CN106627646B - Train protection apparatus and method - Google Patents
Train protection apparatus and method Download PDFInfo
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- CN106627646B CN106627646B CN201611052256.2A CN201611052256A CN106627646B CN 106627646 B CN106627646 B CN 106627646B CN 201611052256 A CN201611052256 A CN 201611052256A CN 106627646 B CN106627646 B CN 106627646B
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- unmanned plane
- controller
- airbound target
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- radar installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F19/00—Wheel guards; Bumpers; Obstruction removers or the like
- B61F19/04—Bumpers or like collision guards
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- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a kind of train protection apparatus and method, are related to bullet train field.The train protection apparatus and method detect the airbound target in front of train using radar installations, and the relative position information of airbound target is acquired when detecting airbound target；Recycle controller according to the image information of relative position information control optical monitoring system acquisition airbound target；Judge whether airbound target is unmanned plane using controller；If airbound target is unmanned plane, air bag controlled assembly driving airbag inflated is controlled using controller and is popped up, so that air bag flicks unmanned plane, frontal impact so as to avoid the train under high-speed travel state by unmanned plane, to avoid traffic accident to a certain extent.
Description
Technical field
The present invention relates to bullet train fields, in particular to a kind of train protection apparatus and method.
Background technique
Nowadays, with the continuous development of High-sped Trains, train it is fastest had reached 300 kilometers when
Speed can even be promoted to the speed per hour close to 400 kilometers in the speed of the following train.However, the high-speed cruising of train is being brought
Also to its security protection, more stringent requirements are proposed while very big convenience.Current bullet train is not yet directed to fly with front
The hard airbound target (such as UAV) to come over, which collides, takes effective safeguard procedures, and in high speed per hour
Train is immeasurable with serious consequence caused by hard airbound target frontal impact.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of train protection apparatus and method, it is above-mentioned to improve
Problem.
In a first aspect, it is installed on the headstock of a train the embodiment of the invention provides train protection device, the train protection
Device includes radar installations, control circuit board, optical monitoring system, air bag controlled assembly and air bag, the control
Circuit board layout has a controller, the controller respectively with the radar installations, the optical monitoring system and the air bag
Assembly electrical connection is controlled, the air bag controlled assembly is connect with the air bag, and the radar installations is for before detecting train
Side airbound target, and when detecting airbound target acquire airbound target relative position information, the controller be used for according to
The optical monitoring system is controlled according to the relative position information and acquires the image information of the airbound target, and judges described fly
Whether row target is unmanned plane, drives the airbag inflated if it is, controlling the air bag controlled assembly and pops up.
Second aspect, the embodiment of the invention also provides a kind of train protection method, the train protection method includes:
The airbound target in front of a train is detected using a radar installations, and acquires flight mesh when detecting airbound target
Target relative position information；
An optical monitoring system, which is controlled, according to the relative position information using a controller acquires the airbound target
Image information；
Judge whether the airbound target is unmanned plane using the controller；
If the airbound target is unmanned plane, an air bag controlled assembly is controlled using the controller and drives the safety
Air bag is inflated and is popped up.
Compared with prior art, a kind of train protection apparatus and method provided by the invention are detected using radar installations and are arranged
The airbound target of front side, and when detecting airbound target acquire airbound target relative position information；Recycle controller
Image information according to relative position information control optical monitoring system acquisition airbound target；Airbound target is judged using controller
It whether is unmanned plane；If airbound target is unmanned plane, air bag controlled assembly driving air bag is controlled using controller and is filled
Gas simultaneously pops up so that air bag flicks unmanned plane, so as to avoid the train under high-speed travel state by
The frontal impact of unmanned plane, to avoid traffic accident to a certain extent.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of circuit connection block diagram of train protection device provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of air bag controlled assembly provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of optical monitoring system provided in an embodiment of the present invention；
A kind of Fig. 4 flow chart of train protection method provided in an embodiment of the present invention.
Icon: 101- radar installations；102- controller；103- optical monitoring system；104- air bag controlled assembly；105- without
Line communication module；The second motor drive component of 106-；107- storing case；108- spring；109- pull rod；110- gas generator；
111- air bag；112- pedestal, 113- digital high-definition camera；114- first motor driving assembly.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
Referring to Fig. 1, a kind of train protection device provided in an embodiment of the present invention, is installed on the headstock of a train, the column
Vehicle can be high-speed rail or motor-car and ordinary passenger express train train.The train protection device includes radar installations 101, control circuit board, light
Learn monitoring system 103, air bag controlled assembly 104 and air bag 111.Control circuit board is disposed with controller 102, controller
102 are electrically connected with radar installations 101, optical monitoring system 103 and air bag controlled assembly 104 respectively, air bag controlled assembly 104
It is connect with air bag 111.
Radar installations 101 can find target using the method for radio and measure their spatial position.Therefore, radar
Referred to as " radio-positioning ".Radar is the electronic equipment using electromagnetic wave detection target.Radar emission electromagnetic wave to target into
Row irradiates and receives its echo, thus to obtain the distance of target to electromagnetic emission point, range rate (radial velocity), side
The information such as position, height, in addition, radar installations 101 is also stored with the geographical location information of itself, the geographical position of radar installations 101
Confidence breath includes the longitude, latitude and height of 101 geographic location of radar installations.Radar installations 101 is for detecting column
The airbound target of front side, and the relative position information of airbound target is acquired when detecting airbound target, controller 102 is used for
The image information of airbound target is acquired according to relative position information control optical monitoring system 103, and whether judges airbound target
For unmanned plane, drives air bag 111 to inflate if it is, controlling air bag controlled assembly 104 and pop up.It is soft due to what is had
The airbound targets such as airbound target or flying creature, such as balloon, flying bird and bat, collide or are collided with train
It not will cause traffic accident, therefore optical monitoring system 103 calculates the image information for collecting airbound target using image recognition
Method carries out judging whether airbound target is unmanned plane, so as to exclude the case where airbound target is balloon, flying bird.
Specifically, relative position information includes airbound target relative to the azimuth of radar installations 101, distance value and bows
The elevation angle, controller 102 are used to fill according to airbound target relative to the azimuth of radar installations 101, distance value, height and radar
The geographical location information for setting 101 calculates focal length data and generation control instruction, and optical monitoring system 103 is used for foundation focal length
The image information of data and control instruction acquisition airbound target.
Further, in the present embodiment, as shown in figure 3, optical monitoring system 103 includes but is not limited to pedestal, first
Motor drive component 114 and digital high-definition camera 113, first motor driving assembly 114, digital high-definition camera 113 are equal
It is installed on pedestal, first motor driving assembly 114, digital high-definition camera 113 and controller 102 are electrically connected, controller
102 are also used to control 113 zoom of digital high-definition camera according to focal length data, and according to control instruction control first motor driving
Component 114 drives digital 113 rotational alignment airbound target of high-definition camera to acquire the image information of airbound target.
In the present embodiment, as shown in Fig. 2, air bag controlled assembly 104 includes but is not limited to the second motor drive component
106, storing case 107, spring 108, pull rod 109 and gas generator 110.Second motor drive component 106, gas generator
110 are electrically connected with controller 102, and air bag 111 is placed in storing case 107 and the side of storing case 107 is provided with out
Mouthful, one end of spring 108 is connect with the bottom of storing case 107, and the other end of spring 108 is connect with air bag 111, pull rod
Another end in contact of 109 one end and spring 108 simultaneously compresses spring 108.The gas outlet of gas generator 110 and air bag
111 air inlet conducting, if controller 102 for airbound target be unmanned plane when, control gas generator 110 generate gas,
Gas generator 110 generates gas and is gradually filled with air bag at this time, while controller 102 controls the second motor drive component 106
Pull rod 109 is driven to be detached from spring 108, when pull rod 109 is detached from spring 108, spring 108 will be in the air bag of inflated condition
111 are popped up out of storing case 107 by the opening of storing case 107, and air bag 111 is gradually filled with gas and suspends after being ejected
In the front of the headstock of train.
In addition, the train protection device further includes wireless communication module 105,102 electricity of wireless communication module 105 and controller
Connection, controller 102 are also used to according to formula S1=C1+D × cos (β) × cos (θ), S2=C2+D × cos (β) × sin
(θ), G=H+D × sin (β) calculate separately out the longitude, latitude and height of unmanned plane to obtain the geographical location letter of unmanned plane
Breath, and module 105 issues by wireless communication by the geographical location information of unmanned plane, wherein C1 is the warp of radar installations 101
Degree, C2 are the latitude of radar installations 101, and H is the height of radar installations 101, and θ is the azimuth of unmanned plane, the pitching of β unmanned plane
Angle, S1 are the longitude of unmanned plane, and S2 is the latitude of unmanned plane, and G is the height of unmanned plane, and D is distance value.It, can in the present embodiment
By the geographical location information of unmanned plane by wireless communication module 105 be sent to a background server or with the geographical position of unmanned plane
Confidence ceases the intelligent terminal of associated patrol, so that staff carries out control to the region in time, unmanned plane is avoided to grasp
Control person again manipulates unmanned plane to the overhead of train rail.
Referring to Fig. 4, the embodiment of the invention also provides a kind of train protection method, train protection method includes:
Step S301: the airbound target in front of a train is detected using a radar installations 101, and is detecting airbound target
When acquire airbound target relative position information.
Step S302: an optical monitoring system 103 acquisition flight is controlled according to relative position information using a controller 102
The image information of target.
In the present embodiment, optical monitoring system 103 includes that pedestal, first motor driving assembly 114 and digital high-definition are taken the photograph
As head 113, first motor driving assembly 114, digital high-definition camera 113 are mounted on pedestal, first motor driving assembly
114, digital high-definition camera 113 and controller 102 are electrically connected, and controller 102 is also used to control number according to focal length data
113 zoom of word high-definition camera, and digital high-definition camera is driven according to control instruction control first motor driving assembly 114
113 rotate to acquire the image information of airbound target.
Specifically, relative position information includes airbound target relative to the azimuth of radar installations 101, distance value and bows
The elevation angle, step S302 may include:
Step S3021: using controller 102 according to airbound target relative to the azimuth of radar installations 101, distance value,
The geographical location information of height and radar installations 101 calculates focal length data and generates control instruction.
Step S3022: using optical monitoring system 103 according to focal length data and the figure of control instruction acquisition airbound target
As information.
Step S303: judging whether airbound target is unmanned plane using controller 102, if airbound target is unmanned plane, holds
Row step S304.
Step S304: an air bag controlled assembly 104 driving air bag 111 inflation is controlled using controller 102 and is popped up.
Specifically, in the present embodiment, air bag controlled assembly 104 include the second motor drive component 106, storing case 107,
Spring 108, pull rod 109 and gas generator 110, the second motor drive component 106, gas generator 110 are and controller
102 electrical connections, air bag 111 is placed in storing case 107 and the side of storing case 107 is provided with opening, and the one of spring 108
End is connect with the bottom of storing case 107, and the other end of spring 108 is connect with air bag 111, and spring 108 is in compression shape
When state, the other end of spring 108 and the end thereof contacts of pull rod 109, gas outlet and the air bag 111 of gas generator 110
Air inlet conducting, if controller 102 for airbound target be unmanned plane when, control gas generator 110 generate gas simultaneously control
Second motor drive component 106 drives pull rod 109 to be detached from spring 108.
Step S305: using controller 102 according to formula S1=C1+D × cos (β) × cos (θ), S2=C2+D × cos
(β) × sin (θ), G=H+D × sin (β) calculate separately out the longitude, latitude and height of unmanned plane to obtain the ground of unmanned plane
Manage location information.
Wherein, C1 is the longitude of radar installations 101, and C2 is the latitude of radar installations 101, and H is the height of radar installations 101
Degree, θ are the azimuth of unmanned plane, and the pitch angle of β unmanned plane, S1 is the longitude of unmanned plane, and S2 is the latitude of unmanned plane, and G is nothing
Man-machine height, D are distance value；
Step S306: it is issued using the geographical location information of 102 unmanned plane of controller by a wireless communication module 105.
In conclusion a kind of train protection apparatus and method provided in an embodiment of the present invention, are detected using radar installations and are arranged
The airbound target of front side, and when detecting airbound target acquire airbound target relative position information；Recycle controller
Image information according to relative position information control optical monitoring system acquisition airbound target；Airbound target is judged using controller
It whether is unmanned plane；If airbound target is unmanned plane, air bag controlled assembly driving air bag is controlled using controller and is filled
Gas simultaneously pops up so that air bag flicks unmanned plane, so as to avoid the train under high-speed travel state by
The frontal impact of unmanned plane, to avoid traffic accident to a certain extent.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (8)
1. a kind of train protection device, is installed on the headstock of a train, which is characterized in that include radar installations, control circuit
Plate, optical monitoring system, air bag controlled assembly and air bag, the control circuit board are disposed with controller, the control
Device is electrically connected with the radar installations, the optical monitoring system and the air bag controlled assembly respectively, the air bag controlled
Assembly is connect with the air bag, and the radar installations is used to detect the airbound target in front of train, and is detecting flight
The relative position information of airbound target is acquired when target, the controller is used to control the light according to the relative position information
School superintendent controls the image information of airbound target described in system acquisition, and judges whether the airbound target is unmanned plane, if it is,
The air bag controlled assembly is controlled to drive the airbag inflated and pop up；
The relative position information includes airbound target relative to the azimuth of the radar installations, distance value and pitch angle,
The controller is used for according to airbound target relative to the azimuth of the radar installations, distance value, height and radar installations
Geographical location information calculate focal length data and generate control instruction, the optical monitoring system be used for according to the focal length
The image information of data and control instruction acquisition airbound target.
2. train protection device according to claim 1, which is characterized in that the train protection device further includes channel radio
Believe module, the wireless communication module is electrically connected with the controller, the controller be also used to foundation formula S1=C1+D ×
Cos (β) × cos (θ), S2=C2+D × cos (β) × sin (θ), G=H+D × sin (β) calculate separately out unmanned plane longitude,
The geographical location information of the unmanned plane is passed through the nothing to obtain the geographical location information of unmanned plane by latitude and height
Line communication module issues, wherein C1 is the longitude of the radar installations, and C2 is the latitude of the radar installations, and H is the radar
The height of device, θ are the azimuth of unmanned plane, and the pitch angle of β unmanned plane, S1 is the longitude of unmanned plane, and S2 is the latitude of unmanned plane
Degree, G are the height of unmanned plane, and D is the distance value.
3. train protection device according to claim 1, which is characterized in that the optical monitoring system includes pedestal,
One motor drive component and digital high-definition camera, the first motor driving assembly, the digital high-definition camera are pacified
Loaded on the pedestal, the first motor driving assembly, the digital high-definition camera and the controller are electrically connected, institute
It states controller and is also used to control the digital high-definition camera zoom according to the focal length data, and control institute according to control instruction
It states first motor driving assembly and drives the digital high-definition camera rotation to acquire the image information of airbound target.
4. train protection device according to claim 1, which is characterized in that the air bag controlled assembly includes the second electricity
Machine driving assembly, storing case, spring, pull rod and gas generator, second motor drive component, the gas generator
It is electrically connected with the controller, the air bag is placed in the storing case and the side of the storing case is provided with out
Mouthful, one end of the spring is connect with the bottom of the storing case, and the other end of the spring is connect with the air bag, institute
State one end of pull rod and another end in contact of the spring and by spring-compressed, the gas outlet of the gas generator and the peace
The air inlet conducting of full air bag controls the gas generator if the controller for the airbound target is unmanned plane
Generating gas and controlling second motor drive component drives the pull rod to be detached from the spring.
5. a kind of train protection method, which is characterized in that the train protection method includes:
The airbound target in front of a train is detected using a radar installations, and acquires airbound target when detecting airbound target
Relative position information；
The image that an optical monitoring system acquires the airbound target is controlled according to the relative position information using a controller
Information；
Judge whether the airbound target is unmanned plane using the controller；
If the airbound target is unmanned plane, an air bag controlled assembly is controlled using the controller, an air bag is driven to fill
Gas simultaneously pops up；
Wherein, the relative position information includes airbound target relative to the azimuth of the radar installations, distance value and bows
The elevation angle, it is described to acquire the airbound target according to the relative position information one optical monitoring system of control using a controller
The step of image information includes:
Using the controller according to airbound target relative to the azimuth of the radar installations, distance value, height and radar
The geographical location information of device calculates focal length data and generates control instruction；
Image using the optical monitoring system according to the focal length data and control instruction acquisition airbound target is believed
Breath.
6. train protection method according to claim 5, which is characterized in that the train protection method further include:
Using the controller according to formula S1=C1+D × cos (β) × cos (θ), S2=C2+D × cos (β) × sin (θ), G
=H+D × sin (β) calculates separately out the longitude of unmanned plane, latitude and height to obtain the geographical location information of unmanned plane,
In, C1 is the longitude of the radar installations, and C2 is the latitude of the radar installations, and H is the height of the radar installations, and θ is nothing
Man-machine azimuth, the pitch angle of β unmanned plane, S1 are the longitude of unmanned plane, and S2 is the latitude of unmanned plane, and G is the height of unmanned plane
Degree, D are the distance value；
It is issued using the geographical location information of unmanned plane described in the controller by a wireless communication module.
7. train protection method according to claim 5, which is characterized in that the optical monitoring system includes pedestal,
One motor drive component and digital high-definition camera, the first motor driving assembly, the digital high-definition camera are pacified
Loaded on the pedestal, the first motor driving assembly, the digital high-definition camera and the controller are electrically connected, institute
It states controller and is also used to control the digital high-definition camera zoom according to the focal length data, and control institute according to control instruction
It states first motor driving assembly and drives the digital high-definition camera rotation to acquire the image information of airbound target.
8. train protection method according to claim 5, which is characterized in that the air bag controlled assembly includes the second electricity
Machine driving assembly, storing case, spring, pull rod and gas generator, second motor drive component, the gas generator
It is electrically connected with the controller, the air bag is placed in the storing case and the side of the storing case is provided with out
Mouthful, one end of the spring is connect with the bottom of the storing case, and the other end of the spring is connect with the air bag, and
The spring is when in a compressed state, the end thereof contacts of the other end of the spring and the pull rod, the gas generator
Gas outlet is connected with the air inlet of the air bag, if the controller for the airbound target be unmanned plane when, control
The gas generator, which generates gas and controls second motor drive component, drives the pull rod to be detached from the spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052256.2A CN106627646B (en) | 2016-11-25 | 2016-11-25 | Train protection apparatus and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052256.2A CN106627646B (en) | 2016-11-25 | 2016-11-25 | Train protection apparatus and method |
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| CN106627646B true CN106627646B (en) | 2019-06-21 |
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| CN201611052256.2A Active CN106627646B (en) | 2016-11-25 | 2016-11-25 | Train protection apparatus and method |
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| CN108965789B (en) * | 2017-05-17 | 2021-03-12 | 杭州海康威视数字技术股份有限公司 | Unmanned aerial vehicle monitoring method and audio-video linkage device |
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|---|---|
| CN106627646A (en) | 2017-05-10 |
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