CN107054411B - A kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology and system - Google Patents
A kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
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Abstract
The invention discloses a kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology and system, this method monitors the real-time snow depth data of two positions in train operation environment using two groups of unmanned plane snow depth measurement apparatus in real time, operation and running environment of the snow disaster monitoring large data center to train is enabled continuously and dynamically monitor, so as to fill up blind area existing for existing monitoring means；The flexibility of unmanned plane snow depth measurement apparatus is dramatically make use of, the monitoring network and historical data base of a covering snow disaster danger zone are established by unmanned plane snow depth measurement apparatus, work station, snow disaster monitoring large data center and railway trains control centre；Train can carry out brake hard, and the stop motion before dangerous accumulated snow position is reached in time after schedule information is connected to；By keeping the geo-stationary of unmanned plane snow depth measurement apparatus and train, the reliability and promptness of gathered data are ensure that, greatly avoids the blind area being monitored to track ice and snow accumulation.
Description
Technical field
The invention belongs to railroad track to monitor field, more particularly to a kind of Along Railway snow disaster unmanned plane snow depth intelligent measure
With Forecasting Methodology and system.
Background technology
Increasingly intensive with railway network, dependence of the national economy to railway is also stepping up.But China is vast
Soil, complicated and diversified geographical, climatic environment brings no small challenge to the operation of railway.Among these, cold district is special
Some accumulated snow brings a series of specific questions to railway construction and operation.The northeast in China, In The North of Xinjiang and Qinghai-Tibet Platean
Some areas, winter climate is cold, and snowfall is larger, is influenceed by natural snowfall and Snow dritf, and ground is thicker through being commonly formed
Accumulated snow, railway transportation is had an impact larger.The construction of particularly cold area's special line for passenger trains, snow injury preventing and treating is proposed higher
Requirement.To mitigate influence of the snow injury to railway transportation, it is necessary to the snow injury feature of the correct cold area's railway of understanding, take effective anti-
Control measure.
Railway snow injury is divided to two kinds of Snow dritf and snowslide.The presence of Snow dritf phenomenon causes covering velocity of snow to greatly speed up, and avenges
Collapse sudden and it is difficult to predictive be even more to have highly impacted normal vehicling operation.The northern area of China snowfall is enriched,
The snowfall of wherein the Northwest accounts for the 40% of national total snowfall, and the especially snowfall in Xinjiang is more abundant, accounts for the whole nation
The 33.9% of total amount, and its snowfall is largely focused on northern Tianshan area.Although abundant snowfall provides rich for this area
Rich freshwater resources, but the Snow dritf that triggers of substantial amounts of snowfall and accumulated snow and snowslide to this area production and life especially
Communications and transportation brings disastrous influence.
In order to reduce Along Railway snow injury to the influence to train operation, strengthen the disaster alarm ability of train control system, I
State has carried out a variety of early warning with tackling the development of system.For Snow dritf, China, which is ground, has built a kind of snow depth monitoring and early warning system,
How similar the operation principle of such system is：Set monitoring point to monitor the depth of accumulated snow in real time by section along the railway, work as snow depth
Alarm is sent during more than threshold value of warning.For snowslide, currently used method is to build barrier rib in snowslide Yi Fa areas, is a kind of
Passive protection method.
The content of the invention
The present invention proposes a kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology and system, its purpose
It is, is monitored in real time by introducing unmanned plane, railway dispatching part, which can obtain, is related to track ice and snow accumulation
Real-time dynamic information, the blind area for lacking be monitored to track ice and snow accumulation is before filled up.
A kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology, comprise the following steps：
Step 1：History ice and snow accumulation data when being run according to train along Along Railway track on track are transported with train
Row casualty data, select ice and snow accumulation on track and exceed continuous orbit section corresponding to safety value and interruption of service, to selected rail
Road section is equidistantly divided, and sets work station, each two groups of unmanned planes of workstation configuration in each track section unit
Snow depth measurement apparatus；
The unmanned plane snow depth measurement apparatus includes flight instruments and the ultrasonic snow depth being loaded on flight instruments is surveyed
Measure instrument, Kinect sensor, range sensor and locomotive velocity measuring device；
The unmanned plane snow depth measurement apparatus is communicated with the work station, the work station, snow disaster monitoring big data
Center and ground control centre are communicated successively；
Step 2：The each track section unit obtained to step 1 is numbered, and records each track section unit
Start mileage, terminate mileage, train safe speed, station number and unmanned plane snow depth measurement apparatus numbering in the unit of section；
Step 3：Target train enters snow disaster danger track section, starts track snow depth monitoring task；
When target train enters snow disaster danger track section, snow disaster danger rail that railway trains control centre will be monitored
The train number of road section element number and the controlled train of target is sent to snow disaster monitoring large data center, snow disaster monitoring big data
Work station of the center into the snow disaster danger track section unit sends measurement instruction, carries out unmanned plane track snow depth monitoring task
Initialization；
Two groups of unmanned plane snow depth measurement apparatus in work station control station are synchronously taken off and track target train；
Step 4：And using the Kinect sensor collection train number in unmanned plane snow depth measurement apparatus, send it to
The controlled train number of target that snow disaster monitoring large data center is sent out in advance with railway trains control centre is compared, if comparing
As a result consistent, then into step 5, otherwise, 2 groups of unmanned plane snow depth measurement apparatus return to work station, stop tracking, wait next time
Instruction；
Step 5：The real-time acquisition trajectory snow depth data of two groups of unmanned plane snow depth measurement apparatus, train speed and with train
Relative distance, and real-time Transmission is to affiliated work station；
Step 6：Snow disaster monitoring large data center according to work station by the message of reception, using train number for retrieval key
Word, it is deep using real-time accumulated snow in real time to train speed, snow depth data compared with the secure data prestored
Degrees of data finds the safe speed of corresponding train, if the real-time speed of train corresponds to accident-free vehicle more than real-time snow depth data
When fast, then snow disaster monitoring large data center sends a warning；
When railway trains control centre receives warning information, to Real-Time Scheduling corresponding to train progress；
Step 7：After target train rolls snow disaster danger track section away from, railway trains control centre is to the big number of snow disaster monitoring
The signal of task completion is sent according to center, snow disaster monitoring large data center sends the signal of task completion, work station to work station
The signal of task completion is sent to two groups of unmanned plane snow depth measurement apparatus, two groups of unmanned plane snow depth measurement apparatus return to work stations and entered
Enter holding state.
During two groups of unmanned plane snow depth measurement apparatus synchronized tracking target trains, one of which unmanned plane snow depth measurement apparatus is protected
Rest against the controlled train head top position point of target, another group of unmanned plane snow depth measurement dress with holding the posture geo-stationary of flight
Acceleration flight is put on the controlled train direct of travel of target, and distance is S between train head0；
S0Represent snow disaster safe stopping distance, S0=S × K, S represent train braking distance, and K represents safety coefficient, value model
Enclose for 1.1-1.2；Train braking distance can obtain according to the attribute of train.
When snow depth data exceed snow depth safety value corresponding to safe train operation, in snow disaster monitoring big data
The heart sends a warning.
In the secure data prestored, train safe speed reduces with the increase of track snow depth thickness.
After unmanned plane snow depth measurement apparatus and target train synchronization move ahead, in target travel to next work station, nothing
Man-machine snow depth measurement apparatus carries out task handing-over, and railway trains control centre sends finger to the newest work station that target train enters
Order so that two unmanned plane snow depth measurement apparatus of the work station are taken off synchronized tracking target train, two nothings originally flown
Man-machine snow depth measurement apparatus enters the work station, is charged, and the real-time speed of target train and position are sent to ground
Train controlling center.
A kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and forecasting system, including：
Railway trains control centre, for receiving the processing data from snow disaster monitoring large data center real-time Transmission, and it is right
Train is scheduled, including train scheduling module, warning information memory module and the first wireless communication module；
Snow disaster monitoring large data center, for receiving the real-time data collection sent from work station, and data are divided
Analysis is handled, including unmanned plane scheduler module, task data memory module, CPU module and the second wireless telecommunications mould
Block；
Work station, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd wireless communication module and at least two nothings
Man-machine snow depth measurement apparatus；
Wherein, unmanned plane snow depth measurement apparatus 1 includes flight instruments and the ultrasonic snow depth measuring instrument being installed on it, distance
Sensor, Kinect sensor and the 4th wireless communication module；
Unmanned plane snow depth measurement apparatus 2 includes flight instruments and the ultrasonic snow depth measuring instrument being installed on it, Kinect are passed
Sensor, locomotive velocity measuring device, range sensor and the 4th wireless communication module；
Collection is presently in the real-time track snow depth data below position to unmanned plane snow depth measurement apparatus in real time, passes through simultaneously
Kinect sensor gathers train number；
Work station receives the message that unmanned plane snow depth measurement apparatus gathers in real time, and transfers a message to the big number of snow disaster monitoring
According to center, snow disaster monitoring large data center analyzes and processes to message；
The snow disaster monitoring large data center and railway trains control centre survey according to above-mentioned method to unmanned plane snow depth
Amount device and train are scheduled control, so as to realize snow disaster monitoring and early warning.
Further, it is additionally provided with LED in the unmanned plane snow depth measurement apparatus.
Beneficial effect
The invention provides a kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology and system, this method
Monitor the real-time snow depth data of two positions in train operation environment in real time using two groups of unmanned plane snow depth measurement apparatus：Positioned at row
Front side, distance is S0Track at real-time snow depth and the real-time snow depth data positioned at train head's front rail, this two
The real-time snow depth data of individual position and real-time train speed return to snow disaster monitoring large data center together so that snow disaster monitoring is big
Data center can be to train operation and running environment carry out continuously and dynamic monitoring, so as to fill up existing monitoring means
Existing blind area；Dramatically make use of the flexibility of unmanned plane snow depth measurement apparatus, by unmanned plane snow depth measurement apparatus,
Work station, snow disaster monitoring large data center and railway trains control centre establish the monitoring net of a covering snow disaster danger zone
Network and historical data base；When snow depth exceedes safe snow depth, or when train real time execution speed exceedes safe operation speed,
Earthward train controlling center sends a warning snow disaster monitoring large data center, so that railway trains control centre can be right
Train carries out Real-Time Scheduling.Train can carry out brake hard in time after schedule information is connected to, and reach dangerous accumulated snow position
Stop motion before putting；By keeping the geo-stationary of unmanned plane snow depth measurement apparatus and train, ensure that gathered data can
By property and promptness.
Brief description of the drawings
When Fig. 1 is that unmanned plane snow depth measurement apparatus works, with train position schematic diagram；
Fig. 2 is the structural representation of system of the present invention.
Embodiment
Explanation further is done to the present invention below in conjunction with drawings and examples.
A kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology, comprise the following steps：
Step 1：History ice and snow accumulation data when being run according to train along Along Railway track on track are transported with train
Row casualty data, select ice and snow accumulation on track and exceed continuous orbit section corresponding to safety value and interruption of service, to selected rail
Road section is equidistantly divided, and sets work station, each two groups of unmanned planes of workstation configuration in each track section unit
Snow depth measurement apparatus；
The unmanned plane snow depth measurement apparatus includes flight instruments and the ultrasonic snow depth being loaded on flight instruments is surveyed
Measure instrument, Kinect sensor, range sensor and locomotive velocity measuring device；
The unmanned plane snow depth measurement apparatus is communicated with the work station, the work station, snow disaster monitoring big data
Center and ground control centre are communicated successively；
Step 2：The each track section unit obtained to step 1 is numbered, and records each track section unit
Start mileage, terminate mileage, train safe speed, station number and unmanned plane snow depth measurement apparatus numbering in the unit of section；
Step 3：Target train enters snow disaster danger track section, starts track snow depth monitoring task；
When target train enters snow disaster danger track section, snow disaster danger rail that railway trains control centre will be monitored
The train number of road section element number and the controlled train of target is sent to snow disaster monitoring large data center, snow disaster monitoring big data
Work station of the center into the snow disaster danger track section unit sends measurement instruction, carries out unmanned plane track snow depth monitoring task
Initialization；
Two groups of unmanned plane snow depth measurement apparatus in work station control station are synchronously taken off and track target train；
Step 4：And using the Kinect sensor collection train number in unmanned plane snow depth measurement apparatus, send it to
The controlled train number of target that snow disaster monitoring large data center is sent out in advance with railway trains control centre is compared, if comparing
As a result consistent, then into step 5, otherwise, 2 groups of unmanned plane snow depth measurement apparatus return to work station, stop tracking, wait next time
Instruction；
Step 5：The real-time acquisition trajectory snow depth data of two groups of unmanned plane snow depth measurement apparatus, train speed and with train
Relative distance, and real-time Transmission is to affiliated work station；
Step 6：Snow disaster monitoring large data center according to work station by the message of reception, using train number for retrieval key
Word, it is deep using real-time accumulated snow in real time to train speed, snow depth data compared with the secure data prestored
Degrees of data finds the safe speed of corresponding train, if the real-time speed of train corresponds to accident-free vehicle more than real-time snow depth data
When fast, then snow disaster monitoring large data center sends a warning；
When railway trains control centre receives warning information, to Real-Time Scheduling corresponding to train progress；
Step 7：After target train rolls snow disaster danger track section away from, railway trains control centre is to the big number of snow disaster monitoring
The signal of task completion is sent according to center, snow disaster monitoring large data center sends the signal of task completion, work station to work station
The signal of task completion is sent to two groups of unmanned plane snow depth measurement apparatus, two groups of unmanned plane snow depth measurement apparatus return to work stations and entered
Enter holding state.
As shown in figure 1, during two groups of unmanned plane snow depth measurement apparatus synchronized tracking target trains, one of which unmanned plane snow depth
Measurement apparatus rests against the controlled train head top position point of target, another group of unmanned plane with keeping the posture geo-stationary of flight
Snow depth measurement apparatus accelerates flight on the controlled train direct of travel of target, and distance is S between train head0；
S0Represent snow disaster safe stopping distance, S0=S × K, S represent train braking distance, and K represents safety coefficient；Train system
Dynamic distance can obtain according to train attribute, set safety coefficient K to be because on the one hand track curvature radius be present；On the other hand
It is that K takes 1.1-1.2 because there is any discrepancy in the coefficient of friction and theoretical calculation of track.
When snow depth data exceed snow depth safety value corresponding to safe train operation, in snow disaster monitoring big data
The heart sends a warning.
In the secure data prestored, train safe speed reduces with the increase of track snow depth thickness.
Real-time snow depth data pass sequentially through the unmanned plane snow depth measurement apparatus 2 of unmanned plane snow depth measurement apparatus 1/ and transmitted to work
Transmit to snow disaster monitoring large data center at station；
Train real time execution speed passes sequentially through unmanned plane snow depth 2 → work station of measurement apparatus and transmitted to the big number of snow disaster monitoring
According to center；
Unmanned plane snow depth measurement apparatus 2 passes sequentially through unmanned plane snow depth 2 → work station of measurement apparatus with train relative distance
→ snow disaster monitoring large data center；
The time of measuring of train speed, track snow depth and the range data of unmanned plane and train passes sequentially through unmanned plane snow
The deep unmanned plane snow depth 2 → work station of measurement apparatus of measurement apparatus 1/ is transmitted to snow disaster monitoring large data center.
After unmanned plane snow depth measurement apparatus and target train synchronization move ahead, in target travel to next work station, nothing
Man-machine snow depth measurement apparatus carries out task handing-over, and railway trains control centre sends finger to the newest work station that target train enters
Order so that two unmanned plane snow depth measurement apparatus of the work station are taken off synchronized tracking target train, two nothings originally flown
Man-machine snow depth measurement apparatus enters the work station, is charged, and the real-time speed of target train and position are sent to ground
Train controlling center.
As shown in Fig. 2 a kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and forecasting system, including：
Railway trains control centre, for receiving the processing data from snow disaster monitoring large data center real-time Transmission, and it is right
Train is scheduled, including train scheduling module, warning information memory module and the first wireless communication module；
Snow disaster monitoring large data center, for receiving the real-time data collection sent from work station, and data are divided
Analysis is handled, including unmanned plane scheduler module, task data memory module, CPU module and the second wireless telecommunications mould
Block；
Work station, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd wireless communication module and at least two nothings
Man-machine snow depth measurement apparatus；
Wherein, unmanned plane snow depth measurement apparatus 1 includes flight instruments and the ultrasonic snow depth measuring instrument being installed on it, distance
Sensor, Kinect sensor and the 4th wireless communication module；
Unmanned plane snow depth measurement apparatus 2 includes flight instruments and the ultrasonic snow depth measuring instrument being installed on it, Kinect are passed
Sensor, locomotive velocity measuring device, range sensor and the 4th wireless communication module；
Collection is presently in the real-time track snow depth data below position to unmanned plane snow depth measurement apparatus in real time, passes through simultaneously
Kinect sensor gathers train number；
Work station receives the message that unmanned plane snow depth measurement apparatus gathers in real time, and transfers a message to the big number of snow disaster monitoring
According to center, snow disaster monitoring large data center analyzes and processes to message；
The snow disaster monitoring large data center and railway trains control centre survey according to above-mentioned method to unmanned plane snow depth
Amount device and train are scheduled control, so as to realize snow disaster monitoring and early warning.
LED is additionally provided with the unmanned plane snow depth measurement apparatus, subsidiary during for night running.
By using scheme of the present invention, railway dispatching part no longer needs to install a large amount of high costs along the railway
Snow depth monitoring point, also directly avoided the occurrence of from technical scheme to the leakage control problem of certain time running train and to Along Railway
The blind zone problem of snow depth measurement, hence it is evident that improve the operation safety under heavy snow weather to train.
Claims (7)
1. a kind of Along Railway snow disaster unmanned plane snow depth intelligent measure and Forecasting Methodology, it is characterised in that comprise the following steps：
Step 1：History ice and snow accumulation data and train operation thing when being run according to train along Along Railway track on track
Therefore data, select ice and snow accumulation on track and exceed continuous orbit section corresponding to safety value and interruption of service, to selected track regions
Between equidistantly divided, and each track section unit set work station, each two groups of unmanned plane snow depths of workstation configuration
Measurement apparatus；
The unmanned plane snow depth measurement apparatus include flight instruments and be loaded on flight instruments ultrasonic snow depth measuring instrument,
Kinect sensor, range sensor and locomotive velocity measuring device；
The unmanned plane snow depth measurement apparatus is communicated with the work station, the work station, snow disaster monitoring large data center
Communicated successively with ground control centre；
Step 2：The each track section unit obtained to step 1 is numbered, and records the beginning of each track section unit
Mileage, terminate mileage, train safe speed, station number and unmanned plane snow depth measurement apparatus numbering in the unit of section；
Step 3：Target train enters snow disaster danger track section, starts track snow depth monitoring task；
When target train enters snow disaster danger track section, snow disaster danger track regions that railway trains control centre will be monitored
Between the train number of element number and the controlled train of target be sent to snow disaster monitoring large data center, snow disaster monitoring large data center
Work station into the snow disaster danger track section unit sends measurement instruction, carries out the first of unmanned plane track snow depth monitoring task
Beginningization；
Two groups of unmanned plane snow depth measurement apparatus in work station control station are synchronously taken off and track target train；
Step 4：And using the Kinect sensor collection train number in unmanned plane snow depth measurement apparatus, send it to snow disaster
The controlled train number of target that monitoring large data center is sent out in advance with railway trains control centre is compared, if comparison result
Unanimously, then into step 5, otherwise, 2 groups of unmanned plane snow depth measurement apparatus return to work station, stop tracking, and wait refers to next time
Order；
Step 5：The real-time acquisition trajectory snow depth data of two groups of unmanned plane snow depth measurement apparatus, train speed and relative with train
Distance, and real-time Transmission is to affiliated work station；
Step 6：Snow disaster monitoring large data center according to work station by the message of reception, it is real using train number as search key
When to train speed, snow depth data compared with the secure data prestored, utilize real-time snow depth number
According to the safe speed for finding corresponding train, if the real-time speed of train corresponds to safe speed more than real-time snow depth data
When, then snow disaster monitoring large data center sends a warning；
Step 7：After target train rolls snow disaster danger track section away from, railway trains control centre is into snow disaster monitoring big data
The heart sends the signal that task is completed, and snow disaster monitoring large data center sends the signal that task completes to work station, and work station is to two
Group unmanned plane snow depth measurement apparatus sends the signal that task is completed, and two groups of unmanned plane snow depth measurement apparatus return work stations, which enter, to be treated
Machine state.
2. according to the method for claim 1, it is characterised in that two groups of unmanned plane snow depth measurement apparatus synchronized tracking target columns
Che Shi, one of which unmanned plane snow depth measurement apparatus rest against the controlled train head of target with keeping the posture geo-stationary of flight
Top position point, another group of unmanned plane snow depth measurement apparatus accelerates flight on the controlled train direct of travel of target, and and train
Distance is S between head0；
S0Represent snow disaster safe stopping distance, S0=S × K, S represent train braking distance, and K represents safety coefficient, and span is
1.1-1.2。
3. according to the method for claim 2, it is characterised in that when snow depth data exceed corresponding to safe train operation
During snow depth safety value, snow disaster monitoring large data center sends a warning.
4. according to the method for claim 3, it is characterised in that in the secure data prestored, train safety speed
Degree reduces with the increase of track snow depth thickness.
5. according to the method described in claim any one of 1-4, it is characterised in that when unmanned plane snow depth measurement apparatus and target column
After car synchronously moves ahead, in target travel to next work station, unmanned plane snow depth measurement apparatus carries out task handing-over, railway trains
Control centre sends instruction to the newest work station that target train enters so that two unmanned plane snow depths measurement dress of the work station
The synchronized tracking target train that takes off is put, the two unmanned plane snow depth measurement apparatus originally flown enter the work station, are charged,
And the real-time speed of target train and position are sent to railway trains control centre.
6. a kind of Along Railway snow disaster unmanned plane snow depth measurement and forecasting system, it is characterised in that including：
Railway trains control centre, for receiving the processing data from snow disaster monitoring large data center real-time Transmission, and to train
It is scheduled, including train scheduling module, warning information memory module and the first wireless communication module；
Snow disaster monitoring large data center, for receiving the real-time data collection sent from work station, and data are carried out at analysis
Reason, including unmanned plane scheduler module, task data memory module, CPU module and the second wireless communication module；
Work station, including unmanned plane operation module, Unmanned Aerial Vehicle Data storehouse, the 3rd wireless communication module and at least two unmanned planes
Snow depth measurement apparatus；
Wherein, a unmanned plane snow depth measurement apparatus includes flight instruments and the ultrasonic snow depth measuring instrument being installed on it, distance
Sensor, Kinect sensor and the 4th wireless communication module；
Another unmanned plane snow depth measurement apparatus includes flight instruments and the ultrasonic snow depth measuring instrument being installed on it, Kinect are passed
Sensor, locomotive velocity measuring device, range sensor and the 4th wireless communication module；
Collection is presently in the real-time track snow depth data below position to unmanned plane snow depth measurement apparatus in real time, passes through simultaneously
Kinect sensor gathers train number；
Work station receives the message that unmanned plane snow depth measurement apparatus gathers in real time, and transfers a message in snow disaster monitoring big data
The heart, snow disaster monitoring large data center analyze and process to message；
The method pair of the snow disaster monitoring large data center and railway trains control centre described according to claim any one of 1-5
Unmanned plane snow depth measurement apparatus and train are scheduled control, so as to realize snow disaster monitoring and early warning.
7. system according to claim 6, it is characterised in that be additionally provided with LED in the unmanned plane snow depth measurement apparatus
Lamp.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112141172B (en) * | 2019-06-28 | 2022-01-07 | 比亚迪股份有限公司 | Rain and snow mode setting method and system and controller |
| CN112309132B (en) * | 2020-03-13 | 2021-06-04 | 上海旺链信息科技有限公司 | Big data snow environment information management system |
| CN113147843B (en) * | 2021-05-21 | 2023-05-19 | 上海电气泰雷兹交通自动化系统有限公司 | Automatic train control method based on environment sensing and signal system |
| CN113516408B (en) * | 2021-07-30 | 2024-01-02 | 中国气象局气象探测中心 | Real-time observation analysis-based method for arranging snow accumulation measuring points along high-speed rail |
| CN113734241A (en) * | 2021-09-24 | 2021-12-03 | 中车青岛四方机车车辆股份有限公司 | Method and system for monitoring ice and snow state of magnetic suspension line |
| CN116697943B (en) * | 2023-08-02 | 2023-09-29 | 成都信息工程大学 | Snow depth measuring device and method |
| CN116691790B (en) * | 2023-08-04 | 2023-11-14 | 比亚迪股份有限公司 | Rail vehicle control method, system, aircraft and target controller |
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| CN103978996B (en) * | 2014-05-15 | 2015-12-30 | 南京理工大学 | A kind of high speed railway environment information acquisition, assessment and prior-warning device and method |
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