CN106152963B - A kind of automatic platform limit measuring instrument and its measurement method - Google Patents
A kind of automatic platform limit measuring instrument and its measurement method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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Abstract
The present invention relates to a kind of automatic platform limit measuring instrument and its measurement methods, and wherein measuring instrument is placed on rail, including height measuring gauge, horizontal angle sensor, level measuring device and measurement module；Measurement method includes platform height measurement and horizontal measurement step, platform height measuring process includes: and to obtain the angle C of the measurement angle of height measuring gauge and the vertical height direction of automatic platform limit measuring instrument lower than horizontal direction, the angle that tilts down and to measure height measuring gauge to the distance D2 of platform surface both perpendicular to the direction of rail using the height measuring gauge of automatic platform limit measuring instrument；The height of height measuring gauge is higher than platform standard limit for height；The level for the automatic platform limit measuring instrument being placed on rail using the horizontal angle sensor measurement on automatic platform limit measuring instrument puts tilt angle A；Calculate platform height H=H0*cos (A)-D2*sin (90+A-C), in which: H0 is the height value of height measuring gauge.
Description
Technical field
The present invention relates to automatic measurements, and in particular to a kind of automatic platform limit measuring instrument and its measurement method are especially answered
Used in railway transportation production and managing.
Background technique
In railway transport field, platform dividing is primarily referred to as the fixed range between rail and platform.Guarantee platform boundary
Stabilization, can just prevent train to be in contact when running on straight line or curve with platform, to guarantee train safe passing.According to
The relevant regulations of " regulations of railway technical operation ", railway room build unit should reinforce house buildings or structures track clearance management and
Detection, limit detection is quarterly no less than primary, meets when occurring to influence limit changes (such as construction, platform deformation and sedimentation),
It should measure at any time, limit is invaded in discovery, is handled in time, it is ensured that traffic safety, it is seen that platform dividing detection is most important to traffic safety.
The platform dividing measuring instrument feature that current full railway generally uses:
1. non-automatic measurement, product is old at present, belongs to artificial non-automatic device measuring mode, measurement needs 3 to 4 every time
People；
2. measurement efficiency and precision be not high, detected by manual operation range estimation reading, either measured point by point
Speed or precision can not all adapt to present requirement；
3. it is time-consuming more every time beyond measurement Window time, seriously affect the arrangement of high-speed rail boundary testing time.The skylight of high-speed rail
Point is general to set timing node shorter at night, and the measuring speed of the platform ruler often makes detection work can not be in skylight point
It completes；
4. manual measurement reading is error-prone, range estimation reading brings great puzzlement to clearance survey it is easy to appear misreading.
In the case where so described above, the system-wide railway system is badly in need of that a kind of measuring speed is fast, and measurement accuracy is high, operation
Personnel are few, full-automatic platform dividing measuring instrument easy to operate, provide a kind of important guarantee for the safe passing of high-speed rail.
Summary of the invention
The technical problem to be solved in the invention is how to provide a kind of automatic platform limit measuring instrument and its measurement side
Method, can increase substantially clearance survey speed, efficiency, and precision it is high, be not in human error.
Above-mentioned first technical problem of the invention solves in this way: a kind of automatic platform clearance survey method is constructed, it is special
Sign is, utilizes the automatic platform limit measuring instrument being placed on rail, including following platform height measuring process:
101) using the height measuring gauge of automatic platform limit measuring instrument with lower than horizontal direction, the angle that tilts down and
Both perpendicular to rail direction measure height measuring gauge to platform surface distance D2, and obtain height measuring gauge should
The angle C in the vertical height direction of measurement angle and automatic platform limit measuring instrument；The height of the height measuring gauge is higher than station
Standard limit for height；
102) automatic Weather Station on rail is placed on using the horizontal angle sensor measurement on automatic platform limit measuring instrument
The level of platform limit measuring instrument puts tilt angle A；
103) platform height H=H0*cos (A)-D2*sin (90+A-C) is calculated, in which: H0 is the height of height measuring gauge
Value.
Due to top shake it is severe, in addition measurement has asynchronous, therefore directly measurement height measuring gauge between D2 and B
It is very big to will cause measurement numerical bias for the angle B for tilting down measurement and horizontal direction, but by measurement A, C, obtains B=90+
A-C can eliminate or weaken measured deviation, make to meet the requirement of platform height measurement accuracy.
Automatic platform limit measuring instrument must measure platform elevation carrection and platform and track horizontal distance measures, but make
For a kind of method, however not excluded that only survey platform height sometimes, therefore cannot regard as and lack essential feature, this method is solved perfectly
The technical issues of high-precision automatic measuring platform height.
Platform height measures abbreviation elevation carrection, and platform and track horizontal distance measure abbreviation horizontal measurement.
According to automatic platform clearance survey method provided by the invention, horizontal angle sensor be can be set in automatic platform
Limit measuring instrument:
(i) preferably: center or center of gravity, maximum reduce error；
(ii) optional: in lower or center of gravity hereinafter, reducing error to a certain degree；
(iii) undesirable: in it is more than upper or center of gravity, be difficult to reduce error.
According to automatic platform clearance survey method provided by the invention, the angle C includes following two kinds:
(i) preferably: the angle C is fixed and invariable and is previously entered to the height measurement step, is achieved simple
And deviation is not present in angle C, so that new systematic measurement error will not be introduced.
(ii) optional: the angle C is adjustable and can be acquired that such measurement range more preferably scheme is big, but angle C
Deviation is had, to introduce new systematic measurement error.
According to automatic platform clearance survey method provided by the invention, automatic platform limit is arranged in the horizontal angle sensor
The center of boundary's measuring instrument, center of gravity (preferably), lower part or intermediate position, can eliminate the influence of shake to a certain extent in this way.
According to automatic platform clearance survey method provided by the invention, which further includes highest measurement range H2:
Work as H=H2, recording practical platform height is >=H2.This highest measurement range H2 can follow A to change, when measuring H=H2,
The D2 of possible height measuring gauge measurement is distance of the height measuring gauge to platform wall, rather than arrives the distance of platform plane, therefore
Respective heights are lower than platform level.
Further include following horizontal measurement step according to automatic platform clearance survey method provided by the invention:
601) using the level measuring device of automatic platform limit measuring instrument with the height side with automatic platform limit measuring instrument
To the fixed angle (preferably: 90 degree) set at one and level measuring device is measured both perpendicular to the direction of rail arrive at a station
The distance D3 of platform wall；
602) horizontal distance D=D3*cos (A)+tag (A) * H1 of platform and track is calculated, in which: H1 is horizontal measurement
The height value of device.
This horizontal measurement step (particularly preferably mode) is fairly simple, and direction is fixed and will not introduce new system and surveys
Measure error.
According to automatic platform clearance survey method provided by the invention, level measuring device is the same always with water similar to compass
Square to directly measurement level measuring device to platform wall distance D；It is horizontal when this less desirable alternative solution is due to measurement
Direction has deviation, to introduce new systematic measurement error.
According to automatic platform clearance survey method provided by the invention, the platform wall refers to platform towards rail side
The wall extended straight down.
According to automatic platform clearance survey method provided by the invention, the level measuring device and height measuring gauge can be adopted
With:
(i) preferred laser ranging module is easy to reach very high precision in this way, meets high-acruracy survey requirement；
(ii) other, are including but not limited to infrared, ultrasonic wave or wireless distance finding module, these alternative solutions are less susceptible to
Reach very high precision, is difficult to meet high-acruracy survey requirement；
Inventor designs in actual development and carries out collecting measurement data by infrared sensor mode with test, and effect is not
Ideal, data stability and precision do not reach requirement.
Above-mentioned second technical problem of the invention solves in this way: constructing a kind of automatic platform limit measuring instrument, feature
It is, comprising:
Bracket: bottom is equipped with idler wheel, for placing and walking in rail；
Height measuring gauge: for measure height measuring gauge to platform table with being lower than horizontal direction, the angle tilted down
The distance D2 in face；
Horizontal angle sensor: the level for measuring the automatic platform limit measuring instrument being placed on rail puts inclination
Angle A；
Level measuring device: for what is set with horizontal direction or with the short transverse of automatic platform limit measuring instrument at one
Fixed angle direction (preferably: 90 degree) measures level measuring device to the distance of platform wall；
Measurement module: with the height measuring gauge, level measuring device and horizontal angle sensor data connection, for obtaining
The height measuring gauge, level measuring device and horizontal angle sensor acquisition data and calculate platform height H and platform and rail
The horizontal distance D in road.
According to automatic platform limit measuring instrument provided by the invention, it further include:
Control module is electrically connected with the height measuring gauge, level measuring device and horizontal angle sensor, with the measurement
Module data connection carries out each measurement for starting the height measuring gauge, level measuring device and horizontal angle sensor；
Travel distance module is electrically connected with the control module, for measuring the automatic platform limit measuring instrument in iron
Measurement is simultaneously started control signal according to travel distance and is sent to the control module by travel distance on rail, including but unlimited
In:
(i) every walking a distance is primary with regard to automatic measurement H and D, such as every 2 meters of measurements；
(ii) every specific position measurement is primary, such as at 2.5 meters of leaving from station starting point；
(iii) above-mentioned two kinds of combination.
According to automatic platform limit measuring instrument provided by the invention, data connection includes that data line connects (such as: parallel port, string
Mouthful), it is wirelessly connected, bluetooth connection etc..
According to automatic platform limit measuring instrument provided by the invention, the measurement module and control module, comprising:
(i) two independent modules or device, between data connection be external data connection；
(ii) integrate in one apparatus, such as: measurement control centre, between data connection be internal data connect.
According to automatic platform limit measuring instrument provided by the invention, travel distance module can with but be not limited to use encoder
+ logical controllable programmable device (PLC) is realized.Encoder be signal (such as bit stream) or data are worked out, be converted to it is available
With communication, the equipment of the signal form of transimission and storage.Angular displacement or straight-line displacement are converted into electric signal by encoder, the former claims
For code-disc, the latter is known as yardstick.Contact and two kinds contactless can be divided into according to playback mode encoder；It is former according to work
Reason encoder can be divided into two class of increment type and absolute type.Incremental encoder be will be displaced to be converted into periodic electric signal, then
This electric signal is transformed into counting pulse, the size of displacement is indicated with the number of pulse.Each position of absolute type encoder
Set a corresponding determining digital code, therefore its indicating value is only related to the starting and ending positions of the measurement, and in measurement
Between process it is unrelated.
According to automatic platform limit measuring instrument provided by the invention, control module can be PLC, single-chip microcontroller etc..
Automatic platform limit measuring instrument provided by the invention and its measurement method, have the advantage that compared with the prior art
1, machine automatic measurement is saved artificial；
2, precision is high, avoids error；
3, efficiency is fast, saves the time.
Detailed description of the invention
Further the present invention is described in detail in the following with reference to the drawings and specific embodiments:
Fig. 1 is the measuring principle schematic diagram of automatic platform limit measuring instrument of the invention；
Fig. 2 is the rack construction schematic diagram of automatic platform limit measuring instrument of the invention；
Fig. 3 is the electrical block diagram of automatic platform limit measuring instrument shown in Fig. 2；
Fig. 4 is the control program circuit schematic diagram of master control and processing center in automatic platform limit measuring instrument shown in Fig. 2.
Wherein appended drawing reference:
1- industrial panel computer, 2- height measuring gauge, 3- level measuring device.
Specific embodiment
Firstly, core of the invention and key:
● measuring principle
What automatic platform limit measuring instrument of the invention need measure is horizontal distance (the level survey between rail and platform
Amount) and platform height measurement (elevation carrection), geometry Computing Principle is as shown in Figure 1, the automatic platform limit measuring instrument in the left side is put
Set on rail, the right platform measured, D2 be top laser obtain range data, D3 be horizontal laser light obtain away from
From data, H0 is the support height of automatic platform limit measuring instrument.
Innovation point: by this strategy, calculation method, while having and compensating by multiple experience, and modified hydrothermal process is
Guarantee that present calculating is accurate.
1. basic formula of mathematical:
A is that horizontal angle sensor obtains, and is located in the horizontal tilt of the automatic platform limit measuring instrument on rail
Angle；
B is angle of the height measuring gauge with horizontal direction；
H1: when starting measurement, pass through the data of laser measurement acquisition
D1=tag (A) * H1=L1*cos (A)
L1: being height of the level measuring device apart from automatic platform limit measuring instrument bottom；
Horizontal distance=D3*cos (A)+D1
Platform height=H0*cos (A)-D2*sin (B)
2. the formula of mathematical optimized:
In actual measurement.Since the vibration on top is bigger, lead to angle measurement variation greatly.Platform height is measured to miss
Difference variation is very big.And it is calculated in real time using the angular transducer of central point
Formula is changed to:
Measurement is initially.The data of acquisition.
Angle B, horizontal laser light is apart from orbit altitude H1
Angle C of the height measuring gauge with bracket
C=90+A-B；
B=90+A-C；
Since C is to immobilize；
Angle value B1 of the B in measurement replaces B
B1=90+A-C；
By two above formula, we can dynamically obtain height with horizontal distance in real time.
Second, illustrate the present invention the specific implementation of automatic platform limit measuring instrument:
The specific implementation of the automatic platform limit measuring instrument of the present invention includes that mechanical structure, internal circuit and control program three are big
Component part, three parts are indispensable.The automatic platform limit measuring instrument of the present invention can there are many forms, including but do not limit
In mechanical structure, hardware circuit and control program in detail below, it is illustrated individually below:
● mechanical structure
The automatic platform limit measuring instrument of the present invention, device structure is as shown in Fig. 2, complete equipment is mounted on one takes and be placed on two
On testing jig on rail.The pedestal of testing jig is made of the both ends that middle transverse rod connects, and middle transverse rod is by being nested together
Outer bar and interior bar form, and can be allowed to consistent with rail length with activity adjustment length.The both ends of pedestal are all vertical and central companies
A quarter butt of middle transverse rod is connect, left end quarter butt connects the interior bar in middle transverse rod, and right end quarter butt connects outer in middle transverse rod
Bar.Every end quarter butt all has the wheel of 2 slidings, is in addition also equipped with gear plate in respective inside, guarantees that automatic platform dividing is surveyed
Instrument is measured when carrying out boundary measurement, can easily be moved on rail, to be tested entire platform and prevent it from iron
Rail is fallen.
A short straight rod is erect in the centre of the middle transverse rod of the pedestal position that keeps left, and upper end is equipped with control platform, industrial plate electricity
Brain 1 can be fixedly mounted on control platform upper surface.The center of gravity of the automatic platform limit measuring instrument of the present invention is also in control platform, water
Flat dip sensor also disposes wherein.
The right end of pedestal also erects a long straight-bar, and height measuring gauge 2 is placed on top, level measuring device 3 is placed in middle and lower part position.
● internal circuit
The automatic platform limit measuring instrument of the present invention, height measuring gauge use elevation carrection laser sensor, level measuring device
Using horizontal measurement laser sensor, control module is separated with measurement module, and internal circuit is as shown in figure 3, include master control
Horizontal measurement laser sensor, elevation carrection laser sensor and the bluetooth module being electrically connected with processing center and its control, also
Including the industrial panel computer 1 being connect with master control with processing center wireless blue tooth, in which:
Horizontal measurement laser sensor, elevation carrection laser sensor, for carrying out the horizontal boundary of rail and platform respectively
Limit, the data acquisition of platform height；
Master control and processing center specially include horizontal tilt sensor as the brain center of entire measuring instrument
Control module is placed in the control platform of testing jig, for the circuit board for laying PLC and horizontal tilt sensor by hollow
External connection line connection horizontal measurement laser sensor and elevation carrection laser on connecting line or testing jig in testing jig
Sensor；
Bluetooth module is also laid on foregoing circuit plate together, is connected for establishing wireless blue tooth with industrial panel computer 1
It connects, also itself built-in bluetooth module in the industrial panel computer 1；
Industrial panel computer 1 can be acquired the display of data, the processing work of data edition and report.
The internal circuit of above-mentioned Fig. 3 can only realize semi-automatic measuring, but still need manual control starting.To realize entirely certainly
Dynamic measurement, the automatic platform limit measuring instrument of the present invention, which must also further be included in Fig. 3, is not electrically connected master control and processing center
Encoder and corresponding automatic control program.
Encoder, the encoder can cooperate with the right end of pedestal and/or the idler wheel of left end, measure testing jig on rail
Moving distance, start measurement automatically according to moving distance.
● control program
The encoder of the built-in measurement moving distance of the full-automatic platform dividing measuring instrument of the present invention, it is automatically real by control program
It is existing:
After machine powers on, master control and processing center are connected automatically to each external equipment；
The order that plate issues is received, each measuring appliance is then sent to by connection；
Measuring appliance acquisition data are sent back to master control and are handled with processing center；
Plate is transmitted to by bluetooth to be presented to the user.
Control program specific implementation as shown in figure 4, specifically includes the following steps:
401) start；
402) master control and processing center carry out system/hardware initialization: bluetooth module and encoder peripheral hardware inspection；
403) connection of laser head 1 checks；Laser head 1 refers to horizontal measurement laser sensor；
404) judge whether success? it is, in next step, otherwise return step 403)；
405) connection of laser head 2 checks；Laser head 2 refers to elevation carrection laser sensor；
406) judge whether success? it is, in next step, otherwise return step 405)；
407) enter ready state (measurement can be entered at any time)；
408) starting measuring command is judged whether there is? it is, in next step, otherwise return step 407)；
409) enter measuring state, starting laser head 1, laser head 2 and encoder；
410) stopping measuring command being judged whether there is? it is no, be then return step 407 in next step)；
411) judge whether measuring command immediately? it is to enter step 413), otherwise in next step；
412) judge whether to reach measurement point? it is, in next step, otherwise return step 410)；Such as: measurement point is every 2 meters
Start one-shot measurement；
413) measuring command is sent to laser head 1 and laser head 2, pending datas is waited to receive；
414) judge whether to receive laser head data? it is, into next step, otherwise return step 413)；
415) master control and processing center carry out data processing and treated data are sent to work by bluetooth connection
Industry tablet computer；
416) terminate.
Third, in conjunction with specific product/trial target (full-automatic platform dividing measuring instrument) of the invention and its using further
The present invention will be described in detail:
This full-automatic platform dividing measuring instrument, is that limit measuring instrument is placed on rail, and the starting point measured from platform is opened
Beginning pushes limit measuring instrument and easily walks about, and data can be measured and be shown automatically, and entire measurement process uses entirely certainly
Dynamic measurement, measurement data can show and handle automatically.
The working principle and the course of work of this full-automatic platform dividing measuring instrument are: being stepped using high-precision Shenzhen and survey L2
Type laser sensor carries out data acquisition, is 2 laser sensors in total, between a measurement rail and platform it is horizontal away from
From the height of a measurement platform.Used high-precision laser Fundamentals of Sensors are the visible laser beams for emitting different frequency,
The scattering laser returned from testee is received, the laser signal received is compared with reference signal, later by micro-
Processor calculates the distance between object corresponding to corresponding phase offset, can reach mm grades of measurement accuracy, for entire measurement
High-precision provide a strong guarantee.The calculated platform boundary of No. 2 laser sensors and platform height data are transferred to master control
With processing center, the actual operation of data is carried out, is compensated, total processing of experiential modification, corresponding specific measurement data is obtained, it will
Then these specific measurement data pass through bluetooth module, be wirelessly transmitted to the industrial plate of automatic platform limit measuring instrument
It carries out corresponding data on computer to show, data edition, the convenient computer to acquisition data is handled.
This full-automatic platform dividing measuring instrument, the automatical and efficient rate of energy, the high-precision measurement for carrying out limit data, mainly
It is stepped using high-precision Shenzhen and surveys the progress data acquisition of L2 laser sensor, the precision of this laser sensor has reached millimeter
Grade, ± 2mm, Measurement Resolution is 1mm, this ensure that the high-precision of data acquisition.2 grades of laser levels, meet
DINEN20825-1 standard provides foundation using the laser sensor of technical grade for product safety and stability.Existing limit
Boundary's measuring instrument is to estimate data using manual measurement, and range estimation data have biggish error rate, and precision is not also high.
[2014] No. 60 the 5.6.2 articles is always transported according to " equipment rebuilding Maintenance Rule is built in railway transportation room " iron to provide, platform,
Awning limit should establish the monitoring regime observed between fixed point detection, point, and " rule " is to tolerance clear stipulaties: platform cap stone side
Edge is (0+15mm), the tolerance of platform cap stone elevation of top surface: high platform apart from tolerance to railroad track center line
For (0-20mm), common platform and low station platform are (± 10mm).Automatic platform limit measuring instrument is fully met in actual use
Code requirement, while one times of the requirement of being above standard.
Full-automatic platform dividing measuring instrument is taken using limit measuring instrument to be placed on rail, using non-conductive pulley side
Formula can easily be push limit measuring instrument with a people and carry out automaticdata measurement, this is the machine of this automatic platform limit measuring instrument
Maximum feature on tool is laid a good foundation for efficient automatic test.According to the ambient conditions of laser sensor reflecting surface, most
Fastly can up to 7 times/it is per second, most slow is 4 seconds every time, ensure that the efficiency of measurement.It is also verified very well in test.
Certainly, the above is only presently preferred embodiments of the present invention, therefore all according to structure described in present patent application range
It makes, the equivalent change or modification that feature and process are done, it is interior for being included in present patent application range.
Claims (8)
1. a kind of automatic platform clearance survey method, which is characterized in that utilize the automatic platform clearance survey being placed on rail
Instrument, including following platform height measuring process:
101) using the height measuring gauge of automatic platform limit measuring instrument lower than horizontal direction, the angle that tilts down and simultaneously
Height measuring gauge is measured to the distance D2 of platform surface perpendicular to the direction of rail, and obtains the measurement of height measuring gauge
The angle C in the vertical height direction of angle and automatic platform limit measuring instrument；The height of the height measuring gauge is higher than platform mark
Quasi- limit for height；
102) the automatic platform on rail is placed on using the horizontal angle sensor measurement on automatic platform limit measuring instrument to limit
The level of boundary's measuring instrument puts tilt angle A；
103) platform height H=H0*cos (A)-D2*sin (90+A-C) is calculated, in which: H0 is the height value of height measuring gauge.
2. automatic platform clearance survey method according to claim 1, which is characterized in that the angle C be it is fixed and by
It is previously entered to the height measurement step.
3. automatic platform clearance survey method according to claim 1, which is characterized in that the angle C is adjustable and can
To be acquired.
4. automatic platform clearance survey method according to claim 1, which is characterized in that the horizontal angle sensor setting
Center of gravity, lower part or the intermediate position of automatic platform limit measuring instrument.
5. automatic platform clearance survey method according to claim 1, which is characterized in that the measurement method further includes that highest is surveyed
Amount range H2: working as H=H2, and recording practical platform height is >=H2.
6. any one of -5 automatic platform clearance survey method according to claim 1, which is characterized in that further include following level
Measuring process:
601) using automatic platform limit measuring instrument level measuring device with the short transverse with automatic platform limit measuring instrument at
One setting fixed angle and both perpendicular to the direction of rail measure level measuring device to platform wall distance D3；
602) horizontal distance D=D3*cos (A)+tag (A) * H1 of platform and track is calculated, in which: H1 is level measuring device
Height value.
7. automatic platform clearance survey method according to claim 6, which is characterized in that the level measuring device and height are surveyed
Measuring device is all laser ranging module.
8. automatic platform clearance survey method according to claim 6, which is characterized in that the level measuring device and height are surveyed
Measuring device is infrared, ultrasonic wave or wireless distance finding module.
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| CN108827236A (en) * | 2018-04-26 | 2018-11-16 | 吉林市盈冲科技有限公司 | A kind of intelligence clearance survey device |
| CN110962878A (en) * | 2018-09-29 | 2020-04-07 | 华东交通大学 | Device for measuring railway building clearance by walking on rail |
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