CN105398474A - Beidou technology based intelligent real-time monitoring visualization management system for railway anti-slip iron brake shoe - Google Patents
Beidou technology based intelligent real-time monitoring visualization management system for railway anti-slip iron brake shoe Download PDFInfo
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- CN105398474A CN105398474A CN201510942250.1A CN201510942250A CN105398474A CN 105398474 A CN105398474 A CN 105398474A CN 201510942250 A CN201510942250 A CN 201510942250A CN 105398474 A CN105398474 A CN 105398474A
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- skate
- big dipper
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- location
- beidou
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H7/00—Brakes with braking members co-operating with the track
- B61H7/02—Scotch blocks, skids, or like track-engaging shoes
Abstract
The invention relates to a Beidou technology based intelligent real-time monitoring visualization management system for a railway anti-slip iron brake shoe and aims to effectively guarantee intelligent visualization management of the railway iron brake shoe and guarantee iron brake shoe use safety and traffic safety. A method comprises the following steps: Beidou high-precision operation equipment is interactively connected with a Beidou positioning and inertial measurement combined anti-slip positioning iron brake shoe; a monitoring center is respectively in communicational connection with the Beidou high-precision operation equipment, the Beidou positioning and inertial measurement combined anti-slip positioning iron brake shoe and a Beidou base station through a 4G communication network; the Beidou base station, the Beidou high-precision operation equipment and the Beidou positioning and inertial measurement combined anti-slip positioning iron brake shoe are connected with a Beidou satellite via wireless communication. By utilizing a CORS (Continuously Operating Reference Stations) system, the positioning accuracy of the real-time monitoring visualization management system disclosed by the invention is as high as 30cm; meanwhile, IMU (Inertial Measurement Unit) positioning of the iron brake shoe is improved to guarantee high-accuracy positioning when a satellite signal is seriously shielded; therefore, occurrence of slip accidents of a railway vehicle can be effectively avoided, the reliability of the system is improved, and the cost of the system is also lowered.
Description
Technical field
The present invention relates to railway anti-slip metal shoe, particularly a kind of Big Dipper intelligent railway anti-slip metal shoe monitors Visualized management system in real time.
Background technology
In recent years, along with railway transportation is towards quick, safe and efficient future development, have higher requirement to the automation of railway operation and safety, station is basic unit's production unit of railway transportation, and anti-slip work is the most important thing in the driving management work of station.According to statistics, in railway industrial accident, due to train runaway often cause vehicle off-line, overturn, the great disastrous effect such as conflict, have suitable high range to be serious accident so anti-slip work goes wrong in the industrial accident that causes.
At present, tradition anti-slip operation management mainly rely on the interaction of operating personnel and frequently scene check, clear stipulaties in safety of railway traffic " skill rule ": anti-runaway measure must be taked to the unpowered vehicle such as standing vehicle, working truck (car team), and require the necessary timed patrol inspection of relevant attendant, intact to guarantee anti-skid device effect, and become one of stuck system in safety of railway traffic regulation.But because rail yard point more than long lines, people lack wide, labor management labour intensity is large, operation is random large, actual job flow process differs far away with operation or work standard, so that forget that when stopping placing skate causes slipping accident, or under the state of having driven, do not take skate away cause vehicle derailing accident.Simultaneously, because most domestic station is field, non-close station, the switch area that general online road head is set of anti-slip equipment, under the condition lacking efficient context monitoring, the anti-slip equipment that frequent generation has set causes anti-slip operation to be lost efficacy because of the movement of idler, causes serious potential safety hazard.How fundamentally to carry out actv. monitoring management to station field vehicle anti-skid work, be one of problem demanding prompt solution in current rail management of safe operation.
Big-dipper satellite location technology, through years development, is widely applied in multiple fields such as navigation, mappings, has become a proven technique.At present, China major part province built up Big Dipper high precision ground strengthen net, Big Dipper positioning precision by directly bringing up to sub-meter grade, Centimeter Level from meter level, for anti-slip metal shoe Real-time Monitor Management provides failure-free technical support.But how Big Dipper location technology is applied in the management of railway skate, so far there are no the open report of effective equipment.
Summary of the invention
For above-mentioned situation, for overcoming the defect of prior art, the object of the present invention is just to provide a kind of Big Dipper intelligent railway anti-slip metal shoe and monitors Visualized management system in real time, effectively can solve the intelligent visual management of railway skate, ensure the problem of skate use safety and safety traffic.
The technical scheme that the present invention solves is, comprise Big Dipper high precision implement, the location anti-slip metal shoe that Big Dipper location and inertia measurement (IMU) combine and monitoring and control centre, Big Dipper high precision implement is connected alternately with the location anti-slip metal shoe that the Big Dipper is located and inertia measurement combines, monitoring and control centre by 4G communication network respectively with Big Dipper high precision implement, the location anti-slip metal shoe that Big Dipper location and inertia measurement combine and Big Dipper base station communicate to connect, Big Dipper base station and Big Dipper high precision implement, Big Dipper location is connected with big-dipper satellite by radio communication with the location anti-slip metal shoe that inertia measurement combines,
Described Big Dipper high precision implement structure is, be made up of housing and control circuit, control circuit is by the first micro controller system, Big Dipper high fix module, first communication module, voice module, infrared probe, antenna, IC-card card reader and electric power generating composition, first micro controller system, Big Dipper high fix module, first communication module, voice module and power supply are placed in housing, antenna is positioned at housing upper top, IC-card card reader is placed in housing side, infrared probe is in the front end of housing, first micro controller system is respectively with Big Dipper high fix module, first communication module, voice module, infrared probe is connected with power supply, IC-card card reader is connected with the first micro controller system through communication socket, Big Dipper high fix module is connected with the antenna be placed in outside housing upper, form the high-precision fixed bit architecture of the skate Big Dipper,
The location anti-slip metal shoe structure that described Big Dipper location and inertia measurement combine is, comprise the Big Dipper register control that skate body and skate body fill, Big Dipper register control is fixed on skate body, Big Dipper register control is made up of the control circuit in box body and box body, control circuit is by second singlechip, Big Dipper locating module, IMU module, ultrasonic distance measuring module, infrared transceiver, second communication module and battery are formed, second singlechip respectively with Big Dipper locating module, IMU module, ultrasonic distance measuring module, infrared transceiver, second communication module is connected with battery, form skate positioning control structure,
Big Dipper high precision implement is the difference high precision RTK receiving terminal strengthening principle based on big-dipper satellite and Big Dipper ground, by cordless and skate exchange message, and then the high precision position information of implement is injected into skate location position is carried out to skate, and the installing condition of skate is entered for by voice module, installing condition comprise successful installation, skate attitude mal, skate poor direction really, skate installs information not in place, associative operation is carried out in prompting, guarantees skate use safety; The location anti-slip metal shoe that Big Dipper location and inertia measurement combine senses the degree of balance of skate, the displacement of skate on station track and the attitudes vibration of skate, guarantees that skate is in place by machine control; Monitoring and control centre builds rail yard station track map, and realizes the location matches of skate calibration position and operation station track, real-time tracking skate mode of operation and position, realizes the visual control of skate job management.
The present invention utilizes Big Dipper ground to strengthen system, accurately locate by setting up the initial position of Big Dipper high precision implement to skate, positioning precision can reach 30cm, increases the IMU location of skate self simultaneously, guarantees high fix when satellite-signal is seriously blocked.Whole system adopts manual work, machine monitoring, many redundant informations to confirm mode mutually, effectively stop the generation of rolling stock slipping accident, and Big Dipper location and IMU locate mode are had complementary advantages, both improve the reliability of system, again reduce the cost overhead of system, have huge economic and social benefit.
Accompanying drawing explanation
Fig. 1 is system construction drawing of the present invention.
Fig. 2 is workflow diagram of the present invention.
Fig. 3 is Big Dipper high precision implement control circuit frame diagram of the present invention.
Fig. 4 is the control circuit frame diagram of the location anti-slip metal shoe that the Big Dipper of the present invention location and inertia measurement combine.
Detailed description of the invention
Below in conjunction with accompanying drawing and particular case, the specific embodiment of the present invention is elaborated.
Shown in Fig. 1-4, the present invention includes Big Dipper high precision implement 3, the location anti-slip metal shoe 4 that Big Dipper location and inertia measurement (IMU) combine and monitoring and control centre 5, Big Dipper high precision implement 3 is connected alternately with the location anti-slip metal shoe 4 that the Big Dipper is located and inertia measurement combines, monitoring and control centre 5 by 4G communication network respectively with Big Dipper high precision implement 3, the location anti-slip metal shoe 4 that Big Dipper location and inertia measurement combine and Big Dipper base station 2 communicate to connect, Big Dipper base 2 station and Big Dipper high precision implement 3, Big Dipper location is connected with big-dipper satellite 1 by radio communication with the location anti-slip metal shoe 4 that inertia measurement combines,
Described Big Dipper high precision implement structure is, be made up of housing and control circuit, control circuit is by the first micro controller system 3-1, Big Dipper high fix module 3-2, first communication module 3-4, voice module 3-5, infrared probe 3-6, antenna 3-3, IC-card card reader 3-7 and power supply 3-8 is formed, first micro controller system 3-1, Big Dipper high fix module 3-2, first communication module 3-4, voice module 3-5 and power supply 3-8 is placed in housing, antenna 3-3 is positioned at housing upper top, IC-card card reader 3-7 is placed in housing side, infrared probe 3-6 is in the front end of housing, first micro controller system 3-1 is respectively with Big Dipper high fix module 3-2, first communication module 3-4, voice module 3-5, infrared probe 3-6 is connected with power supply 3-8, IC-card card reader 3-7 is connected with the first micro controller system 3-1 through communication socket, Big Dipper high fix module 3-2 is connected with the antenna 3-3 be placed in outside housing upper, form the high-precision fixed bit architecture of the skate Big Dipper,
The location anti-slip metal shoe structure that described Big Dipper location and inertia measurement combine is, comprise the Big Dipper register control that skate body and skate body fill, Big Dipper register control is fixed on skate body, Big Dipper register control is made up of the control circuit in box body and box body, control circuit is by second singlechip 4-1, Big Dipper locating module 4-2, IMU module 4-3, ultrasonic distance measuring module 4-4, infrared transceiver 4-5, second communication module 4-6 and battery 4-7 is formed, second singlechip 4-1 respectively with Big Dipper locating module 4-2, IMU module 4-3, ultrasonic distance measuring module 4-4, infrared transceiver 4-5, second communication module 4-6 is connected with battery 4-7, form skate positioning control structure,
Big Dipper high precision implement is the difference high precision RTK receiving terminal strengthening principle based on big-dipper satellite and Big Dipper ground, by cordless and skate exchange message, and then the high precision position information of implement is injected into skate location position is carried out to skate, and the installing condition of skate is entered for by voice module 3-5, installing condition comprise successful installation, skate attitude mal, skate poor direction really, skate installs information not in place, associative operation is carried out in prompting, guarantees skate use safety; The location anti-slip metal shoe that Big Dipper location and inertia measurement combine senses the degree of balance of skate, the displacement of skate on station track and the attitudes vibration of skate, guarantees that skate is in place by machine control; Monitoring and control centre builds rail yard station track map, and realizes the location matches of skate calibration position and operation station track, real-time tracking skate mode of operation and position, realizes the visual control of skate job management.
The first described micro controller system is STM32F4 chip;
Described Big Dipper high fix module adopts Big Dipper high precision RTK locating module.
Described antenna is Big Dipper omnidirectional helical antenna.
Described first communication module is 4G communication module.
Described voice module is voice output module MX6005-16P type.
Described infrared probe comprises infrared transmitter and infrared remote receiver.
Described IC-card card reader is non-contact IC card reader.
Described power supply is rechargeable lithium batteries.
Described second singlechip is 32 micro controller systems.
Described Big Dipper locating module is Big Dipper One-Point Location module, realize skate leave station track after track and localization.
Described IMU module is 6 axle inertia measurement chips, realize satellite-signal by the displacement detecting of wagon running away during serious circumstance of occlusion, calculate according to the measured value of 3-axis acceleration the degree of balance that the pitch angle of skate and roll angle sense skate, and after locking according to skate, the measured value of three-axis gyroscope and 3-axis acceleration senses the attitudes vibration of skate.
Described ultrasonic distance measuring module is ultrasonic distance-measuring sensor, judge skate whether insert put in place and skate direction whether correct.
Described infrared transceiver model is TFBS4650-TR1.
Described second communication module is WiFi/3G/4G communication module.
Described battery is rechargeable lithium batteries.
It should be appreciated that; below be only specific embodiments of the invention; for illustration of preferred forms of the present invention; instead of for limiting the scope of the invention; that is, the invention is not limited to described embodiment, all equivalent variations that those of ordinary skill in the art make under the prerequisite without prejudice to spirit of the present invention or replacement; the technical scheme that these equivalent distortion or replacement are made, is all included in the claimed scope of the application's claim.
From the above, Big Dipper Intelligent anti-slipping brake shoe real-time monitoring and managing system provided by the invention, initiative be applied in the management of railway skate, Big Dipper high precision implement is injected into skate self high precision position information, skate is the relevant information of self, as under skate vamp whether reliably insertion wheel, whether attitude balances, whether direction is correct etc. returns to implement, after implement confirmation, voice reading " success " or the information such as " skate attitude mal " or " skate poor direction is true " or " skate is installed not in place ", prompting operating personnel carries out associative operation.After implement and the mutual confirmation of skate, skate enters into locking state, the position of demarcation and skate state can be uploaded to monitoring and control centre by skate, monitoring and control centre can according to station track, field, station distribution map, foundation matching principle nearby, this location matches on position, well-determined station track, determine the current position of skate with this.
The location of skate and detect and can be divided into three phases: one is the detection and localization stage of skate when locking, and two is the detection and localization stages before unlocking after skate is locked, and three is the detection and localization stages after skate unlocks.Three phases is different to the positioning accuracy request of skate, undertakes the location tasks of different phase respectively with different fixing aids.
Position location when skate is locked must guarantee to be accurately identified station track, place, because skate itself does not possess high-precision positioning function like this, so, demarcate by implement in skate position, the positioning precision of implement can reach 10cm-30cm, meets the actual job environment of station track, field, China railways station distribution.Skate uploads to monitoring and control centre the position of implement, monitoring and control centre is according to station track distribution map, foundation matching principle nearby, position, station track residing for matching and calibration skate, this position has uniqueness, because skate is only in place and in-orbit, after skate and implement mutual information confirm, this location information could be sent to monitoring server, thoroughly avoid the generation in the past only occurring the phenomenons such as skate installation is not in place, neglected loading, misloading by manual work repeatedly.
Until before unlocking during this period of time after skate is locked, skate should possess at satellite-signal by the autonomous positioning function under serious circumstance of occlusion, positioning accuracy request can reach the rank of 1cm, and the location in this stage and detection complete by the Inertial Measurement Unit (IMU) be installed on skate.IMU realizes three functions, and one is the degree of balance sensing skate, and two is sensing skate displacements on station track, and three is the attitudes vibration sensing skate.
After skate unlocks to before locking next time possibly through relatively long a period of time, positioning precision after railway unlocks skate and real-time there is no rigors, but manage for the ease of skate, require that monitoring and control centre can demonstrate the position of all unblock skates, but to positional precision without rigors, utilize Big Dipper single-point low cost locating module, the positioning precision of about 10 meters can be realized, can meet the management expectancy of railway.
As shown in Figure 2, workflow of the present invention is as follows, first indicates according to anti-slip operation, after being swiped the card by work board card and get footwear in skate room, goes to the position that operation indicates.After arriving job position, operating personnel carries out rail operation on skate, by the contactless communication of implement and skate, judge whether skate is in place, after being in place, skate enters locking state, the skate location information that implement injects is sent to monitoring and control centre by wireless communication networks simultaneously, according to matching principle nearby, monitoring and control centre judges that whether position, station track, skate place is correct, when confirmation is correct, then on monitoring and control centre display skate, rail operation completes, monitoring and control centre carries out continuous surveillance to skate in-orbit, when skate state occurs abnormal in-orbit, monitoring and control centre receives early warning information, notify that operating personnel goes to scene to check and solves Problems existing.When finally needing to remove skate, operating personnel goes to scene and carries out rail operation under skate, and skate enters released state, and the skate after unblock is placed into skate room, is managed equally by monitoring and control centre.
Through practical application on railway, the safety misadventure because skate runaway causes is there is not in 1 year, show that the present invention is reliable and stable, there is very strong actual application value, that is the present invention utilizes Big Dipper ground to strengthen system, and accurately locate by setting up the initial position of Big Dipper high precision implement to skate, positioning precision can reach 30cm, increase the IMU location of skate self simultaneously, guarantee high fix when satellite-signal is seriously blocked.Whole system adopts manual work, machine monitoring, many redundant informations to confirm mode mutually, effectively stop the generation of rolling stock slipping accident, and Big Dipper location and IMU locate mode are had complementary advantages, both improve the reliability of system, again reduce the cost overhead of system, have huge economic and social benefit.
Claims (6)
1. a Big Dipper intelligent railway anti-slip metal shoe monitors Visualized management system in real time, it is characterized in that, comprise Big Dipper high precision implement (3), the location anti-slip metal shoe (4) that Big Dipper location and inertia measurement combine and monitoring and control centre (5), Big Dipper high precision implement (3) is connected alternately with the location anti-slip metal shoe (4) that the Big Dipper is located and inertia measurement combines, monitoring and control centre (5) by 4G communication network respectively with Big Dipper high precision implement (3), the location anti-slip metal shoe (4) that Big Dipper location and inertia measurement combine and Big Dipper base station (2) communicate to connect, Big Dipper base station (2) and Big Dipper high precision implement (3), Big Dipper location is connected with big-dipper satellite (1) by radio communication with the location anti-slip metal shoe (4) that inertia measurement combines,
Described Big Dipper high precision implement structure is made up of housing and control circuit, and control circuit is by the first micro controller system (3-1), Big Dipper high fix module (3-2), first communication module (3-4), voice module (3-5), infrared probe (3-6), antenna (3-3), IC-card card reader (3-7) and power supply (3-8) are formed, the first micro controller system (3-1), Big Dipper high fix module (3-2), first communication module (3-4), voice module (3-5) and power supply (3-8) are placed in housing, antenna (3-3) is positioned at housing upper top, IC-card card reader (3-7) is placed in housing side, and infrared probe (3-6) is in the front end of housing, and the first micro controller system (3-1) is respectively with Big Dipper high fix module (3-2), first communication module (3-4), voice module (3-5), infrared probe (3-6) is connected with power supply (3-8), IC-card card reader (3-7) is connected with the first micro controller system (3-1) through communication socket, Big Dipper high fix module (3-2) is connected with the antenna (3-3) be placed in outside housing upper, forms the high-precision fixed bit architecture of the skate Big Dipper,
The location anti-slip metal shoe structure that described Big Dipper location and inertia measurement combine is, comprise the Big Dipper register control that skate body and skate body fill, Big Dipper register control is fixed on skate body, Big Dipper register control is made up of the control circuit in box body and box body, control circuit is by second singlechip (4-1), Big Dipper locating module (4-2), IMU module (4-3), ultrasonic distance measuring module (4-4), infrared transceiver (4-5), second communication module (4-6) and battery (4-7) are formed, second singlechip (4-1) respectively with Big Dipper locating module (4-2), IMU module (4-3), ultrasonic distance measuring module (4-4), infrared transceiver (4-5), second communication module (4-6) is connected with battery (4-7), form skate positioning control structure,
Big Dipper high precision implement is the difference high precision RTK receiving terminal strengthening principle based on big-dipper satellite and Big Dipper ground, by cordless and skate exchange message, and then the high precision position information of implement is injected into skate location position is carried out to skate, and the installing condition of skate is entered for by voice module (3-5), installing condition comprise successful installation, skate attitude mal, skate poor direction really, skate installs information not in place, associative operation is carried out in prompting, guarantees skate use safety; The location anti-slip metal shoe that Big Dipper location and inertia measurement combine senses the degree of balance of skate, the displacement of skate on station track and the attitudes vibration of skate, guarantees that skate is in place by machine control; Monitoring and control centre builds rail yard station track map, and realizes the location matches of skate calibration position and operation station track, real-time tracking skate mode of operation and position, realizes the visual control of skate job management.
2. Big Dipper intelligent railway anti-slip metal shoe according to claim 1 monitors Visualized management system in real time, it is characterized in that, the first described micro controller system is STM32F4 chip, Big Dipper high fix module adopts Big Dipper high precision RTK locating module, antenna is Big Dipper omnidirectional helical antenna, and first communication module is 4G communication module, and voice module is voice output module MX6005-16P type, infrared probe comprises infrared transmitter and infrared remote receiver, and IC-card card reader is non-contact IC card reader.
3. Big Dipper intelligent railway anti-slip metal shoe according to claim 1 monitors Visualized management system in real time, it is characterized in that, described second singlechip is 32 micro controller systems, and infrared transceiver model is TFBS4650-TR1, and second communication module is WiFi/3G/4G communication module.
4. Big Dipper intelligent railway anti-slip metal shoe according to claim 1 monitors Visualized management system in real time, it is characterized in that, described Big Dipper locating module is Big Dipper One-Point Location module, realize skate leave station track after track and localization.
5. Big Dipper intelligent railway anti-slip metal shoe according to claim 1 monitors Visualized management system in real time, it is characterized in that, described IMU module is 6 axle inertia measurement chips, realize satellite-signal by the displacement detecting of wagon running away during serious circumstance of occlusion, calculate according to the measured value of 3-axis acceleration the degree of balance that the pitch angle of skate and roll angle sense skate, and after locking according to skate, the measured value of three-axis gyroscope and 3-axis acceleration senses the attitudes vibration of skate.
6. Big Dipper intelligent railway anti-slip metal shoe according to claim 1 monitors Visualized management system in real time, and it is characterized in that, described ultrasonic distance measuring module is ultrasonic distance-measuring sensor, judge skate whether insert put in place and skate direction whether correct.
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| CN201510942250.1A CN105398474B (en) | 2015-12-16 | 2015-12-16 | Beidou technology based intelligent real-time monitoring visualization management system for railway anti-slip iron brake shoe |
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Cited By (10)
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| CN106347417A (en) * | 2016-08-29 | 2017-01-25 | 天津联合智选科技有限公司 | Railway anti-running equipment monitoring system and railway anti-running equipment monitoring method |
| CN109460802A (en) * | 2018-10-31 | 2019-03-12 | 成都航空职业技术学院 | Skate monitoring system and its monitoring method based on wireless transmission and RFID |
| CN109693682A (en) * | 2017-10-23 | 2019-04-30 | 湖南铭桥信息科技有限公司 | A kind of skate monitoring method, device and its skate |
| CN109693683A (en) * | 2017-10-23 | 2019-04-30 | 湖南铭桥信息科技有限公司 | A kind of skate |
| CN109726939A (en) * | 2019-02-13 | 2019-05-07 | 郑州北斗七星通讯科技有限公司 | The Interactive Visualization supervisory systems of unregulated power skate |
| CN110077434A (en) * | 2019-04-04 | 2019-08-02 | 中国铁路上海局集团有限公司上海动车段 | A kind of EMU scotch block intelligent management system and method |
| CN110703190A (en) * | 2019-10-21 | 2020-01-17 | 桂林赛普电子科技有限公司 | Matrix type positioning and anti-theft monitoring method and system for railway skate |
| CN111221017A (en) * | 2020-02-18 | 2020-06-02 | 神华包神铁路有限责任公司 | Beidou positioning method for iron shoes |
| CN113353124A (en) * | 2021-07-20 | 2021-09-07 | 南京富岛信息工程有限公司 | Intelligent iron shoe track identification system and method |
| CN113581244A (en) * | 2021-07-20 | 2021-11-02 | 南京富岛信息工程有限公司 | Intelligent iron shoe track identification system and method based on information fusion |
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| CN109726939B (en) * | 2019-02-13 | 2023-09-29 | 郑州北斗七星通讯科技有限公司 | Interactive visual supervision system for unpowered iron shoes |
| CN110077434A (en) * | 2019-04-04 | 2019-08-02 | 中国铁路上海局集团有限公司上海动车段 | A kind of EMU scotch block intelligent management system and method |
| CN110703190A (en) * | 2019-10-21 | 2020-01-17 | 桂林赛普电子科技有限公司 | Matrix type positioning and anti-theft monitoring method and system for railway skate |
| CN111221017A (en) * | 2020-02-18 | 2020-06-02 | 神华包神铁路有限责任公司 | Beidou positioning method for iron shoes |
| CN113353124A (en) * | 2021-07-20 | 2021-09-07 | 南京富岛信息工程有限公司 | Intelligent iron shoe track identification system and method |
| CN113581244A (en) * | 2021-07-20 | 2021-11-02 | 南京富岛信息工程有限公司 | Intelligent iron shoe track identification system and method based on information fusion |
| CN113581244B (en) * | 2021-07-20 | 2024-04-26 | 南京富岛信息工程有限公司 | Intelligent skate track recognition system and method based on information fusion |
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