CN101335880A - Vehicle mounted video monitoring system and monitoring method thereof - Google Patents
Vehicle mounted video monitoring system and monitoring method thereof Download PDFInfo
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- CN101335880A CN101335880A CNA2008100413009A CN200810041300A CN101335880A CN 101335880 A CN101335880 A CN 101335880A CN A2008100413009 A CNA2008100413009 A CN A2008100413009A CN 200810041300 A CN200810041300 A CN 200810041300A CN 101335880 A CN101335880 A CN 101335880A
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Abstract
The present invention relates to a vehicle mounted video monitoring system and monitoring method thereof. The invention adopts a symmetric structure, one set of system host computer, a liquid crystal touch screen display and an infrared video camera are respectively provided in the beginning and the end driver rooms of the train. The two system host computers are identical, three 360-degree static wide angle cameras are respectively mounted in equidistance at the top of each compartment, a set of video processing apparatus and network device is mounted in the wire distributing groove, data transmission between compartments adopts the wired connecting passage apparatus or wireless connecting passage apparatus, each host computer can perform data transmission between every video camera, and the video camera is connected with video processing and storage apparatus (SDVR). The invention has advantages of no blind zone of compartment monitoring, seamless connection between the automobile door and the platform, safe and reliable data transmission; friendly man-machine interface, facilitating operation, easy operation and maintenance; and system reserved interface to TCMS and PIS.
Description
Technical field
The present invention relates to the supervisory control system class, be specifically related to a kind of Vehicular video monitoring system and method for supervising thereof, this system is that collection image digitization coding techniques, intelligent video analysis technology and wideband transmit technology are the total digitalization of one, intelligent and networked Vehicular video monitoring dedicated system.
Background technology
Along with the rapid rising of expanding economy and urban population, urban transport problems is severe day by day.For alleviate traffic pressure China in Beijing, each big city such as Shanghai, Tianjin, Guangzhou, Chongqing, Changchun, Dalian, Shenzhen, Wuhan, Nanjing have built rail transit network one after another, this has improved the efficient of citizens' activities greatly, has promoted process of urbanization.But, make a general survey of the development history of global track traffic, the safety precaution problem of track traffic, especially subway system is to build and administrative department faces stern challenge always.
The track traffic video monitoring system is to the running status of real-time monitoring Rail Transit System, in time hold logistics, stream of people's situation of each website of track traffic, respond actively the accident that may occur and afterwards evidence obtaining all bringing into play irreplaceable effect.Usually the track traffic video monitoring system is mainly become by 4 groups of subsystems: control centre's watchdog subsystem, station watchdog subsystem, onboard subsystem and car ground transmission subsystem.
In Chinese large-sized, ultra-large type city, the track traffic for passenger flow amount is very big, and peak period on and off duty, the compartment was very crowded, and is overstaffed especially during long holidays " golden week ".Though at present malignant event of overall importance does not take place as yet, artificial in the compartment, non-artificial accident happens occasionally, and takes precautions against in possible trouble, it is extremely urgent to study solutions such as rational train-installed video monitoring, intelligent alarm, car ground real time communication.
Summary of the invention
The objective of the invention is according to above-mentioned the deficiencies in the prior art part, a kind of Vehicular video monitoring system and method for supervising thereof are provided, the present invention adopts symmetrical structure, identical two complete equipments are installed in two drivers' cabs of initial and end, satisfy the monitoring of uplink and downlink vehicle, the transfer of data between the compartment adopts wired connection channel unit or radio link channel equipment.
The object of the invention realizes being finished by following technical scheme:
A kind of Vehicular video monitoring system, this system comprises system host, display and video camera, system host connects display and video camera respectively, it is characterized in that this system is provided with the identical system host of two covers, some video cameras are set between system host and the system host, each main frame can and each video camera between carry out transfer of data, described video camera connects Video processing and memory device (SDVR).
Described system host is connected with LCDs.
Described system host is reserved with and the alarm interlock interface of existing vehicle-mounted Train Control management system (TCMS) and the wireless transfer channel interface of ground passenger information service system (PIS).
This method adopts symmetrical structure, in two drivers' cabs of train head and the tail, respectively establish a cover system main frame, a lcd touch panel type display and a thermal camera, two cover system main frames are identical, every joint carriage top is three the 360 static full visual angles of degree of equidistant installation video camera respectively, the one cover video processing equipment and the network equipment is installed in the trough, and the transfer of data between the compartment adopts wired connection channel unit or radio link channel equipment.
During described system monitoring, system powers on, and all video cameras are just in running order, after Video processing and memory device (SDVR) are come in the video information collection of affiliated separately video camera, data divide two-way to handle: leading up to inner parallel channel delivers to vehicle-mounted hard disks, is used for real-time storage; Another road is delivered to system host by the express network interface and is used for real-time display frame, and the data that system host is sent here except treatment S DVR are also wanted the running status of monitoring system, and made response according to operator's instruction at any time in the real-time display frame of LCD.
Advantage of the present invention is, the compartment monitors non-blind area, car door and platform seamless link, and data transmission security is reliable; Man-machine interface close friend, easy and simple to handle, be convenient to O﹠M; The interface of system's reservation and TCMS, PIS.Service test shows that system does not have mutual interference mutually with other operation equipment.System has fire detection, smoke detection, the invasion of train operator chamber, wall hanging object in the railway car (as on-vehicle information issue LCD screen) illegal mobile (theft), the brake hard rim brake monitoring function such as illegally pull, the Video Document of high definition not only can satisfy the requirement of evidence obtaining afterwards, also can image and data be sent to desired place selectively in real time by the broadband wireless transmission system, as: the control room, station, control point, police service chamber, station, operation control centre, anti-terrorisms such as command centre of track traffic branch office and the emergency cooperative center needed any control point of keeping a lookout of public security.
Description of drawings
Fig. 1 is a system of the present invention basic composition level;
Fig. 2 is a systematic schematic diagram of the present invention;
Fig. 3 vehicle all standing of the present invention schematic diagram;
Wire transmission mode schematic diagram between Fig. 4 compartment of the present invention;
Wireless transmission method schematic diagram between Fig. 5 compartment of the present invention;
Fig. 6 system power supply of the present invention is distributed schematic diagram.
Embodiment
Feature of the present invention and other correlated characteristic are described in further detail by embodiment below in conjunction with accompanying drawing, so that technical staff's of the same trade understanding:
Shown in Fig. 1-6, label 1-5 represents respectively: the static omnidirectional vision camera of guest room inwall 1,360 degree position 2, single camera covering radius 3, passenger door (totally 5 pairs) 4, front and back run-through channel car door 5, C1, C2, C3 are camera.
The present embodiment system is divided into three levels: video acquisition layer, Video processing and transport layer, data application layer.Wherein video acquisition layer equipment is video camera; Data processing and transport layer equipment comprise SDVR (Video processing and memory device), information exchange module, network interface channel equipment etc.; Data application layer equipment is video server, lcd touch display screen etc.Two drivers' cabs are respectively established a cover system main frame, a lcd touch panel type display and a thermal camera, equidistant respectively installation the in top, every joint guest room spent static full visual angle video cameras for 3 360, the one cover video processing equipment and the network equipment is installed in the trough, all devices is in logic by the Fast Ethernet interconnection, and system host is reserved with and the alarm interlock interface of existing vehicle-mounted TCMS (Train Control management system) and the wireless transfer channel interface of ground PIS (passenger information service system).
Present embodiment is when work, as long as system powers on, all video cameras are just in running order, after SDVR comes in the video information collection of all affiliated separately video cameras, data divide two-way to handle: leading up to inner parallel channel delivers to vehicle-mounted hard disks, is used for real-time storage; Another road is delivered to system host by the express network interface and is used for real-time display frame.The data that system host is sent here except treatment S DVR are also wanted the running status of monitoring system, and are made response according to operator's instruction at any time in the real-time display frame of LCD.In case have emergency (as operate a switch etc.) or anomalous event to take place, by form and the vehicle-mounted TCMS interlock of node conditioned disjunction with network data, the video image that triggers this joint compartment at once is presented on the LCD screen.
Whenever the iron rail vehicle length that saves land is 21 meters, and the effective monitoring radius of each passenger car video camera is 3.5 meters, every joint car equidistantly 3 video cameras of configuration can realize that 100% of compartment effectively covers, and therefore, system can clearly illustrate the situation of all personnel's activity in the monitoring range.
As shown in Figure 3, because monitoring picture can splice continuously between adjacent camera, and the monitoring image of the video camera of vehicle-mounted vidicon and platform can be realized seamless link (the particularly inside and outside both sides of shield door), therefore the movement track of monitored object from the platform to the compartment can be caught fully, thoroughly eliminated the vehicle-mounted monitoring blind area, perfect track traffic video monitoring system.
Wire transmission can be adopted between the compartment, also wireless transmission can be adopted.
Can adopt special-purpose Fast Ethernet cable direct interconnection between the compartment.Advantage is: system stability performance height, transmission bandwidth height.Shortcoming: be unfavorable for that car body tears volume open, and require that enough line resources are arranged between the compartment, need with the integrated consideration design of the other system of vehicle.
If do not lay client cables between the compartment, data are by the transmission of wireless high-speed Ethernet.Advantage: make things convenient for vehicle to tear volume open, less to the intervention influence of vehicle existing equipment.Shortcoming: need be in per two joint car junctions, a wireless connector is respectively installed at two ends, bottom, compartment, realizes a point-interconnection, and cost is higher relatively.
At the structure and the operation characteristic of subway train, the pattern that the present embodiment framework adopts distributed storage to combine with centralized management.Independent SDVR of every joint compartment configuration; be responsible for the storage of coupled camera review; the IMAQ of every joint car and the independence of storage have been guaranteed like this; help avoiding the system crash that brings because of network and transmission and adjacent vehicle trouble etc. or the incomplete problem of Video Document, for the accident fix duty analysis after having an accident provides foundation directly perceived.After each discrete vehicle is organized into row, by system host configuration train IP can with each independently SDVR form organic system, main frame is by the monitoring software management and call the image document of each SDVR, realizes centralized management, and is convenient to operation.
The present embodiment drivers' cab adopts active infrared camera, even also can normally monitor under the situation of no daylighting or low-light (level).Adopt video camera in the compartment, realize that non-blind area covers with the static comprehensive camera technique of 360 degree.Whole monitoring system adopts unified clock source, and the image definition height, the time delay that collect are little.
Needs at railway car dilatation and flexible marshalling, the IP address that every joint compartment takies is no more than 2, and realized that number in the compartment and the direct correlation of IP address of equipment, not only saved the IP resource, also be convenient to upper wire administrative staff's operation regulation and control, improve operating efficiency greatly, made things convenient for system configuration and system maintenance.
Supervisory control system is supported H.264 image digitization compress technique, and the video flowing storage of D1 form supports the net blit to be not less than the CIF form as resolution, to moving omnidistance image record, frame speed is no less than 12frame/s, and 15 days recorded and stored time is to satisfy the needs of post-survey.
Present embodiment is in concrete work, when if the video processing equipment of each node of system breaks down, only lose the function relevant with this node, and do not influence the normal operation of other node device, the video storage hard disk that is adopted can be stored continuously, automatic segmentation, no disk fragments, and hard disk is not in resting state automatically when having read-write, failure rate is low, long service life.
Developing direction at metro operation characteristics and track traffic customer service, present embodiment has taken into full account and the compatibility of other system and the autgmentability of self, upwards be reserved with the broadband wireless communications interface that carries out transfer of data with ground control centre (as: PIS), be reserved with the MVB wired communication interface that carries out transfer of data with mobile unit management control (as: TCMS) downwards.
The broadband wireless communications interface of reserving that docks with ground PIS can be supported the monitor of each PIS upper wire system node, and can freely show the monitoring image of choosing video camera.
The MVB communication interface of reserving; can realize the exchanges data of TSS system and TCMS system; finish train emergency call, promptly the operate a switch braking etc. and the interlock of video monitoring system; the help driver in time grasps the guest room situation and adopts an effective measure; the loss that fault or disaster are brought drops to minimum as far as possible, protects numerous passengers' safety.
Monitoring software is installed in the system host, and the LCD monitor adopts touch-screen, and operation interface is simple and clear, understandable, is divided into monitoring (driving) and maintenance (maintenance) two kinds of patterns.
LCD normality display monitoring picture (in order not disperse driver attention, influencing normal driving) not under the monitoring mode takes place or artificially touches LCD to activate the display monitoring picture just have only when abnormal conditions.
The operator can click coach number as required and check the monitored picture of specifying the compartment.Simultaneously, in case have abnormal conditions can be automatically display alarm information in real time.
Monitor is except showing primary image, and also additional informations such as stack demonstration coach number, camera number serve, date and time, and the stack of character do not influence image and show and record effect that picture quality meets more than the DB31/329.7-2007 level Four level.
The compartment video camera adopts the static comprehensive camera technique of SONY360 degree, the special lens of producing by the SONY patent generates the images of 360 degree on every side on single CCD, and launches to become 360 omnidirectional images (not being stereo-picture) of spending by the software and hardware that video camera carries and export.This and common " 3D CCD " are meant that the scene image by forming multi-C stereo after monolithic or the multi-disc CCD imaging is distinct.And adopt the video camera of SONY technology can cut apart the visual effect that reaches satisfied by selecting different screen fully.Compartment video camera the key technical indexes: pixel: 20,0/3,000,000; Power supply: 5V; Visual angle: 360 degree; Minimal illumination: 10Lux; Lens (mm): 32.6 * 32.3 * 32.6; Working temperature :-30 ℃～+ 60 ℃.
The drivers' cab active infrared camera is that the operational circumstances of driver to the operation cabinet monitored and write down in intrusion detection.Because drivers' cab illuminance amplitude of variation is bigger, need to adopt active infrared camera.The key technical indexes is: image device: 1/3 " CCD; Horizontal definition: 480 lines; Minimal illumination: 0.1Lux/0; Signal to noise ratio: greater than 52dB; Electronic shutter: the fastest 1/120 second; Transmitting range: 0～30m; Power supply: DC12V; Working temperature :-10 ℃～+ 50 ℃.
Video processing and memory device (SDVR) have the function of video encoding, control data transmission and image storage, responsible video monitoring signal of handling and storing all video cameras outputs in each compartment.
Video processing and memory device (SDVR) the key technical indexes
| Video compression standard | H.264 |
| The real time monitoring image resolution ratio | PAL:704*576 NTSC:704*480 |
| Playback resolution | QCIF/CIF/DCIF/4CIF |
| |
1/4 |
| |
1/4 tunnel (PAL, NTSC discerns automatically), TNC (level: 1.0Vp-p, impedance: 75 Ω) |
| |
2 tunnel (PAL, NTSC is optional), TNC (level: 1.0Vp-p, impedance: 75 Ω) |
| Video frame rate | PAL:1/16--25 frame/second, NTSC:1/16--30 frame/second |
| The code stream type | Video flowing/combined-flow |
| The compression bit rate output | 32K--2M is adjustable, also can be self-defined.(upper limit 8M, unit: bps) |
| Hard-disk interface | The SATA interface, 2.5/3.5 inch, maximum 2000GB big capacity hard disk, the vibration damping consolidation process supported. |
| Report to the police and import | The input of 4 way switch amounts is supported often to open/normally closed two kinds of forms. |
| Report to the police and export | The output of 2 way switch amounts (or dry contact). |
| Vibration-testing | Meet GJB 367A-2001. |
| Electromagnetic compatibility | Meet GB 13837-2003 |
| Working temperature | -10 ℃～+ 60 ℃ |
| Working relative humidity | 10%～95% |
H.264 the standard with former is the same, also is the hybrid coding pattern that DPCM adds transition coding.But it adopts the compact design of " returning basic ", and option that need not be numerous obtains than H.263++ much better compression performance; Strengthened adaptive capacity, adopted the structure and the grammer of " network close friend ", helped processing error code and packet loss to various channels; Application target wider range is to satisfy the demand of different rates, different resolution and different transmission (storage) occasions; Its fundamental system is open, uses to need not copyright.
Technically, H.264 a plurality of flash of light parts are arranged in the standard, as unified VLC symbolic coding, high accuracy, multimodal Displacement Estimation are based on 4 * 4 integer transforms, layered encoded grammer etc.The feasible H.264 algorithm of these measures has high coding efficiency very, under identical reconstructed image quality, and can be than the code check of H.263 saving about 50%.H.264 code flow structure network-adaptive is strong, has increased error resilience, can adapt to the application of IP and wireless network well.
Wireless connector (WLSL) is the network switching equipment of finishing the encapsulate forwarded packet, carrying out information exchange functions.
Wireless connector (WLSL) the key technical indexes
| Specification | Content |
| Standard | IEEE?802.11g，IEEE?802.11b，IEEE?802.11，IEEE?802.3， IEEE?802.3u |
| Safety | 64/128/152 WEP, 802.1X, WPA-Wi-Fi visits protection, MAC Address access control (WPA-TKIP and WPA-AES) |
| Range of signal | 10m |
| The wireless-modulated technology | OFDM (OFDM), CCK (complementary code keying), DQPSK, DBPSK |
| Wireless transmitted power | 15dBm(32mW)+/-2dB |
| The external antenna type | 1.0dB separable rotation dipole SMA antenna |
| Working temperature | -10℃～55℃ |
| The input power supply | External |
| Authentication | FCC，UL，VCCI，CSA，EN |
| Apparent size | 142mm (length) * 109mm (wide) * 31mm (height) |
Multifrnction connector (MFNC) is to carry out the function device that packet encapsulation is transmitted, finished information exchange, and can provide power supply for equipment itself reaches video camera.Multifrnction connector is divided into two kinds of the MFNC that the MFNC that uses in the first and last compartment and middle compartment use by the use location.The key technical indexes: 5 10/100Mbps ports, flow control, protected data is avoided losing; The automatic adaptive functions of MDI/MDIX between all of the port; Twisted pair wire polarity is corrected automatically; Be each port dynamic assignment RAM buffer memory, each port is all supported entirely/semiduplex mode; EMI:FCC Class B, CE Class B, VCCI Class B; Fail safe: UL, CSA, TUV; Input voltage: DC77V～138V; Efficient: 80%; Voltage accuracy: ± 1%; Current-limiting protection: 120%; Output: DC12V/6A, DC5V/2A.
System host is an industrial control computer, is a kind of employing bus structures, the instrument general name that production process and electromechanical equipment thereof, technological equipment are carried out Detection ﹠ Controling.It is mainly to whole onboard system network configuration and management, the image of the particular camera in the specific compartment of real-time calling, recording operation daily record.The key technical indexes: firm built-in industrial control machine; Integrated Intel Pentium processor; The closed structure of no fan work; The vibrationproof performance of maximum reliability; The various video interface; No fan aluminium shell; Ethernet port; RS-232 interface; The RS-422/485 interface; The USB2.0 port; 2.5 " hard disk; Support big capacity internal memory; Weight 2kg.
For easy to operate, replace mouse or keyboard with touch-screen.Touch-screen is the human-computer interface device that is used with electronic console.The operator can touch the touch-screen that is installed in the display front end with finger or other object, and the input of selection information is located according to icon that touches or menu position by system, and function control is carried out in move instruction.The driver just can see the field condition in corresponding compartment by touching the image frame in relevant compartment; Administrative staff's operation relative complex some, need to carry out function control by touching icon or menu.
The liquid crystal touch screen the key technical indexes
| Show | 8 " colored active TFT liquid crystal |
| Brightness | 400cd/m2 |
| The visual angle | Level 130 degree, vertical 100 degree |
| Resolution | 800 * 600,262K kind color |
| MTBF backlight | CCFL?2?tubes，40,000hrs |
| Touch-screen | Resistance-type |
| OSD control | Brightness, contrast, H/V position, aberration, clock, management |
| The 0S compatibility | Win?95/98，XP，2000，NT?4.0，QNX，Linux |
| |
12V?DC?@0.9A |
| ?EMC | CE.FCC?Class?A |
The present embodiment all devices all adopts 110V direct current supply, and the equipment of every joint car is all drawn from the distribution cabinet of this joint car, offers multifrnction connector, and all by the multifrnction connector power supply, total system power consumption is not more than 1500W to the required power supply of other equipment of system.
The drivers' cab power pack is that the DC110V power source conversion is become the DC12V power supply, is drivers' cab system host, liquid crystal touch screen and thermal camera power supply.
Drivers' cab power pack the key technical indexes: input voltage DC77V～138V; Efficient 85%; Voltage accuracy ± 1%; Voltage regulation ± 0.2%; Load regulation ± 0.4%; Current-limiting protection 120%; Output voltage DC12V; Output current 12A; Power 150W; Has anti-pressure protection.
Claims (6)
1. Vehicular video monitoring system, this system comprises system host, display and video camera, system host connects display and video camera respectively, it is characterized in that this system is provided with the identical system host of two covers, some video cameras are set between system host and the system host, each main frame can and each video camera between carry out transfer of data, described video camera connects Video processing and memory device (SDVR).
2. a kind of Vehicular video monitoring system according to claim 1 is characterized in that described system host is connected with LCDs.
3. a kind of Vehicular video monitoring system according to claim 1 is characterized in that described system host is reserved with and the alarm interlock interface of existing vehicle-mounted Train Control management system (TCMS) and the wireless transfer channel interface of ground passenger information service system (PIS).
4. the method for supervising of a Vehicular video monitoring system, it is characterized in that this method adopts symmetrical structure, in two drivers' cabs of train head and the tail, respectively establish a cover system main frame, a lcd touch panel type display and a thermal camera, two cover system main frames are identical, equidistant respectively installation the in every joint carriage top spent static full visual angle video cameras for three 360, the one cover video processing equipment and the network equipment is installed in the trough, and the transfer of data between the compartment adopts wired connection channel unit or radio link channel equipment.
5. the method for supervising of a kind of Vehicular video monitoring system according to claim 4, it is characterized in that when monitoring, supervisory control system powers on, all video cameras are just in running order, every joint compartment independent vide of configuration is handled and memory device (SDVR), be responsible for the storage of coupled camera review, after Video processing and memory device (SDVR) are come in the video information collection of affiliated separately video camera, data divide two-way to handle: leading up to inner parallel channel delivers to vehicle-mounted hard disks, is used for real-time storage; Another road is delivered to system host by the express network interface and is used for real-time display frame, and the data that system host is sent here except treatment S DVR are also wanted the running status of monitoring system, and made response according to operator's instruction at any time in the real-time display frame of LCD.
6. the method for supervising of a kind of Vehicular video monitoring system according to claim 5 is characterized in that the compartment numbering direct correlation in the IP address of described Video processing and memory device (SDVR) and compartment that this equipment is installed.
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| CN102098496A (en) * | 2010-12-16 | 2011-06-15 | 中国北车集团大连机车车辆有限公司 | Urban rail train rearview monitoring system |
| CN102123274A (en) * | 2011-03-11 | 2011-07-13 | 广州国联通信有限公司 | Vehicle-mounted monitoring system with scatter storage function |
| CN103686089A (en) * | 2013-12-19 | 2014-03-26 | 武汉虹信通信技术有限责任公司 | Train monitoring system based on WDS |
| CN103763518A (en) * | 2013-12-30 | 2014-04-30 | 易程（苏州）智能系统有限公司 | Train rearview mirror control system |
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| CN102098496A (en) * | 2010-12-16 | 2011-06-15 | 中国北车集团大连机车车辆有限公司 | Urban rail train rearview monitoring system |
| CN102123274A (en) * | 2011-03-11 | 2011-07-13 | 广州国联通信有限公司 | Vehicle-mounted monitoring system with scatter storage function |
| CN102123274B (en) * | 2011-03-11 | 2013-03-13 | 广州国联通信有限公司 | Vehicle-mounted monitoring system with scatter storage function |
| CN104103030A (en) * | 2013-04-08 | 2014-10-15 | 佳能株式会社 | Image analysis method, camera apparatus, control apparatus and control method |
| CN104103030B (en) * | 2013-04-08 | 2017-05-03 | 佳能株式会社 | Image analysis method, camera apparatus, control apparatus and control method |
| CN104102962A (en) * | 2013-04-11 | 2014-10-15 | 杨红俊 | Human-computer interaction real-time dynamic information display touch control method |
| CN103686089A (en) * | 2013-12-19 | 2014-03-26 | 武汉虹信通信技术有限责任公司 | Train monitoring system based on WDS |
| CN103686089B (en) * | 2013-12-19 | 2017-02-01 | 武汉虹信通信技术有限责任公司 | Train monitoring system based on WDS |
| CN103763518A (en) * | 2013-12-30 | 2014-04-30 | 易程（苏州）智能系统有限公司 | Train rearview mirror control system |
| CN110989743A (en) * | 2017-11-17 | 2020-04-10 | 南京视莱尔汽车电子有限公司 | Automatic monitoring system for truck compartment rotary table of automatic cargo-carrying driving automobile |
| CN110989743B (en) * | 2017-11-17 | 2021-06-11 | 南京视莱尔汽车电子有限公司 | Automatic monitoring system for truck compartment rotary table of automatic cargo-carrying driving automobile |
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