CN102733680A - Locking control method, device and system for car roof channel door - Google Patents
Locking control method, device and system for car roof channel door Download PDFInfo
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- CN102733680A CN102733680A CN2012102318698A CN201210231869A CN102733680A CN 102733680 A CN102733680 A CN 102733680A CN 2012102318698 A CN2012102318698 A CN 2012102318698A CN 201210231869 A CN201210231869 A CN 201210231869A CN 102733680 A CN102733680 A CN 102733680A
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- 238000002955 isolation Methods 0.000 claims abstract description 46
- 230000006698 induction Effects 0.000 claims description 13
- 230000002498 deadly effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The invention discloses a locking control method for a car roof channel door. The method is used for realizing securely-locking for the car roof channel door in a car roof operation process and comprises the following steps: collecting a state of the car roof channel door after receiving a close signal of the car roof channel door; when the state of the car roof channel door is closing and unlocking, collecting a plurality of car roof infrared sensing signals; if the plurality of car roof infrared sensing signals are drone signs, deadly locking a close state of the car roof channel door, and setting deadly-locking time; transmitting drone signs, and close and deadly-locking signals of the car roof channel door to a contact net isolation switch control device, so that the contact net isolation switch control device controls a contact net isolation switch to unlock and turn off in the deadly-locking time. A locking control method and a locking control system for the car roof channel door further are disclosed by the invention.
Description
Technical Field
The invention relates to the technical field of safety guarantee of dangerous operation areas, in particular to a locking control method, device and system for a car roof passage door.
Background
In the process of maintaining the electrified vehicle, roof operation is one of important works, however, whether contact lines of the electrified vehicle have electricity or not becomes a key danger source for roof operation. After the operation is finished, the operators leave the operation area through the roof access door, the process needs to be executed step by step according to the roof operation safety operation program, although certain safety management measures and systems exist, in the specific implementation process, the operators excessively depend on mutual coordination and safety awareness of the operators. Therefore, if the work flow is unfamiliar and the worker does not work according to the specified flow, a safety accident may occur. For example, after the operation of the roof operator is finished, when the roof is evacuated, the roof access door needs to be closed and locked, if the locking control of the roof access door is improper, the roof access door is closed and the overhead line system isolating switch is closed when the operator is not evacuated completely, and the electric shock accident of the roof operator can be caused.
Disclosure of Invention
In view of the above, the present invention provides a locking control method, device and system for a car roof access door, which solves the problem in the prior art of car roof operation that potential safety hazards exist in the process of evacuating the car roof due to excessive dependence on mutual manual coordination and safety awareness.
In order to solve the above problems, the technical scheme provided by the invention is as follows:
a method of roof access door latch control, the method comprising:
after receiving a door closing signal of the car roof passage door, collecting the state of the car roof passage door;
when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals;
if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof passage door, and setting deadlock time;
and sending the unmanned mark and a vehicle roof passage door closing and deadlock signal to a contact network isolating switch control device so that the contact network isolating switch control device controls the contact network isolating switch to be unlocked and closed within the set deadlock time.
Correspondingly, after a plurality of roof infrared sensing signals are collected, the method further comprises the following steps:
if any of the plurality of roof infrared sensing signals is a manned sign, controlling the state of the roof passage door to be kept unlocked, and sending a signal that the manned sign and the roof passage door are in an unlocked state to the contact network isolating switch control device, so that the contact network isolating switch is kept disconnected and in a deadlock state.
Correspondingly, the collecting a plurality of roof infrared sensing signals comprises:
and collecting a plurality of roof infrared sensing signals by using the roof infrared sensing device.
A roof access door latch control device, the device comprising:
the first acquisition unit is used for acquiring the state of the car roof channel door after receiving a door closing signal of the car roof channel door;
the second acquisition unit is used for acquiring a plurality of roof infrared induction signals when the roof access door is closed and unlocked;
the deadlock setting unit is used for deadlock the closing state of the roof channel door and setting deadlock time if the plurality of roof infrared sensing signals are all the unmanned marks;
the first sending unit is used for sending the unmanned mark and the closing and deadlock signal of the roof passage door to the contact net isolating switch control device so that the contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed within the set deadlock time.
Correspondingly, the device further comprises:
the control unit is used for controlling the state of the roof channel door to be kept unlocked if any roof infrared sensing signal in the plurality of roof infrared sensing signals is a sign of existence;
and the second sending unit is used for sending a signal that the manned sign and the roof access door are in an unlocked state to the contact network isolating switch control device so as to keep the contact network isolating switch in an off and deadlock state.
Correspondingly, gather a plurality of roof infrared induction signals and include:
and collecting a plurality of roof infrared sensing signals by using the roof infrared sensing device.
A roof access door latching control system, the system comprising:
the roof channel control device is connected with the roof channel door and used for acquiring the state of the roof channel door after receiving a door closing signal of the roof channel door; when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals; if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof passage door, and setting deadlock time; sending the unmanned mark and a closing and deadlock signal of a roof passage door to a contact net isolating switch control device;
and the isolation network isolation switch control device is connected with the isolation network isolation switch and is used for controlling the contact network isolation switch to unlock and close within the set deadlock time after receiving the unmanned mark and the closing and deadlock signals of the roof channel door sent by the roof channel control device.
Correspondingly, the roof passage control device is also used for:
if any of the plurality of roof infrared sensing signals is a manned sign, controlling the roof passage door to be kept unlocked, and sending a signal indicating that the manned sign and the roof passage door are in an unlocked state to the contact net disconnecting switch control device;
the isolation network isolation switch control device is also used for:
and after the manned sign and the roof channel door which are sent by the roof channel control device are in an unlocking state signal, the disconnection and deadlock state of the contact net isolating switch is kept.
Correspondingly, gather a plurality of roof infrared induction signals and include:
and collecting a plurality of roof infrared sensing signals by using the roof infrared sensing device.
Correspondingly, the roof channel control device, the roof channel door, the isolation net isolation switch control device and the isolation net isolation switch are arranged on the ground, and the roof infrared sensing device is arranged on the roof;
or,
the isolation net isolating switch control device and the isolation net isolating switch are arranged on the ground, and the roof channel control device, the roof channel door and the roof infrared induction device are arranged on the roof.
Therefore, the invention has the following beneficial effects:
according to the invention, the infrared sensing signal of the roof is detected to be an unmanned sign, so that the situation that all the operators in the roof operation area evacuate is determined, then the roof passage door is controlled to be locked, and the contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed, therefore, the roof contact net can be effectively controlled to be powered after all the operators leave the roof and the roof passage door are locked, the fact that the operators do not have electric shock hazard when evacuating the operation area is ensured, and the problem of safety guarantee of the operators on the roof of the electrified transportation tool during operation is solved.
Drawings
FIG. 1 is a flow chart of a method of roof access door latching control of the present invention;
FIG. 2 is a flow chart of one embodiment of a method of controlling locking of a vehicle roof access door of the present invention;
FIG. 3 is a schematic view of one configuration of the overhead door locking control of the present invention;
FIG. 4 is a schematic view of a roof access door latching control system according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The method aims at solving the problem that safety accidents occur due to the fact that operators close a roof passage door and close a contact net isolating switch when the operators do not completely evacuate the roof due to the fact that coordination and safety awareness among workers are excessively relied when the operators evacuate the roof after operation in the prior art, and the roof passage door is deadly locked in a closed state after the infrared sensing signals of the roof are all unmanned signs by collecting a plurality of roof infrared sensing signals, and then a contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed.
Based on the above idea, referring to fig. 1, a locking control method for a car roof access door of the present invention includes the following steps:
step 101: after receiving a door closing signal of the car roof passage door, collecting the state of the car roof passage door;
step 102: when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals;
step 103: if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof channel door, and setting deadlock time;
step 104: and sending an unmanned mark and a vehicle roof passage door closing and deadlock signal to the contact net isolating switch control device so that the contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed within the set deadlock time.
Therefore, the fact that all the operators in the roof operation area evacuate is determined by detecting that the roof infrared induction signal is an unmanned sign, then the roof passage door is controlled to be locked, the contact net isolating switch control device controls the contact net isolating switch to unlock and close, and therefore the roof contact net can be effectively controlled to be powered after all the operators leave the roof and the roof passage door are locked, the fact that the operators do not have electric shock danger when evacuating the operation area is guaranteed, and the problem of safety guarantee of the operators on the roof of the electrified transportation tool during operation is solved.
The car roof infrared sensing signal can be acquired by using a car roof infrared sensing device.
When any one of the plurality of roof infrared sensing signals is the manned sign, it is indicated that the roof is provided with an operator, the state of the roof passage door is controlled to be kept unlocked, and the manned sign and the roof passage door unlocking state signal are sent to the contact net isolating switch control device, so that the contact net isolating switch is kept disconnected and in a deadlock state.
Referring to fig. 2, a specific embodiment of the locking control method for a car roof access door of the present invention is implemented as follows:
step 201: after receiving a door closing signal of the car roof passage door, collecting the state of the car roof passage door;
step 202: when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals;
step 203: if any one of the plurality of roof infrared induction signals is the manned sign, controlling the roof passage door to be kept unlocked, and sending a signal indicating that the manned sign and the roof passage door are in an unlocked state to the contact network isolating switch control device so as to keep the contact network isolating switch disconnected and in a deadlock state;
when the roof passage door is closed and unlocked, an operator can still open the roof passage door, when people exist on the roof, the roof passage door is kept unlocked, the contact net isolating switch is kept in a disconnected and deadlock state, the contact net isolating switch cannot be closed to supply power to the roof contact net, and the safety of the operator on the roof is fully guaranteed.
Step 204: if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof channel door, and setting deadlock time;
after the fact that the roof is in the unmanned state is confirmed, the closing state of the roof passage door is immediately deadlocked, the roof passage door cannot be opened manually at the moment, and the situation that the roof passage door is opened again and an electric shock accident occurs in the period from the unmanned state of the roof to the closing of the contact net isolating switch is avoided.
Step 205: and sending an unmanned mark and a vehicle roof passage door closing and deadlock signal to the contact net isolating switch control device, so that the contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed within the set deadlock time.
And in the set deadlock time, the roof access door is kept closed and in a deadlock state, and the control of the contact net isolating switch to be unlocked and closed is safe. If the set deadlock time is exceeded, the contact net isolating switch is not closed, the contact net isolating switch control device can keep the contact net isolating switch state to be disconnected and deadlocked, the roof infrared induction signal is judged again, and the roof passage door locking process is started.
Accordingly, the present invention also provides a car roof access door locking control device, which is shown in fig. 3 and is a structural schematic diagram of the device. In this embodiment, the apparatus may include: a first acquisition unit 11, a second acquisition unit 12, a deadlock setting unit 13, and a first transmission unit 14.
The first acquisition unit is used for acquiring the state of the car roof channel door after receiving a door closing signal of the car roof channel door;
the second acquisition unit is used for acquiring a plurality of roof infrared induction signals when the roof access door is closed and unlocked;
the deadlock setting unit is used for deadlock the closing state of the roof channel door and setting deadlock time if the plurality of roof infrared sensing signals are all the unmanned marks;
the first sending unit is used for sending the unmanned mark and the closing and deadlock signal of the roof passage door to the contact net isolating switch control device so that the contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed within the set deadlock time.
The apparatus may further include: a control unit 15 and a second transmitting unit 16.
The control unit is used for controlling the state of the roof passage door to be kept unlocked if any roof infrared sensing signal in the plurality of roof infrared sensing signals is a sign of existence;
and the second sending unit is used for sending a signal that the manned sign and the roof access door are in an unlocked state to the contact network isolating switch control device so as to keep the contact network isolating switch in an off and deadlock state.
Accordingly, the present invention also provides a car roof access door locking control system, which is shown in fig. 4 and is a structural block diagram of the system. In this embodiment, the system includes: a roof passage control device 1 and an isolation network isolating switch control device 2.
The roof channel control device is connected with the roof channel door and used for collecting the state of the roof channel door after receiving a door closing signal of the roof channel door; when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals; if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof channel door, and setting deadlock time; sending an unmanned mark and a closing and deadlock signal of a car roof passage door to a contact net isolating switch control device;
and the isolation network isolation switch control device is connected with the isolation network isolation switch and is used for controlling the isolation network isolation switch to be unlocked and closed within set deadlock time after receiving the unmanned mark and the closing and deadlock signals of the roof channel door sent by the roof channel control device.
The roof passage control device is also configured to: if any one of the plurality of roof infrared induction signals is the manned sign, controlling the roof passage door to be kept unlocked, and sending the manned sign and the roof passage door unlocked state signal to the contact net isolating switch control device;
the isolation network isolation switch control device is also used for: and after receiving the signal that the manned sign and the roof passage door are in the unlocking state, which is sent by the roof passage control device, keeping the contact net isolating switch disconnected and in a deadlock state.
The car roof infrared sensing signal can be acquired by a car roof infrared sensing device.
The isolation network isolation switch control device and the isolation network isolation switch can be arranged on the ground; the roof infrared sensing device can be arranged on the roof of the car; the roof passage control device and the roof passage door may be provided on the ground or on the roof.
The specific working principle of the system is as follows:
the method comprises the following steps that after a car roof channel control device receives a door closing signal of a car roof channel door, the state of the car roof channel door is collected; when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals; if any one of the plurality of roof infrared induction signals is the manned sign, controlling the roof passage door to be kept unlocked, and sending the manned sign and the roof passage door unlocked state signal to the contact net isolating switch control device; if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof channel door, and setting deadlock time; sending an unmanned mark and a closing and deadlock signal of a car roof passage door to a contact net isolating switch control device; after receiving the manned sign and the unlocking state signal of the roof passage door sent by the roof passage control device, the isolation network isolation switch control device keeps the disconnection and deadlock state of the isolation network isolation switch; and after receiving the unmanned mark and the closing and deadlock signals of the roof passage door sent by the roof passage control device, controlling the contact net isolating switch to unlock and close within the set deadlock time.
Therefore, the fact that all the operators in the roof operation area evacuate is determined by detecting that the roof infrared induction signal is an unmanned sign, then the roof passage door is controlled to be locked, the contact net isolating switch control device controls the contact net isolating switch to unlock and close, and therefore the roof contact net can be effectively controlled to be powered after all the operators leave the roof and the roof passage door are locked, the fact that the operators do not have electric shock danger when evacuating the operation area is guaranteed, and the problem of safety guarantee of the operators on the roof of the electrified transportation tool during operation is solved.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the system or the device disclosed by the embodiment, the description is simple because the system or the device corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of roof access door latch control, the method comprising:
after receiving a door closing signal of the car roof passage door, collecting the state of the car roof passage door;
when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals;
if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof passage door, and setting deadlock time;
and sending the unmanned mark and a vehicle roof passage door closing and deadlock signal to a contact network isolating switch control device so that the contact network isolating switch control device controls the contact network isolating switch to be unlocked and closed within the set deadlock time.
2. The method of claim 1, wherein after acquiring a plurality of roof infrared sensing signals, the method further comprises:
if any of the plurality of roof infrared sensing signals is a manned sign, controlling the state of the roof passage door to be kept unlocked, and sending a signal that the manned sign and the roof passage door are in an unlocked state to the contact network isolating switch control device, so that the contact network isolating switch is kept disconnected and in a deadlock state.
3. The method of claim 1, wherein collecting a plurality of roof infrared sensing signals comprises:
and collecting a plurality of roof infrared sensing signals by using the roof infrared sensing device.
4. A vehicle roof access door latch control device, comprising:
the first acquisition unit is used for acquiring the state of the car roof channel door after receiving a door closing signal of the car roof channel door;
the second acquisition unit is used for acquiring a plurality of roof infrared induction signals when the roof access door is closed and unlocked;
the deadlock setting unit is used for deadlock the closing state of the roof channel door and setting deadlock time if the plurality of roof infrared sensing signals are all the unmanned marks;
the first sending unit is used for sending the unmanned mark and the closing and deadlock signal of the roof passage door to the contact net isolating switch control device so that the contact net isolating switch control device controls the contact net isolating switch to be unlocked and closed within the set deadlock time.
5. The apparatus of claim 4, further comprising:
the control unit is used for controlling the state of the roof channel door to be kept unlocked if any roof infrared sensing signal in the plurality of roof infrared sensing signals is a sign of existence;
and the second sending unit is used for sending a signal that the manned sign and the roof access door are in an unlocked state to the contact network isolating switch control device so as to keep the contact network isolating switch in an off and deadlock state.
6. The apparatus of claim 4, wherein collecting a plurality of roof infrared sensing signals comprises:
and collecting a plurality of roof infrared sensing signals by using the roof infrared sensing device.
7. A vehicle roof access door latch control system, said system comprising:
the roof channel control device is connected with the roof channel door and used for acquiring the state of the roof channel door after receiving a door closing signal of the roof channel door; when the roof passage door is closed and unlocked, collecting a plurality of roof infrared sensing signals; if the plurality of roof infrared sensing signals are all the unmanned marks, deadlock the closing state of the roof passage door, and setting deadlock time; sending the unmanned mark and a closing and deadlock signal of a roof passage door to a contact net isolating switch control device;
and the isolation network isolation switch control device is connected with the isolation network isolation switch and is used for controlling the contact network isolation switch to unlock and close within the set deadlock time after receiving the unmanned mark and the closing and deadlock signals of the roof channel door sent by the roof channel control device.
8. The system of claim 7,
the roof channel control device is further configured to:
if any of the plurality of roof infrared sensing signals is a manned sign, controlling the roof passage door to be kept unlocked, and sending a signal indicating that the manned sign and the roof passage door are in an unlocked state to the contact net disconnecting switch control device;
the isolation network isolation switch control device is also used for:
and after the manned sign and the roof channel door which are sent by the roof channel control device are in an unlocking state signal, the disconnection and deadlock state of the contact net isolating switch is kept.
9. The system of claim 7, wherein collecting a plurality of roof infrared sensing signals comprises:
and collecting a plurality of roof infrared sensing signals by using the roof infrared sensing device.
10. The system of claim 9,
the roof channel control device, the roof channel door, the isolation net isolation switch control device and the isolation net isolation switch are arranged on the ground, and the roof infrared sensing device is arranged on the roof;
or,
the isolation net isolating switch control device and the isolation net isolating switch are arranged on the ground, and the roof channel control device, the roof channel door and the roof infrared induction device are arranged on the roof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210231869.8A CN102733680B (en) | 2012-07-05 | 2012-07-05 | Locking control method, device and system for car roof channel door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210231869.8A CN102733680B (en) | 2012-07-05 | 2012-07-05 | Locking control method, device and system for car roof channel door |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102733680A true CN102733680A (en) | 2012-10-17 |
| CN102733680B CN102733680B (en) | 2014-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210231869.8A Active CN102733680B (en) | 2012-07-05 | 2012-07-05 | Locking control method, device and system for car roof channel door |
Country Status (1)
| Country | Link |
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| CN (1) | CN102733680B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109229120A (en) * | 2018-09-17 | 2019-01-18 | 武汉新时代铁路电气有限责任公司 | Electric railway Operation Van is safely operated intelligent monitoring cloud platform |
| CN114999035A (en) * | 2022-06-09 | 2022-09-02 | 广州小鹏汽车科技有限公司 | Vehicle unlocking and locking processing method, vehicle and system |
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| CN2659730Y (en) * | 2003-09-03 | 2004-12-01 | 李泽起 | Locomotive top door safety protector |
| CN200971657Y (en) * | 2006-11-09 | 2007-11-07 | 李平 | Safety protection electric controlled lock on locomotive with high pressure sensor |
| KR100856465B1 (en) * | 2006-09-22 | 2008-09-04 | 오성기전주식회사 | disconnecting switch and safety managing system of electric car line |
| CN201307233Y (en) * | 2008-09-11 | 2009-09-09 | 兰州交通大学 | Power car servicing safety monitoring system |
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| CN1121254A (en) * | 1994-09-14 | 1996-04-24 | 羊城铁路总公司韶关机务段 | Automatic and safe monitoring device isolated switch |
| CN2659730Y (en) * | 2003-09-03 | 2004-12-01 | 李泽起 | Locomotive top door safety protector |
| KR100856465B1 (en) * | 2006-09-22 | 2008-09-04 | 오성기전주식회사 | disconnecting switch and safety managing system of electric car line |
| CN200971657Y (en) * | 2006-11-09 | 2007-11-07 | 李平 | Safety protection electric controlled lock on locomotive with high pressure sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109229120A (en) * | 2018-09-17 | 2019-01-18 | 武汉新时代铁路电气有限责任公司 | Electric railway Operation Van is safely operated intelligent monitoring cloud platform |
| CN114999035A (en) * | 2022-06-09 | 2022-09-02 | 广州小鹏汽车科技有限公司 | Vehicle unlocking and locking processing method, vehicle and system |
| CN114999035B (en) * | 2022-06-09 | 2024-07-19 | 广州小鹏汽车科技有限公司 | Vehicle unlocking and locking processing method, vehicle and system |
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| Publication number | Publication date |
|---|---|
| CN102733680B (en) | 2014-11-12 |
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