CN103061219A - Method and device for automatically checking fastening states of railway fasteners and spring fasteners - Google Patents
Method and device for automatically checking fastening states of railway fasteners and spring fasteners Download PDFInfo
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- CN103061219A CN103061219A CN201310012873XA CN201310012873A CN103061219A CN 103061219 A CN103061219 A CN 103061219A CN 201310012873X A CN201310012873X A CN 201310012873XA CN 201310012873 A CN201310012873 A CN 201310012873A CN 103061219 A CN103061219 A CN 103061219A
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Abstract
The invention relates to a method and a device for automatically checking fastening states of railway fasteners and spring fasteners. The method includes steps of acquiring positioning data of the railway fasteners, acquiring fastening state judgment data of the spring fasteners, combining the positioning data of the railway fasteners and the fastening state judgment data of the spring fasteners to complete checking the fastening states of the railway fasteners and the spring fasteners. The device comprises a railway bogie, a linear structure laser sensor, a photoelectric coder, a GPS (global positioning system) receiver, a synchronous control circuit, an embedded computer and a power source device, wherein the linear structure laser sensor, the photoelectric coder, the GPS receiver, the synchronous control circuit, the embedded computer and the power source device are arranged on the railway bogie. The method and the device for automatically checking the fastening states of the railway fasteners and the spring fasteners have the advantages that accurate positioning of the railway fasteners can be realized, completeness in checking of the railway fasteners and the spring fasteners is realized, the fastening states of the railway fasteners and the spring fasteners can be automatically checked, detail information of the railway fasteners can be recorded, and alarm for the fastening states of the railway fasteners and the spring fasteners is realized.
Description
Technical field
The invention belongs to the Instrument Science and Technology field, relate to a kind of method and relevant device that the railway spring-fastener tightening state is checked, particularly a kind of railway spring-fastener tightening state based on multisensor integrated technology and Laser Measuring microtechnology method and device of carrying out automatic inspection.
Background technology
The rail clip system is the critical component of track structure, mainly is comprised of bolt, nut, plain washer, spring, collets, iron chair, insulated buffer plate, railway rail pad, anchor bolt, heavy-duty spring packing ring, Flat gasket etc.Fastener inefficacy main manifestations is that fastener disappearance, spring rupture, the states such as fastening bolt is loosening, spring elastic failure.The basic function of rail clip system comprises: keep gauge, prevent rail creeping, increase rigidity of track panel, elasticity is provided, track insulation is provided, guarantee the track circuit normal operation and adjust location of rail.Fastener lost efficacy and will change elasticity and the rigidity of rail, changed track gauge, smooth degree, improved the Train Dynamic derailment coefficients.
Fastener inefficacy main manifestations is that fastener disappearance, spring rupture, the states such as fastening bolt is loosening, spring elastic failure.Wherein fastener disappearance and spring fracture are easy to artificial discovery, and existing rail polling train possesses this audit function.Fastening bolt is loosening, and to cause the spring tightening state lax be the modal disease of fastener system, and the probability of generation is very high.Wherein, fastener disappearance and spring fracture manually are very easy to find, and existing rail polling train all possesses this audit function.To cause the spring tightening state lax be the modal fault of fastener system and fastening bolt is loosening, the higher and difficult discovery of the probability of generation.
At present, the investigation of Railway Bureau's track division contacting piece spring tightening state adopts the mode of manual detection substantially.The testing staff as testing tool, checks the state of rail clip with clearance gauge one by one.The shortcoming of this detection mode is:
1) labour intensity intensity is large; The fastener position is lower, manually must bend over to bend, and physical demands is larger; Each fastener adopts artificial clearance gauge to detect, and the testing staff is tired easily, and the precision that detects data is difficult to guarantee;
2) the Detection task amount is large; According to railway rule, every kilometer continuously 50 of selective examination, take 1087 kilometers of wide high ferros of force as example, annual selective examination quantity is 1087 * 2 * 50=108700, according to 100/people/hour calculate, needs 1087 people hour;
3) selective examination detects and can't guarantee safety; Every kilometer continuously the sample rate of 50 of selective examination is on the low side, according to construction standard, and every kilometer 1667 sleepers, each sleeper 4 cover rail clip, totally 6668 fasteners, the selective examination sample rate is 50/6668=0.75%, can not represent the state of whole rail clip.
Therefore, improve sample rate, efficient and the degree of accuracy that fastener checks, traditional hand inspection mode must be can not be completed task.
Particularly the inspection of line and the maintenance of image height speed railway and city underground can only be carried out at night, and visual fatigue, undetected false drop rate is high, operating environment is abominable, the limited time of track examination and maintenance.Therefore, existing manual detection mode can not be finished the detection of fastening elastic rod tightening state quickly and accurately.
Traditional vehicular orbital image inspection tour system in use, car-mounted computer is mainly used in finishing record and the analysis of track and fastener image, judges whether fastener intact, whether spring fractures and displacement etc., and can not detect the tightening state of fastening elastic rod; Again, traditional vehicular orbital image inspection tour system in use, mainly by odometer and the combination of track circuit transponder data, positioning accuracy is generally 5-15 rice, can not navigate to concrete sleeper in the location of contacting piece; At last, traditional vehicular orbital image inspection tour system needs to adopt natural lighting or high-power lamp illumination, and image is subject to the sunshine serious interference or system power dissipation is excessive so that gather, the reliability that data are processed automatically is difficult to guarantee, greatly reduces efficient and accuracy that track checks.
In track traffic day by day flourishing today, the mode of traditional hand inspection fastening elastic rod tightening state can't satisfy the needs of track management, particularly to high-speed railway and city underground, therefore in the urgent need to a kind of can be fast, efficiently, rail clip spring tightening state automatic inspection system accurately.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of can accurately the location railway spring-fastener, and the method that the tightening state of railway spring-fastener of location is checked.
Corresponding therewith, another technical problem that will solve of the present invention provides a kind ofly can obtain the pinpoint data of railway spring-fastener, and the device that the railway spring-fastener tightening state of location is checked.
With regard to the method that the railway spring-fastener tightening state checks, railway spring-fastener tightening state automatic check method disclosed by the invention, the method may further comprise the steps:
Step 1: the locator data of obtaining rail fastener;
Step 2: the judgement data of obtaining the elastic bar fastener tightening state; Comprise following step:
Steps A: gather complete rail fastener three-dimensional space data;
Step B: the rail fastener three-dimensional space data is separated, identifies, extract the three-dimensional space data of rail fastener all parts, set up the threedimensional model of rail fastener;
Step C: on the basis of rail fastener threedimensional model, the gap size of analytical calculation spring and backing plate, insulating slab, and in conjunction with railway coherence check rule, judge whether the elastic bar fastener tightening state satisfies the demands, obtain the judgement data of elastic bar fastener tightening state;
Step 3: the rail fastener locator data is combined with the judgement data of elastic bar fastener tightening state, finishes the inspection of railway spring-fastener tightening state.
Preferably, the rail fastener locator data of obtaining in the described step 1 comprises absolute location coordinates, linear reference coordinate and the sleeper numbering of rail fastener, wherein:
(1) the GPS location obtains the absolute location coordinates of rail fastener;
(2) reference rail dolly original position is obtained small rail car linear reference coordinate;
(3) to rail fastener counting, according to sleeper coding rule on the railway line, in conjunction with the sleeper numbering of initial position, calculate current sleeper numbering, the fastener of sleeper is positioned, obtain the sleeper numbering of rail fastener.
Preferably, described steps A adopts the linear structural laser sensor to carry out the collection of rail fastener three-dimensional space data, may further comprise the steps:
Step a: in the single profile data of line structure laser sensor output, by the rail fastener detection zone is set, determine whether that the laser spots of rail fastener is distributed in the detection zone; If have, with the alternative data of this section as the rail fastener detection;
Step b: continuous a plurality of rail fasteners are detected alternative Data Integration consist of the alternative three-dimensional space data of rail fastener together, analyze the longitudinal length of alternative data; If satisfy the length of actual rail fastener, be judged as a complete rail fastener three-dimensional space data.
Again preferably, described detection zone is the rectangular area.
Preferably, described method also comprises step 4: the initial data of all rail fasteners and the data after the processing preserved in record.
In the method disclosed by the invention, three kinds of locate modes have been used in the location of rail fastener: GPS location, reference location and sleeper numbering location, and the absolute location coordinates, linear reference coordinate and the sleeper that have obtained rail fastener are numbered, so that each rail clip that is checked through has three locator datas, thereby realized the accurate location of rail fastener; Because what gather among the present invention is complete rail fastener three-dimensional space data, and set up the threedimensional model of rail fastener, therefore can accurately obtain the judgement data of railway spring-fastener tightening state, thereby realize the automatic inspection to the railway spring-fastener tightening state of location.
Device with regard to the inspection of railway spring-fastener tightening state, railway spring-fastener tightening state automatic inspection dolly disclosed by the invention is characterized in that: comprise small rail car, linear structural laser sensor, photoelectric encoder, GPS receiver, synchronization control circuit, embedded computer and supply unit;
Wherein, small rail car comprises crossbeam, left longeron, right vertical beam and wheel; Described left longeron is connected the center and is connected with the left and right two ends of crossbeam respectively with right vertical beam; At least 4 described wheels are arranged at respectively the two ends, bottom of left longeron and right vertical beam;
Described linear structural laser sensor has 4, i.e. First Line structure laser sensor, the second linear structural laser sensor, three wire configuration laser sensor and the 4th linear structural laser sensor; Described linear structural laser sensor is used for obtaining the rail fastener three-dimensional space data;
Described photoelectric encoder is used for obtaining the distance travelled and speed of service of small rail car, thereby obtains the linear reference coordinate of small rail car;
Described GPS receiver comprises antenna and receiver; Described GPS receiver is used for obtaining the absolute location coordinates of rail fastener;
Described synchronization control circuit is for the treatment of the signal of GPS receiver and photoelectric encoder input, and according to the data output pulse signal control line structure laser sensor image data after processing;
Described embedded computer is used for the rail fastener three-dimensional space data that acceptance line structure laser sensor collects, and processes through data, obtains the judgement data of railway spring-fastener tightening state;
Its annexation is: the crossbeam of described small rail car is on the rail of both sides; Described First Line structure laser sensor and the second linear structural laser sensor are symmetricly set in the inside and outside both sides of left longeron center and are positioned at rail rail fastener top, left side; Three wire configuration laser sensor and the 4th linear structural laser sensor are symmetricly set in the inside and outside both sides of right vertical beam center and are positioned at rail rail fastener top, right side; Described photoelectric encoder is installed on the central axis of small rail car wheel; The antenna of described GPS receiver is arranged on the crossbeam of small rail car, receiver is arranged in the synchronization control circuit; Described synchronization control circuit, embedded computer and supply unit are installed in the crossbeam of small rail car successively.
Preferably, described supply unit comprises that lithium ion battery and power supply become and send and control module; The dc source that lithium ion battery produces, through power supply become give and control module after, be transported to respectively synchronization control circuit and embedded computer; Synchronization control circuit provides power supply to photoelectric encoder, GPS receiver.
Again preferably, described photoelectric encoder also can be rotary encoder.
Preferably, described dolly also comprises the hand-pushing handle that is arranged on the crossbeam, and the touch display and the acoustic-optic alarm that are installed in the hand-pushing handle end; Synchronization control circuit provides power supply to touch display and acoustic-optic alarm; Embedded computer shows the judgement transfer of data of railway spring-fastener tightening state and report to the police to touch display and acoustic-optic alarm.
Preferably, described embedded computer also is used for record and preserves the initial data of all rail fasteners and the data after the processing, these data comprise that synchronization control circuit is sent to the absolute location coordinates of the small rail car of embedded computer, the distance travelled and speed of service, the rail fastener three-dimensional space data that the linear structural laser sensor obtains, and the judgement data of the railway spring-fastener tightening state obtained of embedded computer.
Adopt the equipment of said structure, the present invention:
(1) realized the accurate location of rail fastener;
(2) realized the integrity checking of railway spring-fastener;
(3) realized the automatic detection of railway spring-fastener tightening state;
(4) set up the threedimensional model of rail fastener, recorded the details of rail fastener;
(5) realized the warning of railway spring-fastener tightening state.
Detailed content of the present invention can obtain by explanation described later and institute's accompanying drawing.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the work schematic diagram of supply unit of the present invention;
Among the figure, 1-small rail car, 2-First Line structure laser sensor, 3-the second linear structural laser sensor, 4-three wire configuration laser sensor, 5-the 4th linear structural laser sensor, the 6-photoelectric encoder, the 7-GPS receiver, 8-synchronization control circuit, 9-embedded computer, the 10-supply unit, the 11-touch display, 12-acoustic-optic alarm, 13-hand-pushing handle.
The specific embodiment
Below in conjunction with drawings and Examples the specific embodiment of the present invention is further described, following examples only are used for technical scheme of the present invention more clearly is described, and can not limit protection scope of the present invention with this.
Railway spring-fastener tightening state automatic check method of the present invention may further comprise the steps:
Step 1: the locator data of obtaining rail fastener; Described rail fastener locator data comprises absolute location coordinates, linear reference coordinate and the sleeper numbering of rail fastener, wherein:
(1) the GPS location obtains the absolute location coordinates of rail fastener;
(2) reference rail dolly original position is obtained small rail car linear reference coordinate;
(3) to rail fastener counting, according to sleeper coding rule on the railway line, in conjunction with the sleeper numbering of initial position, calculate current sleeper numbering, the fastener of sleeper is positioned, obtain the sleeper numbering of rail fastener;
Step 2: the judgement data of obtaining the elastic bar fastener tightening state; Comprise following step:
Steps A: gather complete rail fastener three-dimensional space data; Complete rail fastener three-dimensional space data adopts the linear structural laser sensor to carry out in this step, may further comprise the steps:
Step a: in the single profile data of line structure laser sensor output, by the rail fastener detection zone is set, determine whether that the laser spots of rail fastener is distributed in the detection zone; If have, with the alternative data of this section as the rail fastener detection; Described detection zone is preferably the rectangular area;
Step b: continuous a plurality of rail fasteners are detected alternative Data Integration consist of the alternative three-dimensional space data of rail fastener together, analyze the longitudinal length of alternative data; If satisfy the length of actual rail fastener, be judged as a complete rail fastener three-dimensional space data;
Step B: the rail fastener three-dimensional space data is separated, identifies, extract the three-dimensional space data of rail fastener all parts, set up the threedimensional model of rail fastener;
Step C: on the basis of rail fastener threedimensional model, the gap size of analytical calculation spring and backing plate, insulating slab, and in conjunction with railway coherence check rule, judge whether the elastic bar fastener tightening state satisfies the demands, obtain the judgement data of elastic bar fastener tightening state;
Step 3: the rail fastener locator data is combined with the judgement data of elastic bar fastener tightening state, finishes the inspection of railway spring-fastener tightening state.
Preferably also comprise step 4 as this method: the initial data of all rail fasteners and the data after the processing preserved in record.
As shown in Figure 1, railway spring-fastener tightening state automatic inspection dolly of the present invention comprises small rail car 1, linear structural laser sensor, photoelectric encoder 6, GPS receiver 7, synchronization control circuit 8, embedded computer 9 and supply unit 10;
Wherein, small rail car 1 comprises crossbeam, left longeron, right vertical beam and wheel; Described left longeron is connected the center and is connected with the left and right two ends of crossbeam respectively with right vertical beam; At least 4 described wheels are arranged at respectively the two ends, bottom of left longeron and right vertical beam;
Described linear structural laser sensor has 4, i.e. First Line structure laser sensor 2, the second linear structural laser sensor 3, three wire configuration laser sensor 4 and the 4th linear structural laser sensor 5; Described linear structural laser sensor is used for obtaining the rail fastener three-dimensional space data;
Described photoelectric encoder 6 is used for obtaining the distance travelled and speed of service of small rail car 1, thereby obtains the linear reference coordinate of small rail car 1;
Described GPS receiver 7 comprises antenna and receiver; Described GPS receiver 7 is used for obtaining the absolute location coordinates of rail fastener;
Described synchronization control circuit 8 is for the treatment of the signal of GPS receiver 7 and photoelectric encoder 6 inputs, and according to the data output pulse signal control line structure laser sensor image data after processing;
Described embedded computer 9 is used for the rail fastener three-dimensional space data that acceptance line structure laser sensor collects, and processes through data, obtains the judgement data of railway spring-fastener tightening state;
Its annexation is: the crossbeam of described small rail car 1 is on the rail of both sides; Described First Line structure laser sensor 2 and the second linear structural laser sensor 3 are symmetricly set in the inside and outside both sides of left longeron center and are positioned at rail rail fastener top, left side; Three wire configuration laser sensor 4 and the 4th linear structural laser sensor 5 are symmetricly set in the inside and outside both sides of right vertical beam center and are positioned at rail rail fastener top, right side; Described photoelectric encoder 6 is installed on the central axis of small rail car 1 wheel; The antenna of described GPS receiver 7 is arranged on the crossbeam of small rail car 1, receiver is arranged in the synchronization control circuit 8; Described synchronization control circuit 8, embedded computer 9 and supply unit 10 are installed in the crossbeam of small rail car 1 successively.
As shown in Figure 2, described supply unit 10 comprises that lithium ion battery and power supply become and send and control module; The dc source that lithium ion battery produces, through power supply become give and control module after, be transported to respectively synchronization control circuit 8 and embedded computer 9; Synchronization control circuit 8 provides power supply to photoelectric encoder 6, GPS receiver 7.
Wherein, described photoelectric encoder 6 also can be rotary encoder.
Again as shown in Figure 1, described railway spring-fastener tightening state automatic inspection dolly also comprises the hand-pushing handle 13 that is arranged on the crossbeam, and the touch display 11 and the acoustic-optic alarm 12 that are installed in hand-pushing handle 13 ends; Synchronization control circuit 8 provides power supply to touch display 11 and acoustic-optic alarm 12; Embedded computer 9 shows the judgement transfer of data of railway spring-fastener tightening state and report to the police to touch display 11 and acoustic-optic alarm 12.
Wherein, described embedded computer 9 also is used for record and preserves the initial data of all rail fasteners and the data after the processing, these data comprise that synchronization control circuit 8 is sent to the absolute location coordinates of the small rail car 1 of embedded computer 9, the distance travelled and speed of service, the rail fastener three-dimensional space data that the linear structural laser sensor obtains, and the judgement data of the railway spring-fastener tightening state obtained of embedded computer 9.
The above only is preferential embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. railway spring-fastener tightening state automatic check method, the method may further comprise the steps:
Step 1: the locator data of obtaining rail fastener;
Step 2: the judgement data of obtaining the elastic bar fastener tightening state; Comprise following step:
Steps A: gather complete rail fastener three-dimensional space data;
Step B: the rail fastener three-dimensional space data is separated, identifies, extract the three-dimensional space data of rail fastener all parts, set up the threedimensional model of rail fastener;
Step C: on the basis of rail fastener threedimensional model, the gap size of analytical calculation spring and backing plate, insulating slab, and in conjunction with railway coherence check rule, judge whether the elastic bar fastener tightening state satisfies the demands, obtain the judgement data of elastic bar fastener tightening state;
Step 3: the rail fastener locator data is combined with the judgement data of elastic bar fastener tightening state, finishes the inspection of railway spring-fastener tightening state.
2. railway spring-fastener tightening state automatic check method according to claim 1 is characterized in that: the rail fastener locator data of obtaining in the described step 1 comprises absolute location coordinates, linear reference coordinate and the sleeper numbering of rail fastener, wherein:
(1) the GPS location obtains the absolute location coordinates of rail fastener;
(2) reference rail dolly original position is obtained small rail car linear reference coordinate;
(3) to rail fastener counting, according to sleeper coding rule on the railway line, in conjunction with the sleeper numbering of initial position, calculate current sleeper numbering, the fastener of sleeper is positioned, obtain the sleeper numbering of rail fastener.
3. railway spring-fastener tightening state automatic check method according to claim 1 is characterized in that: described steps A adopts the linear structural laser sensor to carry out the collection of rail fastener three-dimensional space data, may further comprise the steps:
Step a: in the single profile data of line structure laser sensor output, by the rail fastener detection zone is set, determine whether that the laser spots of rail fastener is distributed in the detection zone; If have, with the alternative data of this section as the rail fastener detection;
Step b: continuous a plurality of rail fasteners are detected alternative Data Integration consist of the alternative three-dimensional space data of rail fastener together, analyze the longitudinal length of alternative data; If satisfy the length of actual rail fastener, be judged as a complete rail fastener three-dimensional space data.
4. railway spring-fastener tightening state automatic check method according to claim 3, it is characterized in that: described detection zone is the rectangular area.
5. railway spring-fastener tightening state automatic check method according to claim 1, it is characterized in that: described method also comprises step 4: record preserve the initial data of all rail fasteners and process after data.
6. railway spring-fastener tightening state automatic inspection dolly is characterized in that: comprise small rail car (1), linear structural laser sensor, photoelectric encoder (6), GPS receiver (7), synchronization control circuit (8), embedded computer (9) and supply unit (10);
Wherein, small rail car (1) comprises crossbeam, left longeron, right vertical beam and wheel; Described left longeron is connected the center and is connected with the left and right two ends of crossbeam respectively with right vertical beam; At least 4 described wheels are arranged at respectively the two ends, bottom of left longeron and right vertical beam;
Described linear structural laser sensor has 4, i.e. First Line structure laser sensor (2), the second linear structural laser sensor (3), three wire configuration laser sensor (4) and the 4th linear structural laser sensor (5); Described linear structural laser sensor is used for obtaining the rail fastener three-dimensional space data;
Described photoelectric encoder (6) is used for obtaining the distance travelled and speed of service of small rail car (1), thereby obtains the linear reference coordinate of small rail car (1);
Described GPS receiver (7) comprises antenna and receiver; Described GPS receiver (7) is used for obtaining the absolute location coordinates of rail fastener;
Described synchronization control circuit (8) is for the treatment of the signal of GPS receiver (7) and photoelectric encoder (6) input, and according to the data output pulse signal control line structure laser sensor image data after processing;
Described embedded computer (9) is used for the rail fastener three-dimensional space data that acceptance line structure laser sensor collects, and processes through data, obtains the judgement data of railway spring-fastener tightening state;
Its annexation is: the crossbeam of described small rail car (1) is on the rail of both sides; Described First Line structure laser sensor (2) and the second linear structural laser sensor (3) are symmetricly set in the inside and outside both sides of left longeron center and are positioned at rail rail fastener top, left side; Three wire configuration laser sensor (4) and the 4th linear structural laser sensor (5) are symmetricly set in the inside and outside both sides of right vertical beam center and are positioned at rail rail fastener top, right side; Described photoelectric encoder (6) is installed on the central axis of small rail car (1) wheel; The antenna of described GPS receiver (7) is arranged on the crossbeam of small rail car (1), receiver is arranged in the synchronization control circuit (8); Described synchronization control circuit (8), embedded computer (9) and supply unit (10) are installed in the crossbeam of small rail car (1) successively.
7. railway spring-fastener tightening state automatic inspection dolly according to claim 6 is characterized in that: described supply unit (10) comprises that lithium ion battery and power supply become and send and control module; The dc source that lithium ion battery produces, through power supply become give and control module after, be transported to respectively synchronization control circuit (8) and embedded computer (9); Synchronization control circuit (8) provides power supply to photoelectric encoder (6), GPS receiver (7).
8. according to claim 6 or 7 described railway spring-fastener tightening state automatic inspection dollies, it is characterized in that: described photoelectric encoder (6) also can be rotary encoder.
9. railway spring-fastener tightening state automatic inspection dolly according to claim 8, it is characterized in that: described dolly also comprises the hand-pushing handle (13) that is arranged on the crossbeam, and the touch display (11) and the acoustic-optic alarm (12) that are installed in hand-pushing handle (13) end; Synchronization control circuit (8) provides power supply to touch display (11) and acoustic-optic alarm (12); Embedded computer (9) shows the judgement transfer of data of railway spring-fastener tightening state and report to the police to touch display (11) and acoustic-optic alarm (12).
10. railway spring-fastener tightening state automatic inspection dolly according to claim 9, it is characterized in that: described embedded computer (9) also is used for record and preserves the initial data of all rail fasteners and the data after the processing, these data comprise that synchronization control circuit (8) is sent to absolute location coordinates, the distance travelled and speed of service of the small rail car (1) of embedded computer (9), the rail fastener three-dimensional space data that the linear structural laser sensor obtains, and the judgement data of the railway spring-fastener tightening state obtained of embedded computer (9).
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| CN107421445A (en) * | 2017-07-12 | 2017-12-01 | 武汉理工大学 | A kind of device and method for detecting the elastic state of rail fastener |
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