CN101587634B - On-line real-time updating method for wireless cab signal vehicular equipment control program and parameter - Google Patents
On-line real-time updating method for wireless cab signal vehicular equipment control program and parameter Download PDFInfo
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Abstract
The invention discloses a on-line real-time updating method for the wireless cab signal vehicular equipment control program and parameter in the railway wireless communication technical field, comprising: connecting the wireless cab signal vehicular equipment and the ground column control center; the ground column control center placing the disassembled updating file in the data frame; the ground column control center transmitting the frame to the wireless cab signal vehicular equipment; the wireless cab signal vehicular equipment judging the type of the frame and verifying the received data frame according to the verify code after receiving the data frame, if passing, setting the file or storing the received updating file in the file built in the DOC according to the received updating file; after the updating document transmission is over and the train stops, restarting the system and updating the wireless cab signal vehicular equipment control program and parameter. the invention realizes the update of the vehicular equipment control program and parameter under the condition that the railway engine can not be warehoused and stop, thus improving the safety and the conveying efficiency of the railway operation.
Description
Technical field
The invention belongs to the railway wireless communication technical field, especially design a kind of wireless cab signal vehicular equipment control program and parameter online in real time update method.
Background technology
Along with rapid economy development, railway transportation is more and more busier, and train locomotive almost is ceaselessly in operation, and upgrades cab signal vehicular equipment control program or parameter at present, during locomotive warehouse-in maintenance by the time.But the numerous locomotive of locomotive depot can not all be put maintenance simultaneously in storage, cab signal vehicular equipment control program and parameter that all the time can only the same standard of batch updating.This method is not only consuming time but also inconvenient, upgrade all locomotive vehicle-mounted facility control programs or parameter and often needed very long a period of time, different during this period vehicular equipment control programs move in a TDCS, and great potential safety hazard is arranged.The main cause of 4.28 railway major accidents takes place in Jiao Ji Railway Lines in 2008, does not have that the temporary speed limitation parameter in the LKJ2000 watchdog routine causes on K159 train of real-time update.
At the wireless cab signal vehicular equipment control program of present use and the problem of parameter online in real time update method existence, be necessary to propose a kind of brand-new wireless cab signal vehicular equipment control program and parameter online in real time update method, make locomotive under situation about needn't put in storage, can realize vehicular equipment control program and parameter update.
Summary of the invention
The objective of the invention is to, utilize existing GSM-R cordless communication network between radio locomotive signal car ground, a kind of wireless cab signal vehicular equipment control program and parameter online in real time update method are proposed, the problem that exists in order to the wireless cab signal vehicular equipment control program that solves present use and parameter online in real time update method.
Technical scheme of the present invention is that a kind of wireless cab signal vehicular equipment control program and parameter online in real time update method is characterized in that described method comprises the following steps:
Step 1: wireless cab signal vehicular equipment starts oracle listener;
Step 2: whether wireless cab signal vehicular equipment listens to the upgrade request signal that the wayside train control center sends, if, execution in step 3; Otherwise, continue to monitor;
Step 3: wireless cab signal vehicular equipment and wayside train control center connect;
Step 4: the wayside train control center sends upgrade file transmission beginning Start frame to wireless cab signal vehicular equipment; Simultaneously, will put into Frame after the upgrade file fractionation;
Step 5: wireless cab signal vehicular equipment is listed as the control center earthward and sends the OK frame, prepares to receive upgrade file;
Step 6: after the OK frame of wireless cab signal vehicular equipment transmission is received in the wayside train control center, to the wireless cab signal vehicular equipment transmit frame;
Step 7: receive the frame of wayside train control center transmission when wireless cab signal vehicular equipment after, judge that according to frame head the frame that the wayside train control center sends is Frame, message frame or short message; If Frame, then execution in step 11; If message frame, then execution in step 8; If short message after then wireless cab signal vehicular equipment receives short message, returns step 6 and continues to receive next frame;
Step 8: the frame that wireless cab signal vehicular equipment receives the wayside train control center transmission is a message frame, judges whether the message frame that the wayside train control center sends is the Abort frame, if then execution in step 9; Otherwise, execution in step 10;
Step 9: wireless cab signal vehicular equipment withdraws from the document upgrading task, returns master routine, continues to monitor;
Step 10: the message frame that the wayside train control center sends is the End frame, shows upgrade file end of transmission, after receiving the Ok frame that wireless cab signal vehicular equipment returns, withdraws from the upgrade file transformation task, and execution in step 19;
Step 11: after wireless cab signal vehicular equipment is received the Frame of wayside train control center transmission, according to check code the Frame that receives is carried out verification, if verification is passed through, then execution in step 12; Otherwise, execution in step 13;
Step 12: if the content in the Frame is the filename of upgrade file, then in DOC, create a file, be used to store the 16 system data that receive with described filename; If the content in the Frame is a upgrade file, then will receives upgrade file and be stored in the file of setting up among the DOC; At last, be listed as the control center earthward and return the Ok frame;
Step 13: be listed as the control center earthward and return the Error frame;
Step 14: after the message frame of wireless cab signal vehicular equipment answer is received in the wayside train control center, judge whether the message frame that wireless cab signal vehicular equipment is replied is the Abort frame, if then execution in step 15; Otherwise, execution in step 16;
Step 15: the wayside train control center is according to manual command's startup file ROMPaq once more;
Step 16: judge whether the message frame that wireless cab signal vehicular equipment is replied is the Error frame, if then execution in step 17; Otherwise, execution in step 18;
Step 17: Frame on the request repeat, and return step 6;
Step 18: be listed as the control center earthward and send the Ok frame, and return step 6, whether the end of transmission decision sends the End frame or sends next Frame according to upgrade file in the wayside train control center;
Step 19: it is in service to judge whether locomotive is in, if then execution in step 20; Otherwise, execution in step 21;
Step 20: restart system again after train stops by the time, execution in step 21 is carried out the renewal of control program or parameter;
Step 21: judge whether this upgrades is that control program upgrades, if, execution in step 22; Otherwise, execution in step 23;
Step 22: rewrite bootstrapping loading procedure path and title, change the program that newly receives into, restart the program after system's operation is upgraded;
Step 23: this is updated to parameter update, and the controlled variable in the change program file is restarted the program after system's operation is upgraded.
Described wayside train control center splits upgrade file, is meant that specifically it is one group data set that the wayside train control center splits into 80 bytes with upgrade file, puts into Frame to each group data as data content then.
Described Frame comprises frame head, data length, data content, check code and postamble; Wherein frame head comprises 3 bytes; Data length comprises 1 byte; Data content comprises 80 bytes, and check code comprises 2 bytes; Postamble comprises 1 byte; More than all bytes all adopt 16 scale codings.
In the described step 11, according to check code the Frame that receives being carried out verification specifically is meant, after each byte in data length and the data content is added up at row control center, the result is got binary coding, obtain one 16 binary number, described 16 binary number is a check code, and its first eight bits is deposited in first byte, will be thereafter eight deposit in second byte; After receiving one group of data on the wireless locomotive, also be earlier each byte in data length and the data content to be added up, after the gained result gets binary coding, compare with check code, if equate that then verification is passed through, otherwise verification is not passed through.
Described message frame comprises Start frame, Ok frame, Error frame, End frame and Abort frame; Wherein, the wayside train control center comprises Start frame, Abort frame and End frame to the message frame that wireless cab signal vehicular equipment sends; The message frame that wireless cab signal vehicular equipment is listed as the transmission of control center earthward comprises Ok frame, Error frame and Abort frame.
After described wireless cab signal vehicular equipment and wayside train control center connect, the wayside train control center picks up counting after wireless cab signal vehicular equipment sends a frame, if in setting-up time, do not receive the message frame that wireless cab signal vehicular equipment returns, then stop the upgrade file transmission.
After described wireless cab signal vehicular equipment and wayside train control center connect, wireless cab signal vehicular equipment is listed as earthward and picks up counting after message frame is replied at the control center, if in setting-up time, do not receive the next Frame of wayside train control center transmission or the message frame of answer, then delete the upgrade file of receiving unit, and stop the upgrade file transmission.
The present invention can make locomotive put in storage, only need stop and just can realize under the situation of safety the renewal of vehicular equipment control program and parameter; Simultaneously, the present invention has greatly shortened the renewal process of same locomotive depot with standard cab signal vehicular equipment control program and parameter, and all same categories of device upgrade simultaneously, has also improved the security and the conevying efficiency of railway operation.
Description of drawings
Fig. 1 is the wireless cab signal system structural representation;
Fig. 2 is wireless cab signal vehicular equipment control program provided by the invention and parameter online in real time update method process flow diagram;
Fig. 3 is data frame structure figure in the upgrade file transmission course;
Fig. 4 is various frame head implication figure.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.Should be emphasized that following explanation only is exemplary, rather than in order to limit the scope of the invention and to use.
Wireless cab signal vehicular equipment control program of the present invention and parameter online in real time update method are used for wireless cab signal system.Fig. 1 is the wireless cab signal system structural representation.Among Fig. 1, wireless cab signal system comprises wayside train control center and at least one wireless cab signal vehicular equipment.Wireless cab signal vehicular equipment comprises GSM-R receiver module, vehicle-mounted control main frame, inquiry/transponder and cab signal machine, and on-vehicle host is connected respectively with GSM-R receiver module, inquiry/transponder, cab signal machine on the locomotive.The wayside train control center comprises station main control system, GSM-R receiver module, turnover station transponder, microcomputer interlocking and computer monitoring device etc., and the station main control system is connected with the GSM-R receiver module.
Above-mentioned wireless cab signal system is that the present invention carries out the hardware environment that vehicular equipment control program upgrades upgrading.By the GSM-R receiver module is set on every locomotive, the wayside train control center at each station is provided with ground G SM-R receiver module, and the unified numbering that is provided with in accordance with regulations, railway is provided with the GSM-R base station along the line, ground G SM-R receiver module and train-installed GSM-R receiver module constitute the star-network structure, wherein GSM-R receiver module in station is a network center, and vehicle-mounted GSM-R receiver module is a network node.
Fig. 2 is wireless cab signal vehicular equipment control program provided by the invention and parameter online in real time update method process flow diagram.Among Fig. 2, method provided by the invention comprises the following steps:
Step 1: wireless cab signal vehicular equipment starts oracle listener.
Step 2: whether wireless cab signal vehicular equipment listens to the upgrade request signal that the wayside train control center sends, if, execution in step 3; Otherwise, continue to monitor.
Step 3: wireless cab signal vehicular equipment and wayside train control center connect.
Step 4: the wayside train control center sends upgrade file transmission beginning Start frame to wireless cab signal vehicular equipment; Simultaneously, will put into Frame after the upgrade file fractionation.
The wayside train control center splits upgrade file and is meant that it is one group data set that upgrade file is split into 80 bytes, then each group data is put into a Frame as data content, a frame one frame ground sends to upgrade file in the wireless cab signal vehicular equipment.Fig. 3 is data frame structure figure in the upgrade file transmission course.Among Fig. 3, a Frame comprises frame head, data length, and data content, check code and postamble, all bytes all send by 16 scale codings.
Wherein, frame head adopts common frame head form, content is 0x7f, 0x7f, 0x4f, after beginning to transmit upgrade file, vehicular equipment control program is each byte of arriving of monitoring reception always, if three bytes that receive continuously are the Frame frame head, then the back just receives the upgrade file data always, up to receiving postamble, just begin to detect the next frame frame head.
Data length is the byte number of storage back data content.When sending normal data frame is 80.But when sending the last part data of upgrade file title and file, data content is less than 80 often, is the number in 1～80.At first be exactly to read the length that this bit value is determined these frame data when receiving frame data on the car.
Data content is that ground is one group with upgrade file with 80 bytes, and last group is if it is one group that less than 80 bytes are also compiled, and each group of the upgrade file that will send is as the content of frame data.
Check code is after each byte in data length and the data content is added up, the result is got binary coding, obtains one 16 binary number, with 16 binary numbers as check code, its first eight bits is deposited in first byte, will be thereafter eight deposit in second byte; After wireless locomotive receives one group of data, also be earlier each byte in data length and the data content to be added up, after the gained result gets binary coding, compare, if equate that then verification is passed through, and sends the Ok frame earthward with check code; Otherwise verification is not passed through, and is listed as the control center earthward and sends the Error frame.
Postamble adopts 16 systems to count 0xff, just stops to receive new data after receiving these data on the car, begins to monitor next frame data frame head.
Step 5: wireless cab signal vehicular equipment is listed as the control center earthward and sends the Ok frame, prepares to receive upgrade file.
Step 6: after the Ok frame of wireless cab signal vehicular equipment transmission was received in the wayside train control center, beginning was to the wireless cab signal vehicular equipment transmit frame.After wayside train control center and wireless cab signal vehicular equipment connected, every transmission one frame message in wayside train control center must wait and receives after wireless cab signal vehicular equipment is replied Ok or Error message frame and just send second frame.
Step 7: receive the frame of wayside train control center transmission when wireless cab signal vehicular equipment after, judge that according to frame head the frame that the wayside train control center sends is Frame, message frame or short message; If Frame, then execution in step 11; If message frame, then execution in step 8; If short message after then wireless cab signal vehicular equipment receives short message, returns step 6 and continues to receive next frame.
The wayside train control center comprises three types to the frame that wireless cab signal vehicular equipment sends, and is respectively Frame, message frame or short message.If Frame, what then show transmission is the content of upgrade file; If status frames, show that then the wayside train control center will carry out certain operation, the wayside train control center comprises Start frame, End frame and Abort frame to the message frame that wireless cab signal vehicular equipment sends; The Start frame is used to point out wireless cab signal vehicular equipment prepare to receive upgrade file, and the End frame shows that upgrade file sends and finish, and the Abort frame shows that the wayside train control center sends in the upgrade file process and breaks down, resend; If short message, it is mutual to show that then wayside train control center and wireless cab signal vehicular equipment carry out simple text.
Fig. 4 is various frame head implication figure.Judge that according to frame head the frame that the wayside train control center sends is that Frame, message frame or short message are judged according to the header content among Fig. 4.Among Fig. 4, the frame head of Frame is " 0x7f, 0x7f, 0x4f "; The frame head of Abort frame is " 0x9a, 0xab, 0xc3 "; The frame head of Ok frame is " 0xff, 0xff, 0xff "; The frame head of Start frame is " 0x2f, 0x3f, 0x4f "; The frame head of End frame is " 0x5f, 0x6f, 0x7f "; The frame head of Error frame is " 0x7f, 0x7f, 0x7f ".
Step 8: the frame that wireless cab signal vehicular equipment receives the wayside train control center transmission is a message frame, judges whether the message frame that the wayside train control center sends is the Abort frame, if then execution in step 9; Otherwise, execution in step 10.
Step 9: wireless cab signal vehicular equipment withdraws from the document upgrading task, returns master routine, continues to monitor.
Step 10: the message frame that the wayside train control center sends is the End frame, shows upgrade file end of transmission, receive the Ok frame that wireless cab signal vehicular equipment returns again after, withdraw from the upgrade file transformation task, and execution in step 19.
Step 11: after wireless cab signal vehicular equipment is received the Frame of wayside train control center transmission, according to check code the Frame that receives is carried out verification, if verification is passed through, then execution in step 12; Otherwise, execution in step 13.
According to check code the Frame that receives being carried out verification specifically is meant, after each byte in data length and the data content is added up at row control center, the result is got binary coding, obtain one 16 binary number, this binary number of 16 is a check code, its first eight bits is deposited in first byte, will be thereafter eight deposit in second byte; After receiving one group of data on the wireless locomotive, also be earlier each byte in data length and the data content to be added up, after the gained result gets binary coding, compare with check code, if equate that then verification is passed through, otherwise verification is not passed through.
Step 12: if the content in the Frame is the filename of upgrade file, then in DOC, create a file, be used to store the 16 system data that receive with described filename; If the content in the Frame is a upgrade file, then will receives upgrade file and be stored in the file of setting up among the DOC; At last, be listed as the control center earthward and return the Ok frame.
Step 13: be listed as the control center earthward and return the Error frame.
Step 14: after the message frame of wireless cab signal vehicular equipment answer is received in the wayside train control center, judge whether the message frame that wireless cab signal vehicular equipment is replied is the Abort frame, if then execution in step 15; Otherwise, execution in step 16.
Step 15: the wayside train control center is according to manual command's startup file ROMPaq once more.
Step 16: judge whether the message frame that wireless cab signal vehicular equipment is replied is the Error frame, if then execution in step 17; Otherwise, execution in step 18.
Step 17: Frame on the request repeat, and return step 6.
Step 18: be listed as the control center earthward and send the Ok frame, and return step 6, whether the end of transmission decision sends the End frame or sends next Frame according to upgrade file in the wayside train control center.
Step 19: it is in service to judge whether locomotive is in, if then execution in step 20; Otherwise, execution in step 21.
Step 20: restart system again after train stops by the time, execution in step 21 is carried out the renewal of control program or parameter.
Step 21: judge whether this upgrades is that control program upgrades, if, execution in step 22; Otherwise, execution in step 23.
Step 22: rewrite bootstrapping loading procedure path and title, change the program that newly receives into, restart the program after system's operation is upgraded.
Step 23: this is updated to parameter update, and the controlled variable in the change program file is restarted the program after system's operation is upgraded.
In the process that above-mentioned steps is carried out, also to consider in the upgrade file transmission course upgrade file bust this that causes owing to the GSM-R signal interruption.Therefore, each wayside train control center is after wireless cab signal vehicular equipment sends a frame, the wayside train control center will start the monitoring timing program, in the time of monitoring the timing program setting (as 3 minutes), do not receive the message of wireless cab signal vehicular equipment feedback, then show the GSM-R signal interruption, stop the transmission of upgrade file this moment.
Similarly, after each wireless cab signal vehicular equipment is listed as control center answer message frame earthward, wireless cab signal vehicular equipment is monitored and is started timing program, in the time of monitoring the timing program setting (as 3 minutes), if do not receive the next Frame of wayside train control center transmission or the message frame of answer, then delete the upgrade file of receiving unit, and stop the upgrade file transmission.
The present invention can make under the situation that locomotive stops putting in storage, realizes the renewal of vehicular equipment control program and parameter; Simultaneously, the present invention has greatly shortened the renewal process of same locomotive depot with standard cab signal vehicular equipment control program and parameter, and all same categories of device upgrade simultaneously, has also improved the security and the conevying efficiency of railway operation.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (7)
1. the online in real time update method of the control program of a wireless cab signal vehicular equipment and parameter is characterized in that described method comprises the following steps:
Step 1: wireless cab signal vehicular equipment starts oracle listener;
Step 2: whether wireless cab signal vehicular equipment listens to the upgrade request signal that the wayside train control center sends, if, execution in step 3; Otherwise, continue to monitor;
Step 3: wireless cab signal vehicular equipment and wayside train control center connect;
Step 4: the wayside train control center sends upgrade file transmission beginning Start frame to wireless cab signal vehicular equipment; Simultaneously, Frame is put into after upgrade file is split in the wayside train control center;
Step 5: wireless cab signal vehicular equipment is listed as the control center earthward and sends the OK frame, prepares to receive upgrade file;
Step 6: after the OK frame of wireless cab signal vehicular equipment transmission is received in the wayside train control center, to the wireless cab signal vehicular equipment transmit frame;
Step 7: receive the frame of wayside train control center transmission when wireless cab signal vehicular equipment after, judge that according to frame head the frame that the wayside train control center sends is Frame, message frame or short message; If Frame, then execution in step 11; If message frame, then execution in step 8; If short message after then wireless cab signal vehicular equipment receives short message, returns step 6 and continues to receive next frame;
Step 8: the frame that wireless cab signal vehicular equipment receives the wayside train control center transmission is a message frame, judges whether the message frame that the wayside train control center sends is the Abort frame, if then execution in step 9; Otherwise, execution in step 10;
Step 9: wireless cab signal vehicular equipment withdraws from the document upgrading task, returns master routine, continues to monitor;
Step 10: the message frame that the wayside train control center sends is the End frame, shows upgrade file end of transmission, after receiving the Ok frame that wireless cab signal vehicular equipment returns, withdraws from the upgrade file transformation task, and execution in step 19;
Step 11: after wireless cab signal vehicular equipment is received the Frame of wayside train control center transmission, according to check code the Frame that receives is carried out verification, if verification is passed through, then execution in step 12; Otherwise, execution in step 13;
Step 12: if the content in the Frame is the filename of upgrade file, then in DOC, create a file, be used to store the 16 system data that receive with described filename; If the content in the Frame is a upgrade file, then will receives upgrade file and be stored in the file of setting up among the DOC; At last, be listed as the control center earthward and return the Ok frame;
Step 13: be listed as the control center earthward and return the Error frame;
Step 14: after the message frame of wireless cab signal vehicular equipment answer is received in the wayside train control center, judge whether the message frame that wireless cab signal vehicular equipment is replied is the Abort frame, if then execution in step 15; Otherwise, execution in step 16;
Step 15: the wayside train control center is according to manual command's startup file ROMPaq once more;
Step 16: judge whether the message frame that wireless cab signal vehicular equipment is replied is the Error frame, if then execution in step 17; Otherwise, execution in step 18;
Step 17: Frame on the request repeat, and return step 6;
Step 18: be listed as the control center earthward and send the Ok frame, and return step 6, whether the end of transmission decision sends the End frame or sends next Frame according to upgrade file in the wayside train control center;
Step 19: it is in service to judge whether locomotive is in, if then execution in step 20; Otherwise, execution in step 21;
Step 20: restart system again after train stops by the time, execution in step 21 is carried out the renewal of control program or parameter;
Step 21: judge whether this upgrades is that control program upgrades, if, execution in step 22; Otherwise, execution in step 23;
Step 22: rewrite bootstrapping loading procedure path and title, change the program that newly receives into, restart the program after system's operation is upgraded;
Step 23: this is updated to parameter update, and the controlled variable in the change program file is restarted the program after system's operation is upgraded.
2. the online in real time update method of the control program of a kind of wireless cab signal vehicular equipment according to claim 1 and parameter, it is characterized in that described wayside train control center splits upgrade file, be meant that specifically it is one group data set that the wayside train control center splits into 80 bytes with upgrade file, puts into Frame to each group data as data content then.
3. the online in real time update method of the control program of a kind of wireless cab signal vehicular equipment according to claim 1 and parameter is characterized in that described Frame comprises frame head, data length, data content, check code and postamble; Wherein frame head comprises 3 bytes; Data length comprises 1 byte; Data content comprises 80 bytes, and check code comprises 2 bytes; Postamble comprises 1 byte; More than all bytes all adopt 16 scale codings.
4. the online in real time update method of the control program of a kind of wireless cab signal vehicular equipment according to claim 1 and parameter, it is characterized in that in the described step 11, according to check code the Frame that receives being carried out verification specifically is meant, after each byte in data length and the data content is added up at row control center, the result is got binary coding, obtain one 16 binary number, described 16 binary number is a check code, its first eight bits is deposited in first byte, will be thereafter eight deposit in second byte; After receiving one group of data on the wireless locomotive, also be earlier each byte in data length and the data content to be added up, after the gained result gets binary coding, compare with check code, if equate that then verification is passed through, otherwise verification is not passed through.
5. the online in real time update method of the control program of a kind of wireless cab signal vehicular equipment according to claim 1 and parameter is characterized in that described message frame comprises Start frame, Ok frame, Error frame, End frame and Abort frame; Wherein, the wayside train control center comprises Start frame, Abort frame and End frame to the message frame that wireless cab signal vehicular equipment sends; The message frame that wireless cab signal vehicular equipment is listed as the transmission of control center earthward comprises Ok frame, Error frame and Abort frame.
6. the online in real time update method of the control program of a kind of wireless cab signal vehicular equipment according to claim 1 and parameter, after it is characterized in that described wireless cab signal vehicular equipment and wayside train control center connect, the wayside train control center picks up counting after wireless cab signal vehicular equipment sends a frame, if in setting-up time, do not receive the message frame that wireless cab signal vehicular equipment returns, then stop the upgrade file transmission.
7. the online in real time update method of the control program of a kind of wireless cab signal vehicular equipment according to claim 1 and parameter, after it is characterized in that described wireless cab signal vehicular equipment and wayside train control center connect, wireless cab signal vehicular equipment is listed as earthward and picks up counting after message frame is replied at the control center, if in setting-up time, do not receive the next Frame of wayside train control center transmission or the message frame of answer, then delete the upgrade file of receiving unit, and stop the upgrade file transmission.
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2009
- 2009-06-15 CN CN2009100870070A patent/CN101587634B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9561811B2 (en) | 2014-12-19 | 2017-02-07 | Progress Rail Locomotive Inc. | Railroad control system having onboard management |
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| Publication number | Publication date |
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| CN101587634A (en) | 2009-11-25 |
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