CN101551241A - Method, system and device for detecting lock seat planarity of container flat car - Google Patents
Method, system and device for detecting lock seat planarity of container flat car Download PDFInfo
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- CN101551241A CN101551241A CNA2009101352670A CN200910135267A CN101551241A CN 101551241 A CN101551241 A CN 101551241A CN A2009101352670 A CNA2009101352670 A CN A2009101352670A CN 200910135267 A CN200910135267 A CN 200910135267A CN 101551241 A CN101551241 A CN 101551241A
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- flat car
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Abstract
The invention relates to a technology field of railway container flat car, especially to a method for detecting lock seat planarity of a container flat car. The method comprises: respectively detecting vertical distance of the upper planes of four lock seats of a container to a pre-setting datum plane, and sending detection signal; receiving the detection signal; calculating lock seat planarity of the container flat car based on the detection signal. The lock seat planarity of the container flat car can be accuracily and highly effectively measuried by the lock seat planarity detecting method of the container flat car, problems of manual measurent in prior art of big measurement error, poor stability and low detecting efficiency can be resolved basically. The invention also provides a system and a device for detecting lock seat planarity of a container flat car.
Description
Technical field
The present invention relates to the railway container flat car technical field, relate in particular to a kind of lock seat planarity of container flat car detection method, system and device.
Background technology
Container flat car is meant the access railroad lorry that is used to load and transport the ISO ISO freight container, at present the domestic X that mainly contains
2K, X
4KAnd X
6KThe type container flat car can load TEU (Twenty-foot Equivalent Unit)s such as 20 feet, 40 feet, 45 feet and 48 feet.In order to lock container, to prevent that container and car body from throwing off, container flat car is provided with the container blocking device, the container blocking device with container fixing on container flat car.
The container blocking device is installed on the container flat car lock, and container flat car lock assembly welding is in the end of the car body sleeper beam and the car body crossbeam of container flat car, as shown in Figure 1, and each corresponding container flat car lock of four corner locations of each container.In order to guarantee that container falls behind the case, container blocking device and container can reliably lock, car body needs emphasis to control the positional information of pairing four locks of any one container when making, container flat car lock positional information comprises lock seat planarity of container flat car, lock longitudinal pitch, lock horizontal spacing and diagonal line difference etc., to guarantee lock seat planarity of container flat car and lock mutual alignment precision.
Lock seat planarity of container flat car is meant the maximum normal distance between the formed reference plane in last plane of the last plane of any one lock in corresponding four locks of container and other three locks; The lock longitudinal pitch is meant the distance between the center of two locks on container flat car vertically; The lock horizontal spacing is meant the distance between the center of two locks on the same horizontal section of container flat car; The lock diagonal line is meant the distance between the center of two locks on the diagonal line; The diagonal line difference is two length differences between the lock diagonal line.
Prior art mainly is to adopt the hand dipping mode to carry out the measurement of container flat car lock positional informations such as lock seat planarity of container flat car, lock longitudinal pitch, lock horizontal spacing and diagonal line difference.
At present, lock seat planarity of container flat car mainly is to adopt " ten " word steel wire intersection measuring method manual measurement, its detection mode as shown in Figure 2, adopt two detections to connect the last plane of two locks of diagonal positions respectively with steel wire 2, by measuring the difference in height at two steel wire point of crossing places, and utilization lock seat planarity of container flat car theoretical formula calculates actual lock flatness.The lock seat planarity of container flat car theoretical formula is: S=H * 2, and wherein, S is a lock seat planarity of container flat car, H is place, two a steel wire point of crossing steel wire difference in height.Must guarantee during detection that the plane is adjacent on steel wire and the lock.If the plane is lower than plane on the car body central sill on the lock, the auxiliary detection sample piece that need utilize equal thickness is increased the back with plane on the lock and is implemented to detect, plane contact on steel wire and the car body central sill when avoiding detecting, influence measurement.
Lock longitudinal pitch, lock horizontal spacing and diagonal line difference employing dish chi manual measurement.Because lock 11 middle parts are slotted hole, as shown in Figure 3, can't directly determine the center of lock 11 during measurement,,, implement then to measure in order to determine the center of lock 11 so need to make an auxiliary detection sample piece 3.The structure of auxiliary detection sample piece 3 as shown in Figure 4, the centre position, four limits of auxiliary detection sample piece 3 is equipped with a projection, the assembly relation of auxiliary detection sample piece 3 and lock 11 as shown in Figure 5, auxiliary detection sample piece 3 can just in time be stuck in the lock seat hole.After determining the center of each lock, it is poor just can to record lock longitudinal pitch, lock horizontal spacing and diagonal line easily by the dish chi.
When adopting " ten " word steel wire intersection measuring method to carry out the lock measurement of planeness, the steel wire tightness can exert an influence to measuring accuracy, be subjected to factor affecting such as steel tape measuring error and manual measurement fluctuation simultaneously, measuring error is relatively large and unstable, and detection efficiency is lower; When adopting the manual measurement mode to carry out lock longitudinal pitch, lock horizontal spacing and diagonal line difference measurements, because between auxiliary detection sample piece and the lock slotted hole is clearance fit, the gap that exists can directly influence measuring accuracy, manual measurement hour indicator chi tightness difference, also can exert an influence, and the efficient that employing dish chi detects is lower to measuring accuracy.In sum, adopt the manual measurement mode to detect, have problem such as detect that error is big, poor stability, detection efficiency are low.
Summary of the invention
The purpose of this invention is to provide a kind of lock seat planarity of container flat car detection system and device, problem such as the detection error that the manual detection mode exists in the prior art is big to solve, poor stability, detection efficiency are low.
For solving the problems of the technologies described above, the invention provides a kind of lock seat planarity of container flat car detection method, comprising:
Steps A, detected set is cased the last plane of pairing four locks with respect to the vertical distance on preset reference plane respectively, and sends detection signal;
Step B receives described detection signal;
Step C according to described detection signal, calculates lock seat planarity of container flat car.
Preferably, also comprise:
Step D judges whether overgauge value of the lock seat planarity of container flat car calculate.
Preferably, also comprise:
Step e shows result of calculation and judged result.
A kind of lock seat planarity of container flat car detection system comprises detecting unit, data acquisition unit, computing unit;
Described detecting unit is used for detected set and cases the last plane of pairing four locks with respect to the vertical distance on preset reference plane, and sends detection signal;
Described data acquisition unit is used to receive described detection signal;
Described computing unit is used to calculate lock seat planarity of container flat car.
Preferably, also comprise:
Judging unit is used to judge whether overgauge value of the lock seat planarity of container flat car that calculates.
Preferably, also comprise:
Display unit is used to show result of calculation and judged result.
A kind of lock seat planarity of container flat car pick-up unit comprises traveling gantry, sensor, industrial computer;
Described sensor is used for detected set and cases the last plane of pairing four locks with respect to the vertical distance on preset reference plane, and sends detection signal;
Described industrial computer is used to receive the detection signal that described sensor sends, and calculates lock seat planarity of container flat car according to this detection signal;
The crossbeam at described traveling gantry, and is driven by first Power Drive Unit laterally across the top of container flat car along container flat car, vertically moves back and forth along container flat car; Described sensor is installed on the crossbeam at described traveling gantry, and is driven by second Power Drive Unit, moves back and forth along the crossbeam at traveling gantry.
Preferably, described sensor is a laser range sensor.
Preferably, described first Power Drive Unit is first servomotor.
Preferably, described industrial computer also is used to control described first servomotor.
Preferably, described second Power Drive Unit is second servomotor.
Preferably, described industrial computer also is used to control described second servomotor.
Preferably, two supporting legs at described traveling gantry are installed in respectively on the traveling gantry track that is arranged at described container flat car both sides.
Lock seat planarity of container flat car detection method provided by the invention, system and device, can measure lock seat planarity of container flat car accurately and efficiently, solve fundamentally that the measuring error that manual measurement exists is big, poor stability, problem that detection efficiency is low.
Description of drawings
Fig. 1 is a container flat car car body lock positional structure synoptic diagram;
Fig. 2 is the synoptic diagram of " ten " word steel wire intersection measuring method in the present technology;
Fig. 3 is the structural representation of container flat car lock;
Fig. 4 is the structural representation of auxiliary detection sample piece;
Fig. 5 is the assembly relation synoptic diagram of auxiliary detection sample piece and container flat car lock;
Fig. 6 is the process flow diagram of lock seat planarity of container flat car detection method provided by the invention;
Fig. 7 is the fundamental diagram of lock seat planarity of container flat car detection system provided by the invention;
Fig. 8 is the structural representation of lock seat planarity of container flat car pick-up unit provided by the invention;
Fig. 9 is the side view of lock seat planarity of container flat car pick-up unit provided by the invention;
Figure 10 is the structural representation of container flat car first section among Fig. 1;
Figure 11 is the structural representation of container flat car second section among Fig. 1;
Figure 12 detects synoptic diagram for the lock seat hole boundary scan;
Figure 13 is for determining the synoptic diagram at lock seat hole center;
Among Fig. 1-Figure 13:
Container flat car 1, lock 11, lock 12, lock 21, lock 22, detection steel wire 2, auxiliary detection sample piece 3, traveling gantry 4, laser range sensor 5, traveling gantry track 6, first servomotor 7, second servomotor 8.
Embodiment
Below in conjunction with accompanying drawing content of the present invention is described, following description only is exemplary and indicative, should any restriction not arranged to protection scope of the present invention.
Please referring to Fig. 6, the structural representation of the lock seat planarity of container flat car detection method that Fig. 6 provides for first embodiment of the invention;
As shown in Figure 6, the lock seat planarity of container flat car detection method that provides of first embodiment of the invention may further comprise the steps:
Step 101, detected set is cased on pairing four locks the plane with respect to the vertical distance on preset reference plane respectively, and sends detection signal.Be respectively lock 11, lock 12, lock 21, lock 22 with corresponding four locks of container as shown in Figure 1, the Laser emission end place surface level of selected laser range sensor is the preset reference plane, laser range sensor move to respectively each lock directly over, laser range sensor detects plane on each lock respectively to the vertical distance between the preset reference plane, and the vertical distance signal between detected each lock and the preset reference plane is sent.
Wherein, the principle of work of laser range sensor is: the laser diode of laser range sensor is aimed at planar transmit laser pulse on the lock, behind plane reflection on the lock, laser is to all directions scattering, the light of part scattering turns back to the receiver of laser range sensor, by record and calculate and to be issued to the time of being experienced that is received of returning from laser pulse, the Laser emission end of fast measuring laser range sensor is the vertical distance between the plane to the lock.
Step 102 receives described detection signal.Receive each lock that laser range sensor sends and the vertical distance signal between the preset reference plane respectively.
Step 103 according to described detection signal, is calculated lock seat planarity of container flat car.According to the vertical distance between detected each lock and the preset reference plane, calculate the flatness of container flat car lock according to the lock seat planarity of container flat car computing formula.The flatness computing formula of container flat car lock is: S=abs[(L
11-L
12)-(L
21-L
22)], wherein, S is a lock seat planarity of container flat car, L
11Be the vertical distance of lock 11 with the preset reference plane, L
12Be the vertical distance of lock 12 with the preset reference plane, L
21Be the vertical distance of lock 21 with the preset reference plane, L
22Be the vertical distance of lock 22 with the preset reference plane, abs is for taking absolute value.
Step 104 is judged whether overgauge value of described lock seat planarity of container flat car.The lock seat planarity of container flat car and the standard value that calculate are compared, judge whether overgauge value of the lock seat planarity of container flat car calculate, if the lock seat planarity of container flat car overgauge value that calculates then needs reinstalling with corresponding four locks of container on the container flat car; If the lock seat planarity of container flat car that calculates is less than standard value, then the flatness with corresponding four locks of container meets the requirements, and does not need adjusting with the height of corresponding four locks of container.
Step 105 shows result of calculation and judged result.Show lock seat planarity of container flat car that calculates and the lock seat planarity of container flat car that calculates and standard value result relatively.
The present invention also provides a kind of lock seat planarity of container flat car detection system, please refer to Fig. 7, and Fig. 7 is the fundamental diagram of lock seat planarity of container flat car detection system provided by the invention.
As shown in Figure 7, container flat car flatness lock detection system provided by the invention comprises:
Detecting unit is used for detected set and cases on pairing four locks the plane with respect to the vertical distance on preset reference plane, and sends detection signal.Be respectively lock 11, lock 12, lock 21, lock 22 with corresponding four locks of container as shown in Figure 1, select for use laser range sensor as detecting unit, the Laser emission end place surface level of setting laser distance measuring sensor is the preset reference plane, laser range sensor move to respectively each lock directly over, laser range sensor detects plane on each lock respectively to the vertical distance between the preset reference plane, and the vertical distance signal between detected each lock and the preset reference plane is sent.
Wherein, the principle of work of laser range sensor is: the laser diode of laser range sensor is aimed at planar transmit laser pulse on the lock, behind plane reflection on the lock, laser is to all directions scattering, the light of part scattering turns back to the receiver of laser range sensor, by record and calculate and to be issued to the time of being experienced that is received of returning from laser pulse, the Laser emission end of fast measuring laser range sensor is the vertical distance between the plane to the lock.
Data acquisition unit is used to receive described detection signal.Data acquisition unit receives each lock that laser range sensor sends and the vertical distance signal between the preset reference plane respectively.
Computing unit is used to calculate lock seat planarity of container flat car.Computing unit calculates lock seat planarity of container flat car according to the vertical distance signal between detected each lock and the preset reference plane according to the lock seat planarity of container flat car computing formula.The flatness computing formula of container flat car lock is: S=abs[(L
11-L
12)-(L
21-L
22)], wherein, S is a lock seat planarity of container flat car, L
11Be the vertical distance of lock 11 with the preset reference plane, L
12Be the vertical distance of lock 12 with the preset reference plane, L
21Be the vertical distance of lock 21 with the preset reference plane, L
22Be the vertical distance of lock 22 with the preset reference plane, abs is for taking absolute value.
Judging unit is used to judge whether overgauge value of described lock seat planarity of container flat car.Judging unit compares lock seat planarity of container flat car and the standard value that calculates, judge whether overgauge value of the lock seat planarity of container flat car calculate, if the lock seat planarity of container flat car overgauge value that calculates then needs reinstalling with corresponding four locks of container on the container flat car; If the lock seat planarity of container flat car that calculates is less than standard value, then the flatness with corresponding four locks of container meets the requirements, and does not need adjusting with corresponding four locks of container.
Display unit is used to show result of calculation and judged result.Display unit shows the lock seat planarity of container flat car that calculates and lock seat planarity of container flat car that calculates and standard value result relatively.
The present invention also provides a kind of lock seat planarity of container flat car pick-up unit, and please referring to Fig. 8, Fig. 8 is the structural representation of lock seat planarity of container flat car pick-up unit provided by the invention.
As shown in Figure 8, lock seat planarity of container flat car pick-up unit provided by the invention comprises traveling gantry 4, laser range sensor 5, industrial computer, and wherein industrial computer fails to show in Fig. 9.Laser range sensor 5 is used for detected set respectively and cases on pairing four locks the plane with respect to the vertical distance on preset reference plane, and sends detection signal; Industrial computer is used to receive the detection signal of laser range sensor 5, calculate lock seat planarity of container flat car according to this detection signal, in the preferred version, industrial computer also can be judged whether overgauge value of the lock seat planarity of container flat car that calculates, and can show result of calculation and judged result, industrial computer can be the common used in industry computing machine.
Traveling gantry 4 is rigid structure, its crossbeam along container flat car laterally across the top of container flat car 1, container flat car 1 is respectively arranged with traveling gantry track 6 on the ground of both sides longitudinally, two supporting legs at traveling gantry 4 are assemblied in respectively on traveling gantry track 6 of container flat car both sides, traveling gantry 4 can be along traveling gantry track 6 vertically moving reciprocatingly at container flat car 1 under the driving of first Power Drive Unit; Laser range sensor 5 is installed on the crossbeam at traveling gantry 4, and laser range sensor 5 can laterally move reciprocatingly at container flat car 1 along the crossbeam at traveling gantry 1 under the driving of second Power Drive Unit.
In the process that detects, for make traveling gantry 4 at container flat car 1 vertically to position, laser range sensor 5 in container flat car 1 lateral attitude, all can accurately be in the lock that will detect directly over, in the preferential embodiment, first Power Drive Unit is that first servomotor, 7, the second Power Drive Units are second servomotor 8.First servomotor 7, second servomotor 8 are controlled by industrial computer.As shown in Figure 9, industrial computer is controlled first servomotor 7 by servo-control system and is driven traveling gantry 4 along the vertically moving of container flat car 1, directly over the lock that can make traveling gantry accurately to be in will to detect; Industrial computer is controlled second servomotor, 8 driving laser distance measuring sensors 5 by servo-control system and is moved on the crossbeam at traveling gantry 1, can control laser range sensor 5 accurately be in the plane on the lock surveyed directly over.
Below introduce the principle of work of this lock seat planarity of container flat car pick-up unit.
As Figure 10, shown in Figure 11, the pairing lock 11 of container, lock 12 are positioned at the lateral attitude of first section, and lock 21, lock 22 are positioned at the lateral attitude of second section.
Industrial computer is controlled first servomotor 7 and is driven move longitudinally to first section part of traveling gantry 4 along container flat car 1, industrial computer control second servomotor, 8 driving laser distance measuring sensors 5 along traveling gantry 4 move laterally to lock 11 directly over, the laser diode of laser range sensor 5 is aimed at the last planar transmit laser pulse of lock 11, behind the last plane reflection of lock 11, laser is to all directions scattering, the light of part scattering turns back to the receiver of laser range sensor 5, be issued to the time of being experienced that is received of returning by record and calculating from laser pulse, the Laser emission end of fast measuring laser range sensor 5 is the vertical distance between the plane to the lock 11, and laser range sensor 5 sends detected vertical distance signal to industrial computer; Industrial computer control second servomotor, 8 driving laser distance measuring sensors 5 along container flat car 1 move laterally to lock 12 directly over, laser range sensor 5 detection laser transmitting terminals are the vertical distance between the plane to the lock 12, and sends detected vertical distance signal to industrial computer; Industrial computer is controlled first servomotor 7 and is driven move longitudinally to second section part of traveling gantry 4 along container flat car 1, industrial computer control second servomotor, 8 driving laser distance measuring sensors 5 along traveling gantry 4 move laterally to lock 21 directly over, laser range sensor 5 detection laser transmitting terminals are the vertical distance between the plane to the lock 21, and sends detected vertical distance signal to industrial computer; Industrial computer control second servomotor, 8 driving laser distance measuring sensors 5 along traveling gantry 4 move laterally to lock 22 directly over, laser range sensor 5 detection laser transmitting terminals are the vertical distance between the plane to the lock 22, and sends detected vertical distance signal to industrial computer.
Vertical distance signal between the plane separation Laser emission end on detected each lock that industrial computer reception laser range sensor 5 sends, industrial computer calculates lock seat planarity of container flat car according to each vertical distance signal of detect according to the lock seat planarity of container flat car computing formula.The flatness computing formula of container flat car lock is: S=abs[(L
11-L
12)-(L
21-L
22)], wherein, S is a lock seat planarity of container flat car, L
11Be the vertical distance of lock 11 with the preset reference plane, L
12Be the vertical distance of lock 12 with the preset reference plane, L
21Be the vertical distance of lock 21 with the preset reference plane, L
22Be the vertical distance of lock 22 with the preset reference plane, abs is for taking absolute value.
Industrial computer compares lock seat planarity of container flat car and the standard value that calculates, judge whether overgauge value of the lock seat planarity of container flat car calculate, if the lock seat planarity of container flat car overgauge value that calculates then needs reinstalling with corresponding four locks of container on the container flat car; If the lock seat planarity of container flat car that calculates is less than standard value, then the flatness with corresponding four locks of container meets the requirements, and does not need adjusting with corresponding four locks of container.
Industrial computer shows the lock seat planarity of container flat car that calculates and lock seat planarity of container flat car that calculates and standard value result relatively.
Below introduce the advantage of lock seat planarity of container flat car pick-up unit provided by the invention.
Lock seat planarity of container flat car pick-up unit provided by the invention can be measured lock seat planarity of container flat car accurately and efficiently, solves fundamentally that the measuring error that manual measurement exists is big, poor stability, problem that detection efficiency is low.
It is poor that lock seat planarity of container flat car pick-up unit provided by the invention also can be used for detecting lock longitudinal pitch, lock horizontal spacing and diagonal line.
Please referring to Figure 12, Figure 13, Figure 12 detects synoptic diagram for the lock seat hole boundary scan, and Figure 13 is for determining the synoptic diagram at lock seat hole center.
As shown in figure 12, utilize laser range sensor,, get final product the entity border that analysis and judgement goes out lock 11 by measuring the catastrophe point that detects distance to lock 11 continuous sweeps.As shown in figure 13, on the lock seat hole Width of lock 11, choose any two sections, the longitudinal end of two as far as possible close lock seat holes of section, carry out the boundary survey of lock seat hole entity, detection also determines that two sections are positioned at the central point of lock seat hole, two central point lines are the lock seat hole longitudinal centre line, carry out the entity boundary survey along the lock seat hole longitudinal centre line, can determine the central point of lock seat hole, the central point of lock seat hole is the central point of lock 11, after the central point of lock 11 is determined, can determine ordinate, the horizontal ordinate of the central point of lock 11.
Industrial computer is controlled first servomotor 7 and is driven traveling gantry 4, control second servomotor 8 driving laser distance measuring sensors 5, each lock is scanned, determine ordinate, the horizontal ordinate of the central point of each lock, lock fore-and-aft distance, lock lateral separation and the diagonal line that can calculate between pairing 4 locks of container are poor.
The above only is the description of preferred implementation of the present invention; should be understood that; because the finiteness of literal expression; and objectively have unlimited concrete structure; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (13)
1. a lock seat planarity of container flat car detection method is characterized in that, comprising:
Steps A, detected set is cased the last plane of pairing four locks with respect to the vertical distance on preset reference plane respectively, and sends detection signal;
Step B receives described detection signal;
Step C according to described detection signal, calculates lock seat planarity of container flat car.
2. lock seat planarity of container flat car detection method according to claim 1 is characterized in that, also comprises:
Step D judges whether overgauge value of the lock seat planarity of container flat car calculate.
3. lock seat planarity of container flat car detection method according to claim 2 is characterized in that, also comprises:
Step e shows result of calculation and judged result.
4. a lock seat planarity of container flat car detection system is characterized in that, comprises detecting unit, data acquisition unit, computing unit;
Described detecting unit is used for detected set and cases the last plane of pairing four locks with respect to the vertical distance on preset reference plane, and sends detection signal;
Described data acquisition unit is used to receive described detection signal;
Described computing unit is used to calculate lock seat planarity of container flat car.
5. lock seat planarity of container flat car detection system according to claim 4 is characterized in that, also comprises:
Judging unit is used to judge whether overgauge value of the lock seat planarity of container flat car that calculates.
6. lock seat planarity of container flat car detection system according to claim 5 is characterized in that, also comprises:
Display unit is used to show result of calculation and judged result.
7. a lock seat planarity of container flat car pick-up unit is characterized in that, comprises traveling gantry, sensor, industrial computer;
Described sensor is used for detected set and cases the last plane of pairing four locks with respect to the vertical distance on preset reference plane, and sends detection signal;
Described industrial computer is used to receive the detection signal that described sensor sends, and calculates lock seat planarity of container flat car according to this detection signal;
The crossbeam at described traveling gantry, and is driven by first Power Drive Unit laterally across the top of container flat car along container flat car, vertically moves back and forth along container flat car; Described sensor is installed on the crossbeam at described traveling gantry, and is driven by second Power Drive Unit, moves back and forth along the crossbeam at traveling gantry.
8. lock seat planarity of container flat car pick-up unit according to claim 7 is characterized in that, described sensor is a laser range sensor.
9. lock seat planarity of container flat car pick-up unit according to claim 7 is characterized in that, described first Power Drive Unit is first servomotor.
10. lock seat planarity of container flat car pick-up unit according to claim 9 is characterized in that, described industrial computer also is used to control described first servomotor.
11. lock seat planarity of container flat car pick-up unit according to claim 7 is characterized in that, described second Power Drive Unit is second servomotor.
12. lock seat planarity of container flat car pick-up unit according to claim 11 is characterized in that, described industrial computer also is used to control described second servomotor.
13. container flat car lock positional information pick-up unit according to claim 7 is characterized in that two supporting legs at described traveling gantry are installed in respectively on the traveling gantry track that is arranged at described container flat car both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009101352670A CN101551241A (en) | 2009-05-04 | 2009-05-04 | Method, system and device for detecting lock seat planarity of container flat car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009101352670A CN101551241A (en) | 2009-05-04 | 2009-05-04 | Method, system and device for detecting lock seat planarity of container flat car |
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|---|---|
| CN101551241A true CN101551241A (en) | 2009-10-07 |
Family
ID=41155612
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|---|---|---|---|
| CNA2009101352670A Pending CN101551241A (en) | 2009-05-04 | 2009-05-04 | Method, system and device for detecting lock seat planarity of container flat car |
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| WO2021062618A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Container positioning method, system and storage medium |
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| CN105783728A (en) * | 2016-05-06 | 2016-07-20 | 汉克科技有限公司 | Foot pad detection device and method |
| CN107478434A (en) * | 2016-11-04 | 2017-12-15 | 宝沃汽车（中国）有限公司 | Auto car rear silencer observability detection method, device and detecting system |
| CN107478434B (en) * | 2016-11-04 | 2020-01-17 | 宝沃汽车（中国）有限公司 | Method and device for detecting visibility of automobile rear silencer and detection system |
| CN109850596A (en) * | 2019-03-28 | 2019-06-07 | 中车长江车辆有限公司 | A kind of train container multi-target orientation method, system and transport vehicle |
| CN109850596B (en) * | 2019-03-28 | 2024-04-16 | 中车长江车辆有限公司 | Multi-target positioning method and system for train container and transport vehicle |
| WO2021062618A1 (en) * | 2019-09-30 | 2021-04-08 | 上海成业智能科技股份有限公司 | Container positioning method, system and storage medium |
| CN113251956A (en) * | 2021-06-17 | 2021-08-13 | 中交疏浚技术装备国家工程研究中心有限公司 | Calculation method for measuring tunnel segment cross section flatness based on space point-surface relation |
| CN113251956B (en) * | 2021-06-17 | 2022-08-23 | 中交疏浚技术装备国家工程研究中心有限公司 | Calculation method for measuring tunnel segment cross section flatness based on space point-surface relation |
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