachment means for attaching the device to the first rail. In some examples, the attachment means comprise removable attachment means, wherein the removable attachment means one or more of: magnetic attachment means; one or more fixing brackets, wherein the one or more fixing brackets are selectable for use as attachment means for the device based, at least in part, on the shape and / or size of the first rail. In some examples, the measurement of the first distance is based, at least in part, on reflective signals from one or more reflective elements positioned on at least part of the second rail. In some examples, the device comprises a global positioning system receiver. In a fourth aspect, this specification describes a method for identifying a geometrical deviation of a railway track, the method comprising: receiving measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise: a first distance from the first device to a second rail of the railway track at at least a first angle; comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In some examples, the geometrical deviation is at least one of a track buckle or a track gauge deviation. In some examples, when the geometrical deviation is a track buckle, the control module is configured to perform: receiving measurements from at least two sensors of the first device, wherein the measurements further comprise a second distance from the first device to the second rail at a second angle, comparing the measured second distance with a default second distance; and determining that the geometrical deviation is present if there is a difference between either the first distance and the default first distance or the second distance and the default second distance. In some examples, the control module is further configured to perform: determining quantitative information relating to the geometrical deviation based at least in part on the amount of difference between the first distance and the default first distance. In some examples, the quantitative information relating to the geometrical deviation comprises one or more of a plurality of metrics comprising: an amplitude of at least part of the geometrical deviation, or length of at least part of the geometrical deviation, coordinates of a plurality of points of the geometrical deviation, distance of the plurality of points of the geometrical deviation from a centre of the geometrical deviation, and / or shape of the geometrical deviation. In some examples, determining quantitative information relating to the geometrical deviation comprises: simulating a geometrical deviation model based on measurements received from a plurality of devices placed along the geometrical deviation. In some examples, determining the quantitative information and / or simulating the geometrical deviation model is based on a machine learning model. In some examples, the control module is further configured to perform: determining whether the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds; and generating a notification if the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds. In some examples, receiving measurements from a plurality of sensors associated with a plurality of devices positioned along the first rail of the railway track; wherein the identification of the geometrical deviation is based on comparison of the respective distances with respective default distances. In a fifth aspect, this specification describes an apparatus configured to perform any method as described with reference to the fourth aspect. In a sixth aspect, this specification describes computer-readable instructions which, when executed by computing apparatus, cause the computing apparatus to perform any method as described with reference to the fourth aspect. In a seventh aspect, this specification describes a computer program comprising instructions for causing an apparatus to perform at least the following: receiving measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise: a first distance from the first device to a second rail of the railway track at at least a first angle; comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In an eighth aspect, this specification describes a computer-readable medium (such as a non-transitory computer-readable medium) comprising program instructions stored thereon for performing at least the following: receiving measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise: a first distance from the first device to a second rail of the railway track at at least a first angle; comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In a ninth aspect, this specification describes an apparatus comprising: at least one processor; and at least one memory including computer program code which, when executed by the at least one processor, causes the apparatus to: receive measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise: a first distance from the first device to a second rail of the railway track at at least a first angle; compare the measured first distance with a default first distance; and determine that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In an eighth aspect, this specification describes an apparatus comprising: a first module configured to receive measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise: a first distance from the first device to a second rail of the railway track at at least a first angle; a second module configured to compare the measured first distance with a default first distance; and a third module configured to determine that a geometrical deviation is present if there is a difference between the first distance and the default first distance. Brief description of the drawings Example embodiments will now be described, by way of example only, with reference to the following schematic drawings, in which: FIGs. 1 to 4 are block diagrams of systems in accordance with example embodiments; FIG. 5 is a flowchart of an algorithm in accordance with example embodiments; FIGs. 6 and 7 are block diagrams of systems in accordance with example embodiments; FIG. 8 is a flowchart of an algorithm in accordance with example embodiments; FIGs. 9 to 18 are block diagrams of systems in accordance with example embodiments; FIG. 19 is a block diagram of components of a system in accordance with an example embodiment; and FIG. 20 shows an example of tangible media for storing computer-readable code which when run by a computer may perform methods according to example embodiments described above. Detailed description The scope of protection sought for various embodiments of the invention is set out by the independent claims. The embodiments and features, if any, described in the specification that do not fall under the scope of the independent claims are to be interpreted as examples useful for understanding various embodiments of the invention. In the description and drawings, like reference numerals refer to like elements throughout. FIG. 1 is a block diagram of an example system, indicated generally by the reference numeral 10. The system 10 shows an example railway track 11. The railway track 11 may comprise a first rail 12a, a second rail 12b, and a plurality of railway sleepers 13 (e.g. railway ties, cross ties, etc.). The railway track 11 may comprise further components (not illustrated for simplicity) such as a plurality of rail joints (e.g. fishplates) for joining a plurality of rails, railway fasteners for joining railway sleepers to rails, and / or any other components that may be part of a generic railway track. The first rail 12a and the second rail 12b may be opposite to each other, such that they are ideally substantially parallel to each other. In an ideal scenario, the distance (e.g. railway gauge) between the first rail 12a and the second rail 12b should remain constant throughout the railway track. However, geometrical deviations may occur in the railway track, for example, due to high temperatures, or other factors such as damage due to natural causes, usage damage overtime, or accidents. The functioning of the railway may be negatively impacted by such geometrical deviations, especially if the degree of the deviations is higher than a certain tolerance level. It is therefore important to identify, and quantitatively measure such geometrical deviations, such that corrective actions may be taken if required. The system 10 further comprises a first device 15 positioned on the first rail 12a of the railway track 11. The first device 15 may comprise at least one sensor that may be configured to obtain measurements relating to a distance between the first device 15 and the second rail 12b (e.g approximately the same distance as the distance between the first rail 12a and the second rail 12b). For example, as the first rail 12a and the second rail 12b are substantially parallel to each other in an ideal scenario, the distance between the first rail 12a and the second rail 12b may be the same throughout the length of the railway track 11. The at least one sensor of the first device 15 may be positioned such that a first distance, for example, as illustrated by the distance 14, may be measured at a first angle. When the railway track 11 Is at the ideal state, as shown in FIG. 1, the distance 14 may be a default first distance. In some examples, geometrical deviations in the railway track may cause the distance 14 to change, which may allow Identification of the geometrical deviations, as discussed In further details below. In an example embodiment, the at least one sensor comprises optical sensors, such as laser sensors, lidar sensors, or the like. Such optical sensors may be capable of measuring distances based on receiving optical waves (with a known speed of light) reflected from a surface (e.g. the second rail) after a certain time period, such that the distance to the surface may be calculated based on the known speed multiplied by the time period. FIG. 2 is a block diagram of an example system, indicated generally by the reference numeral 20. The system 20 shows an example railway track 21. The railway track 21 may comprise a first rail 22a, a second rail 22b. The railway track 21 is shown to be slightly curved, which may be an indication of a geometrical deviation, such as a track buckle. Such a geometrical deviation may be caused due to high temperatures (e.g. metal rails expanding due to high temperature) or other environmental factors. The system 20 shows a first device 25 (similar to the first device 15) that may comprise at least one sensor configured to measure a first distance 24 from the first device 25 to the second rail 22b (approximately the distance between the first rail 22a and the second rail 22b) at a first angle. As such, the railway track 21 may be an illustration of the railway track 11 with a geometrical deviation (e.g. a buckle). The first device 25 Is shown to be approximately in the centre of the buckle, but other positions are possible (e.g. location of the buckle along the railway track may not be estimated in advance of placing the first device 25, therefore the first device 25 may happen to be in any position relative to the buckle). It is likely that, due to the geometrical deviation, the measured first distance 24 is different (e.g. larger) than the default first distance 14. If such a difference is detected, It may be determined that a geometrical deviation Is present. FIG. 3 is a block diagram of an example system, indicated generally by the reference numeral 30. The system 30 shows an example railway track 21. The railway track 21 may comprise a first rail 22a, a second rail 22b, similar to that shown in FIG. 2. The railway track 21 is shown to be slightly curved, which may be an indication of a geometrical deviation, such as a track buckle. Such a geometrical deviation may be caused due to high temperatures (e.g. metal rails expanding due to high temperature) or other environmental factors. The system 30 shows a first device 35 (similar to the first device 15) that may comprise at least one sensor configured to measure a first distance 34 from the first device 35 to the second rail 22b (approximately the distance between the first rail 22a and the second rail 22b) at a first angle. The first device 35 is shown to be off-centre from the centre of the buckle, but other positions are possible (e.g. location of the buckle along the railway track may not be estimated in advance of placing the first device 35, therefore the first device 25 may happen to be in any position relative to the buckle). FIG. 4 is a block diagram of an example system, indicated generally by the reference numeral 40. The system 40 shows an example railway track 41. The railway track 41 may comprise a first rail 42a, a second rail 42b, similar to that shown in FIG. 2. The railway track 41 is shown to have a geometrical deviation, such as a change in railway gauge (e.g. distance between the first rail and the second rail), as at least one of the first rail 42a and second rail 42b may be slightly curved. The system 30 shows a first device 45 (similar to the first device 15) that may comprise at least one sensor configured to measure a first distance 44 from the first device 45 to the second rail 42b (approximately the distance between the first rail 42a and the second rail 22b) at a first angle. It is likely that, due to the geometrical deviation, the measured first distance 44 is different (e.g. larger) than the default first distance 14. If such a difference is detected, it may be determined that a geometrical deviation is present. FIG. 5 is a flowchart of an algorithm, indicated generally by the reference numeral 50, in accordance with an example embodiment. The operations of the reference numeral 50 may be performed at a control module. The control module may, for example, be remote from the first device (15, 25, 25, 45), or alternatively may be a part of the first device or in close proximity of the first device. The algorithm 50 may start with operation 51, where measurements may be received from at least one sensor of a first device. As shown in FIGs. 1 to 4, the first device (15, 25, 35, 45) may be positioned on a first rail (12a, 22a, 32a, 42a) of a railway track (11, 21, 31, 41). The measurements may comprise a first distance from the first device to a second rail (12b, 22b, 32b, 42b) of the railway track at a first angle. In one example, the first angle may not be a right angle with respect to one or both of the first rail and the second rail for Identifying a track buckle. For identifying a track gauge deviation, the first angle may be a right angle or any other angle with respect to one or both of the first rail and the second rail. Next, at operation 52, the measured first distance (24, 34, 44) may be compared with a default first distance (14). If there is a difference between the measured first distance and the default first distance, it may be determined, at operation 53, that a geometrical deviation is present. The geometrical deviation may be a track buckle (e.g. as shown in FIG. 2 and 3) or a track gauge deviation (e.g. as shown in FIG. 4). In some other examples, the geometrical deviation may comprise rail breakage (e.g. broken rails that may disturb geometry of the track), which may be detected based on the measurements received from the one or more sensors. In another example, the geometrical deviation may comprise damage to a railroad switch (e.g. turnout and / or points). Railroad switches may enable trains to change tracks on the railway by using a movable rail (called a 'point') that may be moved and be attached to one of a plurality of connected tracks (e.g. one track diverging into two or more tracks, or two or more tracks intersecting with each other). As rail points may be thinner (e.g. weaker) compared to other track parts, the points may be susceptible to damage. Such damages may be identified based on the measurements received from one or more sensors of the device. In some examples, the device(s) may be placed on one or more points (e.g. movable parts) of the rail. As the positioning of the device may change from time to time (e.g. due to the moving points), the device may be configured to learn the different positions (e.g. based on accelerometer measurements) and how the sensor measurements may vary based on which position the device may be in, and consequently being able to detect any geometrical deviation based on the sensor measurements. In an example embodiment, operation 51 may comprise receiving measurements from sensors of a plurality of devices positioned along the railway track. The control module may further be configured to determine a location of the device(s) that measurements are received from. In one example, the location may be determined based on global positioning system (GPS) information received from the respective device(s). Alternatively, or in addition, the location may be determined based on an identity information (e.g. received in conjunction with the measurements) of the respective device and a known location of said device with the indicated identity. FIG. 6 is a block diagram of an example system, indicated generally by the reference numeral 60. The system 60 shows an example railway track 21 (with a track buckle) comprising the first rail 22a and the second rail 22b (similar to that shown in FIG.2) . The system 60 further shows a first device 65 that may comprise a plurality of sensors configured to measure a plurality of distances to the second rail 22b at a plurality of angles respectively. For example, the first device 65 may comprise at least two sensors. In an example embodiment, the first device comprises at least two sensors that may be positioned in the first device 65 such that measurements may be obtained for at least a first distance to the second rail 22b at a first angle, and a second distance to the second rail at a second angle (the first angle being different from the second angle). As shown in the system 60, the first device 65 may comprise four sensors, each of the sensors positioned within the first device 65 so as to obtain measurements of distance to the second rail at different angles, where the angles are not right angles with respect to the first device 65. For example, a first sensor may be configured to obtain measurements of a first distance 64a to the second rail 22b at a first angle; a second sensor may be configured to obtain measurements of a second distance 64b to the second rail 22b at a second angle; a third sensor may be configured to obtain measurements of a third distance 64c to the second rail 22b at a third angle; and a fourth sensor may be configured to obtain measurements of a fourth distance 64d to the second rail 22b at a fourth angle. The measured second, third, and / or fourth distances may be compared with respective default second, third, and / or fourth distances (e.g. default distances In Ideal scenario without any geometrical deviations of the railway track). For example, if one or more of the measured distances are different from the respective default distances, it may be determined that the geometrical deviation (e.g. track buckle) is present. In one example, the first device 65 may further comprise a fifth sensor configured to obtain measurements of a fifth distance 64e to the second rail 22b at a fifth angle, where the fifth angle is a right angle. The measurement of the fifth distance 64e may be usable for identifying a track gauge deviation, such that, if the measured fifth distance 64e is different from a default fifth distance, it may be determined that a track gauge deviation is present. In one example, the more number of sensors there may be in the first device, the more accurate the determination of quantitative information of the geometrical deviation may be, as more data points may be available for estimating the deviation shape and / or size quantitatively. The quantitative information may be determined based on a simulation (e.g. based on a machine learning model) of the geometrical deviation. As such, the larger the number of measurements received, the more accurate the simulation may be. FIG. 7 is a block diagram of an example system, indicated generally by the reference numeral 70. The system 70 shows an example railway track 21 (with a track buckle) comprising the first rail 22a and the second rail 22b (similar to that shown in FIG.2) . The system 70 further shows a plurality of devices 75a, 75b, and 75c (collectively referred to as devices 75; each device being similar to the first device 25), where the plurality of devices 75 may be positioned along the first rail 22a of the railway track 11. The plurality of devices 75 may be positioned a certain distance from each other on the first rail 22a (e.g. equally spaced) such that any geometrical deviation along any portion of the railway track may be identified. Each of the devices 75 may comprise at least one sensor. For example, the device 75a comprises a sensor for obtaining a distance 74a from the device 75a to the second rail 22b at a first angle; the device 75b comprises a sensor for obtaining a distance 74b from the device 75b to the second rail 22b at a second angle; the device 75c comprises a sensor for obtaining a distance 74c from the device 75c to the second rail 22b at a third angle, where the first, second, and third angle may be same or different. Similar to device 65 described above, each of the devices 75 may have one or a plurality of sensors. In an example embodiment, the control module (e.g. performing operations of the algorithm 50) may receive measurements from a plurality of sensors of the plurality of devices 75, and the identification of the geometrical deviation may be based on comparison of the respective received measurements with the respective default measurements. FIG. 8 is a flowchart of an algorithm, indicated generally by the reference numeral 80, in accordance with an example embodiment. In one example, the operations of the algorithm 80 may be performed by a control module after the operations of the algorithm 50 (described in FIG. 5). At operation 81, quantitative information relating to a geometrical deviation (e.g. geometrical deviation as identified in operation 53 of algorithm 50) may be determined based at least in part on the amount of difference between the first distance and the default first distance (e.g. based on the comparison made in operation 52 of the algorithm 50). The quantitative information relating to the geometrical deviation may comprise one or more of a plurality of metrics comprising: an amplitude of at least part of the geometrical deviation, or length of at least part of the geometrical deviation, coordinates of a plurality of points of the geometrical deviation, distance of the plurality of points of the geometrical deviation from a centre of the geometrical deviation, and / or shape of the geometrical deviation. For example, a geometrical deviation, such as a buckle, may generally be shaped as a half wavelength of a sine wave, and the quantitative information may provide detailed information, such as the metrics described above, in relation to the shape and / or size of the buckle. A change in railway gauge (e.g. where each rail of the railway track may not change in the same way, see FIG. 4), may cause at least one of the rails to be shaped as a half wavelength of a sine wave, and the quantitative information may provide detailed information, such as the metrics described above, in relation to the shape and / or size of the deviation in railway gauge). At operation 82, it is determined whether one or more of the metrics associated with the quantitative information exceeds one or more respective thresholds. If yes, a notification may be generated at operation 83. For example, one or more of the metrics associated with the quantitative information exceeding one or more respective thresholds may indicate that the identified geometrical deviation may be beyond a tolerance level, such that administrative action and / or physical corrective action(s) may be required. In order to inform an entity (e.g. person and / or organization responsible for monitoring and / or correcting such geometrical deviations, and / or at least temporarily stopping use of the railway track) that a geometric deviation Is present, the notification may be sent to said entity. The notification may comprise information, such as the presence, the location, and optionally the quantitative information (e.g. exact shape and / or size of the deviation) of the geometrical deviation. It would be appreciated that the system described above may enable identification of a plurality of geometrical deviations along the railway track. A railway track may comprise a plurality of rails joined together by fasteners, such that the first rail (22a, 32a, 42a) may be one continuous rail or a plurality of rails joined together, and / or the second rail (22b, 22b, 22c) may be one continuous rail or a plurality of rails joined together. A railway track may have one or more straight portions and / or one or more curved portions (e.g. the general curvature of curved portions of tracks may have curves that have half wavelengths significantly larger than that of track buckles, therefore said general curvature would generally not be confused as track buckles by the sensors). In some examples, the railway track may comprise sections with one or more 'check rails' or 'guard rails', especially in sections with higher risk of derailment, (e.g. at curves or bridges). The device(s) (15, 25, 35, 45, 65, 75) may be placed on such 'check rails' or 'guard rails', and may still function as described above in the example embodiments. FIG. 9 is a block diagram of a system, indicated generally by the reference numeral 90, in accordance with an example embodiment. The system 90 comprises a first simulation 91 and a second simulation 92 of a railway track. The first simulation 91 shows the railway track in a static condition (e.g. an ideal scenario), such that there is no geometrical deviation shown. The simulation may be based, at least in part, on measurements from a device 93 (e.g. comprising one or more sensors for measuring distance from the device 93 (positioned on a first rail) to a second rail at a plurality of angles). The second simulation 92 shows a railway track with a track buckle. The simulation may be based at least in part, on measurements received from one or more of the devices 94a to 94e (e.g. comprising one or more sensors for measuring distance from the respective devices (positioned on a first rail) to a second rail at a plurality of angles). In one example, the devices 94a to 94e are positioned, for example, at equal distance (e.g. a predefined distance) from each other, along the railway track (e.g. the first rail). The track buckle in the simulation 92 may have an amplitude 95 and a half wavelength 96. In an example embodiment, the simulation may be used for training a machine learning model. For example, the model generation may be based on the assumption that a geometrical deviation (e.g. a buckle or gauge deviation) may cause a difference in at least some measurements obtained from sensors in the devices 94a to 94e. Measurements obtained by sensors of devices, such as device 93, when the tracks are in a static condition, may be stored as 'statics' data (e.g. such that the model comprises information of measurements relating to an 'ideal scenario'). The statics data may be used for quantitatively detecting and measuring the geometrical deviation with respect to the static condition. In one example, a buckle of arbitrary amplitude (as shown in Figure 18) may simulated (e.g. second simulation 92) by assuming that the track may deform as a sine wave. This may result in a new set of measurements that would be produced by a sensor at the centre of the buckle (e.g. sensor(s) of the device 94c). As one or more sensors may not be at the centre of the buckle, measurements may be calculated for a plurality of devices (each with one or more sensors) positioned along the rail (e.g. each of 40 equispaced positions) along the buckle half wavelength (five such sensor positions are shown in simulation 92 as devices 94a to 94e). Each of the measurement calculations may be repeated for a range of buckle amplitudes (e.g. ranging between -300mm to 300mm in 1mm increments). This set of calculations constitute a model for a given buckle half wavelength. Similar models may be created for a plurality of buckle wavelengths (e.g. plurality of wavelengths between 2 meters and 13 meters). In one example, using such a model, It may be possible to use sensor data sets (simulated or real) to lookup a buckle measurement. For example, referring to any one of systems 20, 30, 40, 60, or 70, based on the measured distance from a respective 'first device' (generating sensor data sets from their respective sensors) to the respective second rail, a size (e.g. half wavelength 95, and / or amplitude 95). FIG. 10 Is a block diagram of a device, indicated generally by the reference numeral 100, in accordance with an example embodiment. The device 100 may be similar to one or more of the devices 15, 25, 35, 45, 65, and 75, as discussed above. The device 100 may be positioned on a first rail of a railway track for identifying a geometrical deviation of the railway track. The device 100 may comprise at least one sensor 101, such that the sensor may be positioned for determining a first distance to a second rail of the railway track at respective at least one first angle. The first distance may change in response to a geometrical deviation being present in the railway track. The at least one sensor 101 may comprise one or more laser sensors and / or lidar sensors. The device 100 may further comprise a power module 102. For example, the power module 102 may comprise one or more of a power supply (e.g. battery and / or solar panels), power management module, power receiving means (e.g. adapter for connecting to mains electricity and / or solar panels), or the like. In an example embodiment, the device 100 further comprises an accelerometer 103. For example, the device 100 and / or a control module monitoring the device 100, may be configured to detect a movement and / or removal of the device 100 from the first rail on the railway track based, based, at least in part, on data received from the accelerometer 103. In another example, some geometrical deviations (e.g. track buckle or track gauge deviation) may occur gradually over a long period of time, while some geometrical deviations may occur abruptly within a short period of time (e.g. few seconds or minutes). Data received from the accelerometer 103 may be used for detecting such geometrical deviations that occur abruptly, as the device 100 may physically move abruptly in such a scenario, which movement may then be detected by the accelerometer 103. In an example embodiment, the device comprises 100 may comprise a global positioning system (GPS) receiver 104. For example, a control module (e.g. control module for receiving and processing measurements received from the device 100) may receive location information of the device 100 to determine which location along the railway track the sensor measurements relate to, which may in turn enable determining the location of a possible geometrical deviation along the railway track. In an example embodiment, the device 100 comprises one or more attachment means 105 for attaching the device 100 to a rail of the railway track. In one example, the attachment means comprise removable attachment means, such that the device 100 may easily be attached to and / or removed from the rail without involving extensive building work. For example, the attachment means may comprise magnetic attachment means, such that the device 100 may comprise a magnetic surface that attaches to a rail by magnetic attraction (e.g. as most rails are made of metal). Alternatively, or in addition, the attachment means may comprise one or more fixing brackets that may allow the device 100 to be mechanically attached to a rail. In an example embodiment, as different rails may be of different shapes and sizes, a plurality of different fixing brackets may be available for attaching the device 100 to the rail, where the fixing brackets may also be easily removable from the device 100. The fixing bracket may be removably attached to the device 100 by one or more of a magnetic attachment, mechanical attachment (e.g. slotting in a part of the device 100 into the fixing bracket), and / or a screw attachment). In one example, the one or more fixing brackets may be selectable for use as attachment means for the device 100 based, at least in part, on the shape and / or size of the first rail on which the device 100 may need to be attached. In an example embodiment, a fixing bracket comprises magnetic attachment means, and the fixing bracket may be shaped such that the magnetic attachment means enable the fixing bracket to be positioned at a specific orientation and at a specific location on the rail. (e.g. the fixing bracket may be snapped into a correct alignment (See alignment in FIG. 17) with respect to the rail partly due to the shape / size of the fixing bracket and the attraction from the magnetic attachment means). As such, the fixing bracket may not need to be manually aligned with the rail, especially considering that the fixing bracket may have a specific shape and / or size (fixing bracket is selectable based on the shape and / or size of the rail) that is configured to slot into a part of the rail. The force of attraction from the magnetic attachment means may allow automatic alignment of the fixing bracket on the rail. In an example embodiment, the device 100 may further comprises at least one communications module 106. For example, the communications module 106 may be used for sending information, such as sensor measurements, temperature measurements, accelerometer measurements, or the like, to a control module (e.g. a control module that processes said information). The communications module may comprise one or more of a cellular network module, a Wi-Fi™ module, a Bluetooth™ module, or any other short range or long range network module. In one example, the device 100 may comprise an antenna 131, such as a multiband GNSS and / or cellular antenna, which may connect the device 100 to one or more base stations 132 (cellular network provider) and / or global positioning system (GPS) constellations 133. In an example embodiment, the device further comprises at least one temperature sensor 107. For example, the device 100 may be configured to start obtaining and / or sending sensor measurements when a temperature above a first threshold is detected by the temperature sensors 107. FIG. 11 is a block diagram of a system (e.g. system for identifying a geometrical deviation of a railway track), indicated generally by the reference numeral 110, in accordance with an example embodiment. The system 110 may comprise at least one device 111 (e.g. similar to devices 15, 25, 35, 45, 65, 75, and / or 100 described above). The system 111 may comprise a plurality of said devices, such as devices Illa, 111b, and 111c. One or more of the devices 111 may be positioned on a first rail of the railway track. The system 110 may further comprise a control module 112, for example, configured to perform at least the operations of algorithm 50 described with reference to FIG. 5. For example, the control module 112 may receive measurements from one or more of the devices 111, the measurements comprising at least a first distance between respective device and a second (opposite) rail at a certain angle. The control module may then compare the measured first distance with a default first distance; and determine that a geometrical deviation is present if there is a difference between the first distance and the default first distance. In an example embodiment, the system 110 may further comprise reflective elements 113 positioned on at least part of the second rail. For example, the measurement obtained by one or more sensors of the device(s) 111 may be based, at least in part, on reflective signals from the one or more reflective elements 113 positioned on at least part of the second rail. For example, the light waves from the laser and / or lidar sensors may be focussed and / or prevented from spreading beyond a certain measurable degree by using said reflective elements 113. In one example, the plurality of devices 111 may be positioned at least a predefined distance apart from each other on the first rail. The predefined distance may be based on how far the sensors of each device may be able to obtain measurements for, such that the collective measurements from the plurality of devices may allow accurate identification of geometrical deviations along the railway track. The more the number of devices, the more accurate the identification may be. In an example embodiment, the control module 112 may be part of or be in proximity to one or more of the devices 111. Alternatively, the control module is remote from the devices 111, such that the control module may be part of a cloud server, or a physically remote server for processing measurements from devices 111. FIG. 12 Is a block diagram of a system, indicated generally with the reference numeral 120, in accordance with an example embodiment. The system 120 may be a more detailed representation of the system 110. The system 120 may comprise a device 134 (e.g. device 15, 25, 35, 45, 65, 75, 100, or 111). The device 134 may comprise sensors 121 (e.g. laser or lidar sensors) and a computing processor 122. The device 134 may further optionally comprise an accelerometer 123; a temperature sensor 124; a power module comprising one or more of: the charge connector 125, solar panel 126, battery or charging controller 127, or battery 128; and a communications module comprising one or more of a cellular module 129 (cellular transmitter and / or receiver), Global Navigation Satellite Systems (GNSS) receiver 130. The computing processor 122 may handle operations of the device 134, such as receiving, processing, and / or sending sensor measurements, controlling device power, determining when to start obtaining sensor measurements (e.g. based on temperature information from the temperature sensor 124), determining whether the device 134 had been moved or whether there is any abrupt occurrence of a geometrical deviation on the rail based on measurements from the accelerometer 123, controlling power management of the device 134, or the like. In an example embodiment, the sensors 121 may be interfaced to a user device (e.g. computer, mobile device, or the like) which may use a software application for capturing and / or recording sensor measurement data and process said measurement data using a track simulation model (e.g. models 91 and 92) to identify geometrical deviation(s) on the railway track. The choice of sensors 121 may be dependent on factors such as: a) Operation over distances up to 10m (a long distance specification implies robust operation at shorter distances). b) Accuracy + / - 1mm or better. c) Operation over a wide temperature range (-27 °C to 60 °C). d) Operation in direct sunlight. e) Visible beam to assist with installation, f) Cost effective. In an example embodiment, the software application for processing the sensor measurement data may further be configured to control the sensors 121 for performing device alignment checks for device 134. The software application may further be configured to process the sensor measurement data using one or more machine learning models in order to obtain a simulation of the geometrical deviation (e.g. shape / size of the buckle and / or track gauge deviation). FIGs. 13 to 16 show various views of a device (e.g. device 15, 25, 35, 45, 65, 75, 100, 111, or 134) in various views according to example embodiments. FIG. 13 shows the device in a front two-dimensional view 135 showing a front side of the device, where the device may be fitted to a rail at a back side (opposite side of the shown front side). FIG. 14 shows the device in a back two-dimensional view 140 showing a back side of the device, where the device may be fitted to a rail at the back side. The elements 141a and 141b may be attachment elements that may allow the device to be fitted to the rail and / or removable attachment means (e.g. fixing bracket) for attaching the device to the rail. FIG. 15 shows the device in a side view 151, and a fixing bracket 152 (e.g. attachment means 105) in a side view. The device 151 may be attached to the fixing bracket 152 via removable attachment means (e.g. magnetic or mechanical attachment). FIG. 16 shows the device in a diagonal three-dimensional view from the front side. FIG. 17 shows the a side view 170 comprising a rail 171 (e.g. vertical cross section of a rail), the device in a side view 172, and a fixing bracket 173 in a side view. The device is shown to be attached to the rail 171 via the fixing bracket 173. FIG. 18 shows an image 180 of a device 181 fitted to a rail in a three-dimensional view of a railway track. It can be seen that the size of the device 181 is relatively small compared to the sleepers and / or rails of the railway track, such that it may not be an obstruction for passing trains. For completeness, FIG. 19 is a schematic diagram of components of one or more of the example embodiments described previously, which hereafter are referred to generically as processing systems 300. A processing system 300 may have a processor 302, a memory 304 closely coupled to the processor and comprised of a RAM 314 and ROM 312, and, optionally, user input 310 and a display 318. The processing system 300 may comprise one or more network / apparatus interfaces 308 for connection to a network / apparatus, e.g. a modem which may be wired or wireless. Interface 308 may also operate as a connection to other apparatus such as device / apparatus which is not network side apparatus. Thus, direct connection between devices / apparatus without network participation is possible. The processor 302 is connected to each of the other components in order to control operation thereof. The memory 304 may comprise a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD). The ROM 312 of the memory 304 stores, amongst other things, an operating system 315 and may store software applications 316. The RAM 314 of the memory 304 is used by the processor 302 for the temporary storage of data. The operating system 315 may contain computer program code which, when executed by the processor implements aspects of the algorithms 50 and 80 described above. Note that in the case of small device / apparatus the memory can be most suitable for small size usage i.e. not always hard disk drive (HDD) or solid-state drive (SSD) is used. The processor 302 may take any suitable form. For instance, it may be a microcontroller, a plurality of microcontrollers, a processor, or a plurality of processors. The processing system 300 may be a standalone computer, a server, a console, or a network thereof. The processing system 300 and needed structural parts may be all inside device / apparatus such as loT device / apparatus i.e. embedded to very small size In some example embodiments, the processing system 300 may also be associated with external software applications. These may be applications stored on a remote server device / apparatus and may run partly or exclusively on the remote server device / apparatus. These applications may be termed cloud-hosted applications. The processing system 300 may be in communication with the remote server device / apparatus in order to utilize the software application stored there. FIG. 20 shows tangible media, specifically a removable memory unit 365, storing computer-readable code which when run by a computer may perform methods according to example embodiments described above. The removable memory unit 365 may be a memory stick, e.g. a USB memory stick, having internal memory 366 for storing the computer-readable code. The internal memory 366 may be accessed by a computer system via a connector 367. Other forms of tangible storage media may be used. Tangible media can be any device / apparatus capable of storing data / information which data / information can be exchanged between devices / apparatus / network. Embodiments of the present invention may be implemented in software, hardware, application logic or a combination of software, hardware and application logic. The software, application logic and / or hardware may reside on memory, or any computer media. In an example embodiment, the application logic, software or an instruction set is maintained on any one of various conventional computer-readable media. In the context of this document, a "memory" or "computer-readable medium" may be any non-transitory media or means that can contain, store, communicate, propagate or transport the instructions for use by or in connection with an instruction execution system, apparatus, or device, such as a computer. Reference to, where relevant, "computer-readable storage medium", "computer program product", "tangibly embodied computer program" etc., or a "processor" or "processing circuitry" etc. should be understood to encompass not only computers having differing architectures such as single / multi-processor architectures and sequencers / parallel architectures, but also specialised circuits such as field programmable gate arrays FPGA, application specify circuits ASIC, signal processing devices / apparatus and other devices / apparatus. References to computer program, instructions, code etc. should be understood to express software for a programmable processor firmware such as the programmable content of a hardware device / apparatus as instructions for a processor or configured or configuration settings for a fixed function device / apparatus, gate array, programmable logic device / apparatus, etc. As used in this application, the term "circuitry" refers to all of the following: (a) hardware-only circuit implementations (such as implementations in only analogue and / or digital circuitry) and (b) to combinations of circuits and software (and / or firmware), such as (as applicable): (i) to a combination of processor(s) or (ii) to portions of processor(s) / software (including digital signal processor(s)), software, and memory(ies) that work together to cause an apparatus, such as a server, to perform various functions) and (c) to circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present. If desired, the different functions discussed herein may be performed in a different order and / or concurrently with each other. Furthermore, if desired, one or more of the above-described functions may be optional or may be combined. Similarly, it will also be appreciated that the flow charts of Figures 5 and 8 are examples only and that various operations depicted therein may be omitted, reordered and / or combined. It will be appreciated that the above described example embodiments are purely illustrative and are not limiting on the scope of the invention. Other variations and modifications will be apparent to persons skilled in the art upon reading the present specification. Moreover, the disclosure of the present application should be understood to include any novel features or any novel combination of features either explicitly or implicitly disclosed herein or any generalization thereof and during the prosecution of the present application or of any application derived therefrom, new claims may be formulated to cover any such features and / or combination of such features.

Claims

1. A control module, for identifying a geometrical deviation of a railway track, the control module configured to perform:receiving measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise:a first distance from the first device to a second rail of the railway track at at least a first angle;comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance.

2. A control module as claimed in claim 1, wherein the geometrical deviation is at least one of a track buckle or a track gauge deviation.

3. A control module as claimed in claim 2, wherein when the geometrical deviation is a track buckle, the control module is configured to perform:receiving measurements from at least two sensors of the first device, wherein the measurements further comprise a second distance from the first device to the second rail at a second angle,comparing the measured second distance with a default second distance; and determining that the geometrical deviation is present If there is a difference between either the first distance and the default first distance or the second distance and the default second distance.

4. A control module as claimed in any one of the preceding claims, wherein the control module is further configured to perform:determining quantitative information relating to the geometrical deviation based at least in part on the amount of difference between the first distance and the default first distance.

5. A control module as claimed in claim 4, wherein the quantitative information relating to the geometrical deviation comprises one or more of a plurality of metrics comprising: an amplitude of at least part of the geometrical deviation, or length of at least part of the geometrical deviation, coordinates of a plurality of points of the the geometrical deviation, distance of the plurality of points of the geometrical deviation from a centre of the geometrical deviation, and / or shape of the geometrical deviation.

6. A control module as claimed in any one of claims 4 or 5, wherein determining quantitative information relating to the geometrical deviation comprises: simulating a geometrical deviation model based on measurements received from a plurality of devices placed along the geometrical deviation.

7. A control module as claimed in claim 6, wherein determining the quantitative information and / or simulating the geometrical deviation model is based on a machine learning model.

8. A control module as claimed in any one of claims 5 to 7, wherein the control module is further configured to perform:determining whether the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds; andgenerating a notification if the one or more of the plurality of metrics associated with the quantitative information of the geometrical deviation exceeds one or more respective thresholds.

9. A control module as claimed in any one of the preceding claims, further comprising:receiving measurements from a plurality of sensors associated with a plurality of devices positioned along the first rail of the railway track; wherein the identification of the geometrical deviation is based on comparison of the respective distances with respective default distances.

10. A device, positioned on a first rail of a railway track, for identifying a geometrical deviation of the railway track, comprising:at least a first sensor, wherein the first sensor is positioned for determining a first distance to a second rail of the railway track at at least a first angle;wherein the first distance changes in response to a geometrical deviation being present.

11. A device as claimed in claim 10, wherein the first sensor is a laser sensor and / or a lidar sensor.

12. A device as claimed in claim 10 or 11, wherein the device further comprises at least one communications module for sending measurements of the first distance to a control module.

13. A device as claimed in any one of claims 10 to 12, wherein the device further comprises at least one temperature sensor, wherein the device is configured to determine the first distance when a temperature above a first threshold is detected by the temperature sensors.

14. A device as claimed in any one of claims 10 to 13, wherein the device further comprises an accelerometer.

15. A device as claimed in claim 14, wherein the device is configured to detect, based, at least in part, on data received from the accelerometer, one or more of: movement and / or removal of the device from the first rail; and occurrence of a track buckle and / or track gauge deviation.

16. A device as claimed in any one of claims 10 to 15, wherein the device further comprises: attachment means for attaching the device to the first rail.

17. A device as claimed in claim 16, wherein the attachment means comprise removable attachment means, wherein the removable attachment means one or more of:magnetic attachment means;one or more fixing brackets, wherein the one or more fixing brackets are selectable for use as attachment means for the device based, at least in part, on the shape and / or size of the first rail.

18. A device as claimed in any one of claims 10 to 17, wherein the measurement of the first distance is based, at least in part, on reflective signals from one or more reflective elements positioned on at least part of the second rail.

19. A device as claimed in any one of claims 10 to 18, wherein the device comprises a global positioning system receiver.

20. A system for identifying a geometrical deviation of a railway track, the system comprising:a first device, positioned on a first rail of the railway track, the first device comprising: at least a first sensor, wherein the first sensor is positioned for determining a first distance to a second rail of the railway track at at least afirst angle; wherein the first distance changes in response to a geometrical deviation being present;a control module configured to perform:receiving measurements comprising at least the first distance;comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is adifference between the first distance and the default first distance,.

21. A system as claimed in claim 19, further comprising: reflective elements positioned on at least part of the second rail.

22. A system as claimed in claim 20 or 21, further comprising a plurality of devices positioned along the first rail of the railway track, wherein the control module is further configured to perform:receiving measurements from a plurality of sensors associated with the plurality; wherein the identification of the geometrical deviation is based on comparison of the respective measurements with respective default measurements.

23. A system as claimed in claim 22, wherein the plurality of devices is positioned at least a third distance apart from each other on the first rail.

24. A system as claimed in any one of claims 20 to 23, wherein the control module is part of the first device, or the control module is remote from the first device.

25. A method for identifying a geometrical deviation of a railway track, the method comprising:receiving measurements from at least one sensor of a first device, positioned on a first rail of a railway track, wherein the measurements comprise:a first distance from the first device to a second rail of the railway track at at least a first angle;comparing the measured first distance with a default first distance; and determining that a geometrical deviation is present if there is a difference between the first distance and the default first distance.

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