CN102923165B - Integrated train overspeed protection vehicle-mounted equipment - Google Patents
Integrated train overspeed protection vehicle-mounted equipment Download PDFInfo
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- CN102923165B CN102923165B CN201110229329.1A CN201110229329A CN102923165B CN 102923165 B CN102923165 B CN 102923165B CN 201110229329 A CN201110229329 A CN 201110229329A CN 102923165 B CN102923165 B CN 102923165B
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Abstract
The invention discloses integrated train overspeed protection vehicle-mounted equipment. The integrated train overspeed protection vehicle-mounted equipment comprises a host rear panel, and an external expansion channel board card, a recorder board card, a multi-functional host board card and a transmission interface unit (TIU) input and output board card which are inserted into the host rear panel respectively; and the external expansion channel board card, the recorder board card and the TIU input and output board card interact information with the multi-functional host board card through a bus provided by the host rear panel. The integrated train overspeed protection vehicle-mounted equipment has the characteristics of low cost, small size, light weight and the like, can be applied to a bullet train, locomotives with the harsh installation conditions, and is convenient to install and maintain; the size, the weight and the cost of the integrated train overspeed protection vehicle-mounted equipment are reduced, the safety of the overspeed protection vehicle-mounted equipment is not reduced, and the reliability of the train overspeed protection vehicle-mounted equipment is improved further.
Description
Technical field
The present invention relates to the safety control field of train operation control system, particularly one integrated train overspeeding protection mobile unit.
Background technology
Train protection system ATP(Automatic Train Protection) be one of the component part of high speed railway, subway, urban track traffic operation control system, it is mainly used to provide speed limiting information to keep the personal distance between train, and train is run under the standard meeting limited speed.Train overspeeding protection's mobile unit is an important component part in train protection system, and it is the Train Detection and Identification order according to receiving from train overspeeding protection's wayside equipment, train is carried out to a kind of safety control equipment of real-time speed supervision.
At present, train overspeeding protection's mobile unit often adopts rack to install, and its component devices is more, and volume is comparatively large, and price is more expensive, and is mainly used on motor train unit.And the mobile unit that existing locomotive uses is train operation monitoring device, but the safety of train operation monitoring device, reliability and maintainability level is all not as good as train overspeeding protection's mobile unit.
In the face of the existing locomotive of domestic enormous amount, in order to ensure the traffic safety of existing locomotive, train operation monitoring device of the prior art can not satisfy the demands, but has high security, high reliability and high maintainable mobile unit in the urgent need to a.
Summary of the invention
For the deficiency of existing train overspeeding protection mobile unit and train operation monitoring device, the invention provides a kind of integrated train overspeeding protection mobile unit being simultaneously applicable to existing locomotive and motor train unit, there is little, easy for installation, the lower-cost feature of volume, there is high security, high reliability, the maintainable feature such as strong simultaneously.
A kind of integrated train overspeeding protection mobile unit, described mobile unit comprises:
Host backplane, and be plugged on external expanding communication board, logger board, multi-functional main frame board and the TIU input and output board in described host backplane respectively;
Described external expanding communication board, logger board and TIU input/output board cartoon cross bus that described host backplane provides and described multi-functional main frame board carries out information interaction.
The invention has the beneficial effects as follows: the invention provides a kind of integrated train overspeeding protection mobile unit, there is cost low, volume is little, the feature such as lightweight, can not only be applied on motor-car, the existing locomotive of mounting condition harshness can also be applicable to, be convenient to installation and maintenance, and the integrated train overspeeding protection mobile unit that the embodiment of the present invention provides is at reduction volume, while weight and cost, do not reduce its safety, further increase reliability, integrated train overspeeding protection provided by the invention mobile unit solves existing train overspeeding protection mobile unit and is difficult to widespread adoption in the problem of existing locomotive, for railway development has made contribution.
Accompanying drawing explanation
Fig. 1 is the block diagram of the integrated train overspeeding protection mobile unit of the embodiment of the present invention 1;
Fig. 2 is another block diagram of the integrated train overspeeding protection mobile unit of the embodiment of the present invention 2;
Fig. 3 is the detailed construction schematic diagram of the integrated train overspeeding protection mobile unit of the embodiment of the present invention 3.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly clear and definite, below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.At this, exemplary embodiment of the present invention and explanation thereof are mainly used in explaining the present invention, but not as a limitation of the invention.
Embodiment one
The invention provides a kind of integrated train overspeeding protection mobile unit, there is the features such as cost is low, volume is little, lightweight, can be applied on motor-car, also can be applied on existing locomotive, and further increase the reliability and maintainability of integrated train overspeeding protection mobile unit.
As shown in Figure 1, integrated train overspeeding protection mobile unit comprises: host backplane, and the external expanding communication board, logger board, multi-functional main frame board and the TIU input and output board (TIU train interface unit, English full name Train Interface Unit) that are plugged on respectively in described host backplane;
External expanding communication board, logger board and TIU input/output board cartoon cross bus that above-mentioned host backplane provides and above-mentioned multi-functional main frame board carries out information interaction.
In the present embodiment, external expanding communication board is connected with external device by multi-path serial interface, obtain information from external device, and utilize secure communication protocols to send by the bus that host backplane provides the information obtained from external device to multi-functional main frame board;
Logger board, the related data of primary responsibility record integrated train overspeeding protection mobile unit;
Multi-functional main frame board is the core processing unit of integrated train overspeeding protection mobile unit, for carrying out safe handling to the data received, and utilizes TIU input/output board card to carry out Safety output by the bus that host backplane provides;
TIU input and output board, the bus provided by host backplane and multi-functional main frame board carry out information interaction, realize Safety output.
The integrated train overspeeding protection mobile unit that the embodiment of the present invention provides has the features such as cost is low, volume is little, lightweight, be not only applicable to motor-car, also the existing locomotive of mounting condition harshness is applicable to, be convenient to installation and maintenance, and the integrated train overspeeding protection mobile unit that the embodiment of the present invention provides is while reduction volume, weight and cost, do not reduce its safety, further increase the reliability of integrated train overspeeding protection mobile unit.
Embodiment two
The integrated train overspeeding protection mobile unit that the embodiment of the present invention provides can complete the function that in existing train protection system, multiple devices complete.
As shown in Figure 2, the integrated train overspeeding protection mobile unit that the present embodiment provides also comprises: filtering board, BTM power amplifier board (BTM answering machine information receiving unit, English full name Balise Transmission Module), BTM decoding and communication card, above-mentioned board is plugged in host backplane respectively, and the bus provided by host backplane and multi-functional main frame board carry out information interaction;
Wherein, filtering board, comes from the interference of external power supply for filtering;
BTM power amplifier board, for carrying out first treatment to the responser information received, passes to BTM decoding and communication card by the responser information after process;
BTM decoding and communication card, for completing the further process of responser information, and pass to the use of multi-functional main frame board by the responser user's message obtained.
Concrete, external power supply in the present embodiment is the 110V direct supply of existing locomotive or motor-car, because this integrated train overspeeding protection mobile unit utilizes the 110V DC power supply of existing locomotive or motor-car, in order to adapt to existing locomotive or the severe electromagnetic environment of high speed motor car, the filter band fixture body in the embodiment of the present invention is used for isolating the interference between above-mentioned electromagnetic environment and integrated train overspeeding protection mobile unit;
BTM power amplifier board, Direct driver BTM antenna, by BTM antenna activation ground transponder and receive ground transponder send responser information, first treatment is carried out to the responser information received, and result is passed to BTM decoding and communication card process further;
BTM decoding and communication card, carry out decoding process to the responser information received, and the responser user's message utilizing secure communication protocols to obtain decoding sends the use of multi-functional main frame board to by the bus that host backplane provides.
Further, host backplane in the embodiment of the present invention integrated train overspeeding protection mobile unit except provide for filtering board, BTM power amplifier board, BTM decoding and communication card, externally expanding communication board, logger board, multi-functional main frame board, TIU input and output board plug-in mounting physically fixing except, also power module is comprised, for independently for each board above-mentioned provides power supply in this host backplane;
Be specially BTM power amplifier board, BTM decodes and communication card provides independently, reliable and stable 24V direct supply, for external expanding communication board, logger board, multi-functional main frame board provide independently, reliable and stable 5V direct supply, for TIU input and output board provide independently, reliable and stable 5V and 24V direct supply;
And the bus packet that this host backplane provides contains multiple communication bus, be specially BTM decoding and communication card, externally expanding communication board, logger board and multi-functional main frame board provide reliable and stable CAN (CAN controller local area network, English full name Controller Area Network), for multi-functional main frame board and TIU input and output board provide reliable and stable parallel bus.
Further, external expanding communication board in the present embodiment is connected with external apparatus interface by multi-path serial interface, specifically refer to and GSM-R(GSM for Railways) vehicle radio station and with multifunctional vehicle MVB(Multifunction Vehicle Bus) bus interface, Profibus bus interface be connected with the external device of other serial interfaces, and utilize secure communication protocols to send by the CAN that host backplane provides the information obtained from said external equipment to multi-functional main frame board to use.
Accordingly, logger board receives, the related data of record ATP mobile unit specifically refers to: the CAN provided from host backplane and outside CAN received communication information frame carry out analyzing and processing, according to the related data such as running state of certain processing rule record integrated train overspeeding protection mobile unit, and this logger board can also track record circuit waveform information;
Meanwhile, this logger board can also receive and treatment of simulated amount input information, as characterized the analog quantity information of diesel engine speed, train tube pressure, brake-cylinder pressure, bow net voltage, bow net electric current etc.;
In addition, this logger board can also comprise data transmission unit DTU(Data Transfer Unit), can utilize DTU that the information of record is sent to ground control center in real time by remote wireless network.
Accordingly, multi-functional main frame board is the core processing unit of this integrated train overspeeding protection mobile unit, mainly complete fault-tolerant processing function, common orbit circuit reception/decoding function, the distance measurement function that tests the speed, vehicle-mounted track data stores and processing capacity, responser message receives and processing capacity, row control application processing function, braking exports and feedback audit function, with DMI interface function etc. (DMI human and machine interface unit, English full name Driver Machine Interface Unit).
Accordingly, TIU input/output board cartoon crosses bus that host backplane provides and multi-functional main frame board carries out information interaction, and realize Safety output, specifically refer to: harvester turner condition incoming signal, the parallel bus provided by host backplane sends multi-functional main frame board to, and the control command of multi-functional main frame board is received by the parallel bus that host backplane provides, carry out control command output;
Simultaneously, this TIU input and output board also Real-time Collection Brake feedback signal, and send multi-functional main frame board to by the parallel bus that host backplane provides, so that after multi-functional main frame board discovery braking output abnormality, take stricter braking to export, reach the object of fault-safety principle.
The integrated train overspeeding protection mobile unit that the embodiment of the present invention provides has the features such as cost is low, volume is little, lightweight, be not only applicable to motor-car, also the existing locomotive of mounting condition harshness is applicable to, be convenient to the installation and maintenance of mobile unit, and the ATP mobile unit that the embodiment of the present invention provides is while reduction volume, weight and cost, do not reduce its safety, further increase the reliability of train overspeeding protection's mobile unit.
Embodiment three
The embodiment of the present invention provides a kind of integrated train overspeeding protection mobile unit in detail, only utilizes 5 pieces of CPU just to complete information acquisition, BTM information decoding and message data process, track circuit information collection and decoding, range finding process of testing the speed, internal security communication interaction, external security extension communication, fault-tolerant processing, its main operational, safe input and output, data logging and dump, shows to DMI, vehicle-mounted track data reads and multiple equipment such as process just can complete function in the integrated train overspeeding protection mobile unit in the present embodiment;
The present embodiment is only to be described containing 5 pieces of CPU in integrated train overspeeding protection mobile unit; the any behavior function that one piece of CPU in the present embodiment completes being divided into polylith CPU and carrying out processing; all protected by the present invention; in addition; double-core CPU is equivalent to two pieces of independently CPU; can complete two pieces of independently functions of completing of CPU, same, multi-core CPU is equivalent to polylith independently CPU.
As shown in Figure 3, the particular content of this integrated train overspeeding protection mobile unit is as follows:
Host backplane provides CAN to be connected with reliable communications such as parallel bus for integrated train overspeeding protection mobile unit, 5 pieces of CPU in integrated train overspeeding protection mobile unit all have a CAN interface to be connected with the CAN that host backplane provides, and are respectively communication interface 1, communication interface 2, communication interface 3, communication interface 5, communication interface 6.
Accordingly, BTM power board fixture body comprises driver element and signal processing unit;
Driver element mainly comprises pumping signal generation module, filtration module and preliminary amplification module;
Wherein, pumping signal generation module is the responser pumping signal of 27.095MHz for generation of frequency, by BTM antenna activation ground transponder, thus obtains the responser uplink signal comprising responser information of ground transponder transmission;
Filtration module is used for carrying out filtering process to the responser uplink signal that the central frequency from BTM antenna is 4.23 ± 0.28MHz;
Preliminary amplification module is used for the signal after filtering process tentatively to amplify, and gives signal processing unit and process;
Signal processing unit comprises amplification module and demodulation module;
Wherein, amplification module carries out amplification process for the responser uplink signal less to the energy from driver element;
Demodulation module is used for the base band code that the responser uplink signal after by amplification process is demodulated into 564.48KHz, for BTM decoding and communication card.
Accordingly, BTM decoding and communication card specifically comprise decoding unit, communication interface 1,
Decoding unit comprises again cache module further, hard decoder module, soft decoder module, 2 get 2 modules, state detection module and communication module;
Wherein, the 564.48KHz base band code of the serial from signal processing unit is stored in data memory by cache module, facilitates rear class decoding processor to decode;
Hard decoder module, completes hardware decode function by programmable logic device (PLD), prepares enough data in base band code sorting module, after the legitimacy of verification base band code, obtains responser user's message by hardware decode;
Soft decoder module is realized by CPU1, prepares enough data in base band code sorting module, after having verified the legitimacy of base band code, can obtain responser user's message by software decode;
2 get 2 modules, obtain final responser user's message after the responser user's message from hard decoder module and soft decoder module is got 2 algorithms by corresponding 2, and export CD signal simultaneously;
Communication module, is connected with CAN by communication interface 1, by the responser user's message that finally obtains according to secure communication protocols, sends to multi-functional main frame board via CAN.
Accordingly, external expanding communication board comprises CPU2, multi-channel serial port, communication interface 2;
Wherein, multi-channel serial port, is used for being connected with external device, is specifically connected with GSM-R vehicle radio station, can also with the equipment connection with MVB interface or Profibus bus interface or other serial interfaces;
Communication interface 2, is used for being connected with the CAN in host backplane;
CPU2 is the core cell of external expanding communication board, mutual for realizing with the safety communication of external device, by the Information Pull communication interface 2 obtained by multi-channel serial port, adopt secure communication protocols, send multi-functional main frame board to by the CAN in host backplane and process.
Accordingly, logger board comprises: CPU3, data storage cell, data conversion storage unit, analog acquisition unit, communication interface 3 and communication interface 4;
Wherein, CPU3 is the core cell of logger board, be connected with data storage cell, data dump unit, analog acquisition unit, for controlling each unit operation, and CPU3 is connected with the CAN in host backplane by communication interface 3, for gathering the operating data of integrated train overspeeding protection mobile unit, be connected with outside CAN by communication interface 4, for monitoring the communication data between multi-functional main frame board and DMI equipment;
Data storage cell, is connected with CPU3, for recording the operating data storing integrated train overspeeding protection mobile unit, is stored in non-volatile ram and multimedia storage medium respectively;
Data dump unit, be connected with CPU3, for the statistical conversion in multimedia storage medium, be stored into mobile memory medium, to ensure the safety storing of data, be convenient to the analysis of data and put on record, wherein data dump unit can also comprise DTU interface, is used for the data in multimedia storage medium to be sent to ground control center by wireless network;
Analog acquisition unit, is connected with CPU3, is gathered the signals such as train tube pressure, brake-cylinder pressure, diesel engine speed, bow net voltage, bow net electric current, ambient temperature, to carry out calculating and the storage of relevant parameter by respective sensor.
Accordingly, multi-functional main frame board comprises: the first signal condition unit, two signal acquisition module, secondary signal conditioning unit, CPU4, CPU5, two track data unit, four communication interfaces, two parallel ports, a serial ports, wherein optional digital signal processor or the microprocessor with having QEP Peripheral Interface, CAN interface, asynchronous communication serial interface, synchronous communication serial interface, expansion interface and FPU Float Point Unit of CPU4 and CPU5;
First signal condition unit, be connected with track circuit receiving coil, track-circuit signalling for inducing track circuit receiving coil carries out filtering, amplitude limit and isolation processing, and the track-circuit signalling obtained is supplied to coupled signal gathering unit, particularly, the circuit that the first signal condition unit in the present embodiment can be made up of signal adaptation resistance-capacitance network, stabilivolt, isolation op amp and insulating power supply chip forms;
Two signal gathering unit, function is identical with structure, all be connected with the first signal condition unit, and be connected with CPU4 with CPU5 respectively, for carrying out A/D conversion to the track-circuit signalling received, and the digital signal after conversion is supplied to CPU4 and CPU5 separately and carries out decoding process, particularly, the circuit that the signal gathering unit in the present embodiment can be made up of signal adaptation resistance network and modulus acquisition chip forms;
Secondary signal conditioning unit, be connected with speed sensor, and be connected with CPU4 with CPU5 respectively, impulse singla for exporting speed sensor carries out filtering, amplitude limit and isolation processing, and be supplied to CPU4 and CPU5 and carry out processing the signal that obtains range finding process of testing the speed, particularly, the circuit that the secondary signal conditioning unit in the present embodiment can be made up of capacitance-resistance filter network, stabilivolt, comparator and photoelectric coupling chip forms;
Two parallel bus interface unit, function is identical with structure, all be connected with the parallel bus in host backplane, the information interaction with TIU input and output board is realized by the parallel bus in host backplane, for the isolation buffer process to parallel data, address and control bus, realize the passage that two CPU information export, input acquisition of information and output feedack acquisition of information, particularly, the circuit that the parallel bus interface unit in the present embodiment can be made up of logic control chip and level transferring chip forms;
Two track data unit, function is identical with structure, and for the non-volatile memories to vehicle-mounted track data, particularly, the track data unit in the present embodiment can be made up of high-capacity FLASH chip;
Above-mentioned CPU4 and CPU5 completes identical function, form the operation platform of dual processors, each CPU is all connected with track data unit with signal acquisition module, the first signal condition unit, secondary signal conditioning unit, communications interface unit, parallel bus interface unit; Two CPU realize the mutual and synchronous of information by synchronous serial interface; Each CPU all complete 2 get 2 fault-tolerantly compare process, track-circuit signalling decoding process, range finding process of testing the speed, responser message data receives and process, vehicle-mounted storage line circuit-switched data reads and process, dynamically Speed limit curve calculate, control command exports and the function such as call management, wherein testing the speed range finding process by gathering light electricity velocity sensor signal, receiving radar speed sensor signal comprehensively processes.
Above-mentioned CPU4 utilizes communication interface 5 to be connected with the CAN in host backplane, realize the information interaction of CPU4 and BTM decoding and communication card, externally expanding communication board, logger board etc., and utilize communication interface 7 to be connected with DMI equipment, logger board, realize to DMI display and data recording function;
Accordingly, CPU5 utilizes communication interface 6 to realize the information interaction of CPU4 and BTM decoding and communication card, externally expanding communication board, logger board etc. equally, communication interface 8 is utilized to realize to DMI display and data recording function, and CPU5 is also connected with radar velocity measurement sensor by serial ports 1, comprehensive photoelectric measure speeding sensor information, to realize the high-precision range finding requirement of testing the speed of train protection system.
Accordingly, in the present embodiment, TIU input/output board fixture body comprises optocoupler IO interface and relay output interface;
Wherein, optocoupler IO interface is used for Real-time Collection locomotive operating mode incoming signal and Brake feedback signal, and sends the signal collected to multi-functional main frame board by the parallel bus that host backplane provides and process;
The control command that relay output interface is sent by the parallel bus that host backplane provides for receiving multi-functional main frame board, carries out Safety output, and as emergency braking output, service braking exports, breaking to draw exports.
Embodiments provide a kind of integrated train overspeeding protection mobile unit, its cost is low, volume is little, lightweight, be applicable to the existing locomotive of mounting condition harshness and Price Sensitive, be convenient to installation and maintenance, and the integrated train overspeeding protection mobile unit that the embodiment of the present invention provides is at reduction volume, while weight and cost, do not reduce its safety, owing to adopting Systematic Design and simplified design, further increase the reliability and maintainability of integrated train overspeeding protection mobile unit, solve existing train overspeeding protection mobile unit and be difficult to widespread adoption in the problem of existing locomotive, for railway development has made contribution.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
Claims (8)
1. an integrated train overspeeding protection mobile unit, is characterized in that, described mobile unit comprises:
Host backplane, and be plugged on external expanding communication board, logger board, multi-functional main frame board and the TIU input and output board in described host backplane respectively;
Described external expanding communication board, logger board and TIU input/output board cartoon cross bus that described host backplane provides and described multi-functional main frame board carries out information interaction;
Described external expanding communication board is connected with external device by multi-path serial interface, obtains information, send described information to described multi-functional main frame board by the CAN that described host backplane provides from described external device,
Described logger board is used for the CAN that provided by described host backplane and outside CAN receives and records the related data of described integrated train overspeeding protection mobile unit,
Described multi-functional main frame board is used for carrying out safe handling to the data received, and utilizes described TIU input/output board card to carry out Safety output by the bus that described host backplane provides,
Described TIU input/output board cartoon crosses bus that described host backplane provides and described multi-functional main frame board carries out information interaction, realizes Safety output.
2., as weighed the mobile unit as described in 1, it is characterized in that, described host backplane also for providing independently for described external expanding communication board, logger board, multi-functional main frame board and TIU input and output board, reliable and stable direct supply.
3. as weighed the mobile unit as described in 1, it is characterized in that, described external device comprises GSM-R vehicle radio station or the equipment with MVB interface or Profibus bus interface or other serial interfaces.
4. as weighed the mobile unit as described in 1, it is characterized in that, described logger board also comprises:
Analog acquisition unit, for gathering analog input information, carries out processing and record;
DTU interface unit, for being sent to ground control center by the data of record in real time by remote wireless network.
5. as weighed the mobile unit as described in 1, it is characterized in that, described multi-functional main frame board comprises: the first signal condition unit be connected with track circuit receiving coil; Two identical and signal gathering unit that are that be connected with described first signal condition unit respectively; Be connected with speed sensor secondary signal conditioning unit; The serial port unit be connected with radar velocity measurement sensor; Two for storing the track data unit of vehicle-mounted track data.
6. as weighed the mobile unit as described in 1, it is characterized in that, described TIU input and output board comprises:
Optocoupler IO interface, for harvester turner condition incoming signal and Brake feedback signal, the parallel bus provided by described host backplane sends described multi-functional main frame board to;
Relay output interface, for carrying out Safety output by the control command of described multi-functional main frame board.
7. as weighed the mobile unit as described in 1, it is characterized in that, described mobile unit also comprises:
Be plugged on the BTM decoding in described host backplane and communication card, complete the decoding to responser information, the responser user's message obtained is passed to described multi-functional main frame board by the CAN that described host backplane provides.
8. as weighed the mobile unit as described in 7, it is characterized in that, described mobile unit also comprises:
Be plugged on the filtering board in described host backplane and BTM power amplifier board respectively;
Described filtering board, is used for the interference of filtering from external power supply;
Described BTM power amplifier board, is used for driving BTM antenna, activates ground transponder, and carry out first treatment to the responser information received, and result is sent to described BTM and decodes and communication card.
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| CN201110229329.1A CN102923165B (en) | 2011-08-11 | 2011-08-11 | Integrated train overspeed protection vehicle-mounted equipment |
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| CN201110229329.1A CN102923165B (en) | 2011-08-11 | 2011-08-11 | Integrated train overspeed protection vehicle-mounted equipment |
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| CN105128891B (en) * | 2015-09-02 | 2018-05-11 | 湖南中车时代通信信号有限公司 | A kind of Locomotive Running Monitor System |
| CN107888470A (en) * | 2017-06-21 | 2018-04-06 | 比亚迪股份有限公司 | Vehicle control syetem |
| CN109367582A (en) * | 2018-10-30 | 2019-02-22 | 卡斯柯信号有限公司 | A kind of enhanced column control vehicle-mounted cabinet of ITCS |
| CN110395296B (en) * | 2019-08-13 | 2021-04-09 | 北京交大思诺科技股份有限公司 | Novel LKJ recording unit |
| CN113120035B (en) * | 2021-06-17 | 2021-09-07 | 北京全路通信信号研究设计院集团有限公司 | Point type train control vehicle-mounted system and train control method |
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