CN108688692A - A kind of railroad train condition monitoring system and its detection method - Google Patents
A kind of railroad train condition monitoring system and its detection method Download PDFInfo
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- CN108688692A CN108688692A CN201810879251.XA CN201810879251A CN108688692A CN 108688692 A CN108688692 A CN 108688692A CN 201810879251 A CN201810879251 A CN 201810879251A CN 108688692 A CN108688692 A CN 108688692A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000007704 transition Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 5
- 238000010008 shearing Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/60—Testing or simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention provides a kind of railroad train condition monitoring system and detection method, the detecting system includes measuring device and computing device, and the measuring device includes:Two shear force sensors at detection zone both ends are set;Two groups of infrared emission sensors being arranged on the inside of two shear force sensors;The passive sensor group and active sensor group being arranged between two groups of infrared emission sensors, the computing device calculate the operating status of train according to the signal that the measuring device measures.The detecting system is by multiple sensors comprehensive detection and combines new detection method, improves the accuracy and reliability of low speed and parking environment Train motion state detection.
Description
Technical field
The present invention relates to the detecting systems and its detection of detection technique field more particularly to a kind of railroad train operating status
Method.
Background technology
The systems such as broken rail track scale, Super leaning load instrument and the detection of shipping loading condition HD video are not loaded in railway freight pacifies
Important function is played in full-automatic detection monitoring, train motion state detection module is that working condition is opened in above equipment system
It opens closing and participates in the important composition for the amount of sentencing.Current device, which uses, requires that by the speed of detection device 5km/ should be reached in specification
H or more, at this time equipment accuracy of detection disclosure satisfy that field application requirement.
Recently as the increasing of shipping detection device investment, there is equipment component to be mounted on to hair line, shunting line etc.
Position, these positions exist frequently operation back and forth shunt, the applying working conditions such as Brake stop, low rate start, existing train movement inspection
Module is surveyed using the passive mode close to switch, in low speed and the bad detection for leading to equipment of working condition under parking operating mode
Accuracy affected is larger, for example, in the case that Train Stopping can not trigger signal, can not be detected when Train Stopping;Train
Jitter in the case of speed is relatively slow, be easy to cause train wheelbase and calculates mistake.In addition, train enters the signal and use for surveying area
Signal to calculate speed, wheelbase is all that the same sensor signal used is easy to be disturbed without redundancy, and train enters
System software generation erroneous judgement can be easy to cause or exit by surveying in area to stop to restart.
Invention content
In view of this, one of the objects of the present invention is to provide a kind of railroad train condition monitoring system and detection sides
Method, the detecting system is by multiple sensors comprehensive detection and combines new detection method, improves under low speed and parking environment
The accuracy and reliability of train motion state detection
In order to achieve the above objectives, on the one hand, the present invention adopts the following technical scheme that:
A kind of railroad train running state detecting device system, including measuring device and computing device, which is characterized in that
The measuring device includes:
Two shear force sensors at detection zone both ends are set;
Two groups of infrared emission sensors being arranged on the inside of two shear force sensors;
The passive sensor group and active sensor group being arranged between two groups of infrared emission sensors, passive sensor group
Including at least two passive sensors spaced apart being disposed therein on a rail, active sensor group includes interval
Certain distance is arranged at least two active sensors on an other rail, the passive sensor and two it is described active
Sensing station is opposite;
The computing device calculates the operating status of train according to the signal that the measuring device measures.
The computing device includes movement velocity discrimination module, direction of motion discrimination module, stop moving backward discrimination module and/or
Wheelbase discrimination module, the movement velocity discrimination module, direction of motion discrimination module stop move backward discrimination module and wheelbase differentiation mould
The signal that block is measured according to measuring device respectively calculates the movement velocity of train, the direction of motion, stops state of rolling backward and wheelbase.
Every group of infrared emission sensor is mounted on the inside of shear force sensor at 40-60mm.
At least two passive sensor includes two passive sensors, and the distance between two passive sensors are
260-280mm;And/or
At least two active sensor includes two active sensors, and the distance between two active sensors are also
260-280mm。
Every group of infrared emission sensor includes two infrared sensors being arranged oppositely on rail.
On the other hand, the present invention adopts the following technical scheme that:
The detection method of train operation state is carried out using above-mentioned railroad train condition monitoring system, feature exists
In the detection of progress current of traffic is with the following method:
Shear force sensor signal is obtained, the direction of advance of train is judged according to the variation of signal level value, when train passes through
When shear force sensor, shear force sensor signal is positive value by negative value transition or is negative value by positive value transition, according to sensing data
Transition position and sequence judge the up-downlink direction of train.
Carry out train running speed detection with the following method:At least two passive sensor includes two passive biographies
Sensor, at least two active sensor include two active sensors,
(1) initial velocity measures:
Train is respectively t1, t2, the distance of two groups of infrared emission sensors by the time of two groups of infrared emission sensors
For L, then the initial velocity v1=L/abs (t1-t2) that vehicle passes through test section;
(2) correct velocity measures:
Work as 0<v1<Train is lower-speed state when=5km/h, and triggering active sensor works, and train passes through the same side rail
On time of two active sensors be respectively t3, t4, the distance between two active sensors are L2, then train at this time
Correct velocity is v2=L2/abs (t3-t4);
Work as v1>Train is fast state when 5km/h, and triggering passive sensor works, and train passes through on the rail of the same side
The time of two passive sensors is respectively t5, t6, and the distance between two active sensors are L2, then train at this time is accurate
Speed is v3=L2/abs (t3-t4).
It includes following method to carry out the detection of train wheelbase:
As initial speed 0<v1<Using the semaphore of active sensor when 5km/h;Train first axis, second axis are logical
One time crossed in two active sensors is respectively t7, t8, and train first axis, second axis pass through two active biographies
The time of another in sensor is respectively t9, t10, then the wheelbase between two axis of train is [v2*abs(t7-t8)+v2*
abs(t9-t10)]/2;
As initial speed v1>Using the semaphore of passive sensor when=5km/h:Train first axis, second axis are logical
One time crossed in two passive sensors is respectively t7, t8, and train first axis, second axis pass through two passive biographies
The time of another in sensor is respectively t9, t10, then the wheelbase between two axis of train is [v3*abs(t7-t8)+v3*
abs(t9-t10)]/2。
Carrying out the detection of train wheelbase further includes:Train forms wheelbase table after detection interval, each vehicle with national regulation
Profile shaft away from obtained after comparison obtain train model.
It includes following method to carry out Train Stopping or state of rolling backward detection:
When one of which infrared emission sensor continuously sends out signal, and another set infrared sensor no signal exports,
Then judge that train is in dead ship condition;And/or
It is super then to judge that the vehicle is parking shape after a period of time when two groups of infrared emission sensors continuously send out signal
State;And/or
The detection method of state of rolling backward is:After judging Train Stopping, continue to read shear force sensor signal, when train passes through
When crossing shear force sensor, the signal of shear force sensor is positive value by negative value transition or is negative value by positive value transition, according to signal
The time difference of transition and speed calculate the axle distance by shear force sensor, if it is positive by axle distance and reversed logical
The axle distance crossed is identical, then judges that train is in state of rolling backward.
The present invention has the following technical effect that:
1) use shear force sensor as Train Approaching, into the sensor in survey area, according to the principle of shear force sensor
The deformation of rail generates signal intensity, effectively improves the validity tested under the full velocity shooting of train;
2) active using active close to switch, by the way of the passive on-line measurement simultaneously close to two sets of sensing systems of switch
It is more effective to the train of low-speed motion close to switching, it is passive more effective to the train of high-speed cruising close to switching, it can be according to vehicle
Speed automatically selects suitable information and carries out wheelbase, speed judgement;
3) by shear force sensor, infrared sensor synthesis arrangement, according to train to the mechanics analysis of rail and to infrared
The signal blocks situation analysis of sensor judges that the parking of train, reversing etc. are improper and passes through situation.
Description of the drawings
By referring to the drawings to the description of the embodiment of the present invention, the above and other purposes of the present invention, feature and
Advantage will be apparent from, in the accompanying drawings:
Fig. 1 shows the measuring device structural schematic diagram of detecting system of the present invention;
Fig. 2 is the oscillogram of shear force sensor when train passes through shear force sensor;
Fig. 3 is train in one schematic diagram of detection zone dead ship condition;
Fig. 4 is train in two schematic diagram of detection zone dead ship condition;
Fig. 5 is train in three schematic diagram of detection zone dead ship condition.
Specific implementation mode
Below based on embodiment, present invention is described, but the present invention is not restricted to these embodiments.Under
Text to the present invention datail description in, it is detailed to describe some specific detail sections, in order to avoid obscure the present invention essence,
There is no narrations in detail for well known method, process, flow, element.
In addition, it should be understood by one skilled in the art that provided herein attached drawing be provided to explanation purpose, and
What attached drawing was not necessarily drawn to scale.
Unless the context clearly requires otherwise, "include", "comprise" otherwise throughout the specification and claims etc. are similar
Word should be construed as the meaning for including rather than exclusive or exhaustive meaning;That is, being containing for " including but not limited to "
Justice.
In the description of the present invention, it is to be understood that, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indicating or implying relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
This application provides a kind of railroad train condition monitoring systems.
A kind of railroad train condition monitoring system comprising measuring device and computing device, as shown in Figure 1, two
The parallel lines extended along horizontal direction represent two rails, and measuring device is just arranged on two rails, and measuring device includes:
It is spaced two shear force sensors of one end distance setting:Shear force sensor A and shear force sensor B, shear force sensor A
Rail region between shear force sensor B is as detection zone;Shear force sensor A and shear force sensor B are arranged in two iron
Any bar in rail;
Two groups of infrared emission sensors being arranged on the inside of two shear force sensors, first group of infrared emission sensor E are set
It sets on the inside of shear force sensor A, includes the infrared sensor E-1 being arranged oppositely on two rails and infrared sensor E-2, the
Two groups of infrared emission sensor F are arranged on the inside of shear force sensor B, include the infrared sensor being arranged oppositely on two rails
F-1 and infrared sensor F-2.Preferably, distances of first group of infrared emission sensor E apart from shear force sensor A is 40-
60mm, preferably 50mm, distance of second group of infrared emission sensor apart from shear force sensor B are also 40-60mm, preferably
50mm。
Passive sensor group and active sensor group, passive biography are provided on rail between two groups of infrared emission sensors
Sensor group includes at least two passive sensors spaced apart being disposed therein on a rail, active sensor group packet
It includes at least two active sensors spaced apart being arranged on an other rail, the passive sensor and described has
Source sensing station is opposite;In the present embodiment, passive sensor group is preferably two passive close to switch:1# is passive close
Switch and 2# are passive close to switch;Active sensor group is preferably two active close to switch:1# is active to be had close to switch and 2#
Source is close to switch, and 1# is passive to be arranged at close to switch on wherein one in two rails close to switch and 2# are passive, and 1# has
Source close to switch and 2# it is active close to switch be arranged on other one in two rails, wherein 1# it is passive close to switch and
1# is active opposite close to the position of the switch, and 2# is passive active close to the opposite in the position of the switch preferably, 1# is active close to switch and 2#
It is 260-280mm close to the distance between active close switch of switch and 2#, for example, 270mm, 1# are passive close to switch and 2#
The distance between passive close switch is also 260-280mm, for example, 270mm.
The computing device calculates the operating status of train according to the signal that the measuring device measures.The calculating
Device includes movement velocity discrimination module, direction of motion discrimination module, stops move backward discrimination module and/or wheelbase discrimination module, institute
It states movement velocity discrimination module, direction of motion discrimination module, stop reversing discrimination module and wheelbase discrimination module respectively according to measurement
The signal that device measures calculates the movement velocity of train, the direction of motion, stops state of rolling backward and wheelbase.Preferably, calculating dress
It can be industrial personal computer to set, and industrial personal computer is detected train operation state by the signal that measuring device detects.
Carrying out train operation state detection using above-mentioned railroad train condition monitoring system, the specific method is as follows:
(1) current of traffic detects
For shear force sensor signal as vehicle by unlatching, end signal, shear force sensor is load cell, works as train
Rail is set to deform upon close to Qu Shihui is surveyed, it, can basis as signal is changed into positive level to train from negative level from the distant to the near
The numerical value interpretation train distance of level surveys the distance in area, and when train wheel is pressed in right over shear force sensor, signal level is
Zero, as shown in Figure 2.Shear force sensor signal is read, the direction of advance of train is judged according to the variation of signal level value, works as train
When by shear force sensor, shear force sensor signal becomes positive value from negative value, according to the transition position of sensing data and sequence
The up-downlink direction of train is may determine that, specifically, if the signal value of shear force sensor A first occurs by the jump of negative value to positive value
Become, the variation by negative value to positive value occurs for the signal value of subsequent shear force sensor B, then the direction of train operation is to be sensed from shearing
Device A is run to the directions shear force sensor B;Conversely, signal value of the signal value of shear force sensor B prior to shear force sensor A occurs
By the transition of negative value to positive value, then the direction of train operation is to be run from shear force sensor B to the directions shear force sensor A.
(2) train running speed detects
(1) initial velocity measurement is carried out first:
Train is respectively t1, t2, the distance of two groups of infrared emission sensors by the time of two groups of infrared emission sensors
For L, then the initial velocity v1=L/abs (t1-t2) that vehicle passes through test section;
When vehicle is by testing section, since test section is shorter, movement velocity variation will not vary widely.
V1 be vehicle by initial velocity, for determining that starting passive or active sensor carries out accurate speed differentiation.
(2) correct velocity measurement is carried out on the basis of testing initial velocity:
Work as 0<v1<Train is lower-speed state when=5km/h, and train operation cannot trigger passive sensor, need well
Using more sensitive and accurate active sensor signal, i.e., trigger active sensor in lower-speed state Train proximity sensor
Work, train are respectively t3, t4 by the time of two active sensors on the rail of the same side, between two active sensors
Distance be L2, then train correct velocity at this time be v2=L2/abs (t3-t4);
Work as v1>Train is fast state when 5km/h, this speed is enough to trigger passive sensor, active sensor instead because
It may be interfered for speed quickening, therefore use passive sensor signal.Passive sensing is triggered when train approaching sensor
Device works, and train is respectively t5, t6 by the time of two passive sensors on the rail of the same side, two active sensors it
Between distance be L2, then train correct velocity at this time be v3=L2/abs (t3-t4).
(3) train wheelbase detects
Train wheelbase detection can be carried out on the basis of above-mentioned train running speed detects, the specific method is as follows:
As initial speed 0<v1<Using the semaphore of active sensor when 5km/h;Train first axis, second axis are logical
One time crossed in two active sensors is respectively t7, t8, and train first axis, second axis pass through two active biographies
The time of another in sensor is respectively t9, t10, then the wheelbase between two axis of train is [v2*abs(t7-t8)+v2*
abs(t9-t10)]/2;
As initial speed v1>Using the semaphore of passive sensor when=5km/h:Train first axis, second axis are logical
One time crossed in two passive sensors is respectively t7, t8, and train first axis, second axis pass through two passive biographies
The time of another in sensor is respectively t9, t10, then the wheelbase between two axis of train is [v3*abs(t7-t8)+v3*
abs(t9-t10)]/2。
Train forms wheelbase table after detection interval, obtains obtaining train after comparing with each vehicle wheelbase of national regulation
Model.
(4) reversing dead ship condition detection
1) as shown in figure 3, train passes through first group of infrared emission sensor E, without second group of infrared sensor F, and
Active/passive sensor critical region is not reached, at this point, first group of infrared emission sensor E continuously sends out signal, second group red
Outer opposite type sensor F no signals output, at this moment judges the vehicle for dead ship condition.
When train is when this state starts herein, it is defaulted as lower-speed state, velocity estimated is carried out using active sensor.
2) as shown in figure 4, train is complete by first group of infrared emission sensor E and second group of infrared sensor F, vehicle
It is parked in entire test section, at this time first group of infrared emission sensor E and second group of infrared sensor F continuously send out signal,
After the time of one end, judge the vehicle for dead ship condition.
At this point, some train is being opened before parking by active/passive sensor detection zone, another part train
Active/passive sensor detection zone is continued through after dynamic.At this time due to two groups of infrared emission sensor continuous and effectives, actually
Its is no longer valid.Only when second group of infrared emission sensor F no signal is sent out, at this time judge vehicle completely by second
Group infrared emission sensor F, at this time give tacit consent to train be lower-speed state, using active sensor integrate train start and stop before data into
Row velocity estimated.
3) as shown in figure 5, train end is passed by first group of infrared emission sensor E but without second group of infrared emission
Sensor F, first group of infrared emission sensor E no signals output at this time, second group of infrared emission sensor F persistent signals output,
Then judge the parking stall dead ship condition.When second group of infrared emission sensor no signal is blocked, i.e. second group of infrared emission sensing
When device F no signals export, train has passed through detection zone.Before parking, total data has all passed through active/passive sensor
Detection zone, at this time can the data of integrated active sensor judge the speed of train.
When vehicle moves backward in test section, shunts repeatedly, infrared sensor is persistently blocked, and should integrate shearing at this time
The waveform of sensor changes to judge, regular negative and positive level change is not presented for the waveform of shear force sensor at this time.Reversing shape
The detection method of state is:After judging Train Stopping, continue to read shear force sensor signal, when train passes through shear force sensor
When, the signal of shear force sensor is positive value by negative value transition or is negative value by positive value transition, according to the time difference of signal transition
And speed calculates the axle distance by shear force sensor, if it is positive by axle distance and back through axle distance
It is identical, then judge that train is in state of rolling backward in another preferred embodiment, the method for determining whether reversing is as follows, row
Locomotive head is preceding when vehicle is normally advanced, and car body is rear.Locomotive head is 6 axles, and car body is 4 axles.Work as shear force sensor
When carrying out the transition of semaphore, i.e. an axle have passed through shear force sensor, and two axles pass through shear force sensor, shearing sensing
Transition twice occurs for device, and the axle distance by shear force sensor is calculated according to the time difference of semaphore transition and speed, with
Each vehicle wheelbase of national regulation obtains obtaining train model after comparing, and the train passed through with previous column is compared, if
Train body model is saved there are 3 and sequence described above is identical, is determined as that previous train is moved backward again after.
Those skilled in the art will readily recognize that under the premise of not conflicting, above-mentioned each preferred embodiment can be free
Ground combination, superposition.
It should be appreciated that above-mentioned embodiment is merely exemplary, and not restrictive, without departing from the basic of the present invention
In the case of principle, those skilled in the art can be directed to the various apparent or equivalent modification or replace that above-mentioned details be made
It changes, is all included in scope of the presently claimed invention.
Claims (10)
1. a kind of railroad train condition monitoring system, including measuring device and computing device, which is characterized in that
The measuring device includes:
Two shear force sensors at detection zone both ends are set;
Two groups of infrared emission sensors being arranged on the inside of two shear force sensors;
The passive sensor group and active sensor group being arranged between two groups of infrared emission sensors, passive sensor group include
At least two passive sensors spaced apart being disposed therein on a rail, active sensor group include that interval is certain
At least two active sensors on an other rail, the passive sensor and the active sensor position is arranged in distance
It sets opposite;
The computing device calculates the operating status of train according to the signal that the measuring device measures.
2. a kind of railroad train condition monitoring system according to claim 1, which is characterized in that the computing device
Including movement velocity discrimination module, direction of motion discrimination module, stop move backward discrimination module and/or wheelbase discrimination module, the fortune
Dynamic speed discrimination module, stops reversing discrimination module and wheelbase discrimination module respectively according to measuring device at direction of motion discrimination module
The signal of measurement calculates the movement velocity of train, the direction of motion, stops state of rolling backward and wheelbase.
3. a kind of railroad train condition monitoring system according to claim 1 or 2, which is characterized in that every group infrared
Opposite type sensor is mounted on the inside of shear force sensor at 40-60mm.
4. a kind of railroad train condition monitoring system according to claim 1 or 2, which is characterized in that it is described at least
Two passive sensors include two passive sensors, and the distance between two passive sensors are 260-280mm;And/or
At least two active sensor includes two active sensors, and the distance between two active sensors are also 260-
280mm。
5. a kind of railroad train condition monitoring system according to claim 1 or 2, which is characterized in that every group infrared
Opposite type sensor includes two infrared sensors being arranged oppositely on rail.
6. carrying out the detection of train operation state using the railroad train condition monitoring system described in one of claim 1-5
Method, which is characterized in that carry out current of traffic detection with the following method:
Shear force sensor signal is obtained, the direction of advance of train is judged according to the variation of signal level value, when train is by shearing
When sensor, shear force sensor signal is positive value by negative value transition or is negative value by positive value transition, according to the jump of sensing data
Become position and sequence judges the up-downlink direction of train.
7. carrying out the detection of train operation state using the railroad train condition monitoring system described in one of claim 1-5
Method, which is characterized in that at least two passive sensor includes two passive sensors, at least two active sensor
Device includes two active sensors, carries out train running speed detection with the following method:
(1) initial velocity measures:
Train is respectively t1, t2 by the time of two groups of infrared emission sensors, and the distance of two groups of infrared emission sensors is L,
The initial velocity v1=L/abs (t1-t2) that then vehicle passes through test section;
(2) correct velocity measures:
Work as 0<v1<Train is lower-speed state when=5km/h, and triggering active sensor works, and train passes through on the rail of the same side
The time of two active sensors is respectively t3, t4, and the distance between two active sensors are L2, then train at this time is accurate
Speed is v2=L2/abs (t3-t4);
Work as v1>Train is fast state when 5km/h, and triggering passive sensor works, and train passes through two on the rail of the same side
The time of passive sensor is respectively t5, t6, and the distance between two active sensors are L2, then train correct velocity at this time
For v3=L2/abs (t3-t4).
8. the detection method of train operation state according to claim 7, which is characterized in that carry out train wheelbase detection packet
Include following method:
As initial speed 0<v1<Using the semaphore of active sensor when 5km/h;Train first axis, second axis pass through two
One time in a active sensor is respectively t7, t8, and train first axis, second axis pass through two active sensors
In the time of another be respectively t9, t10, then the wheelbase between two axis of train is [v2*abs(t7-t8)+v2*abs
(t9-t10)]/2;
As initial speed v1>Using the semaphore of passive sensor when=5km/h:Train first axis, second axis pass through two
One time in a passive sensor is respectively t7, t8, and train first axis, second axis pass through two passive sensors
In the time of another be respectively t9, t10, then the wheelbase between two axis of train is [v3*abs(t7-t8)+v3*abs
(t9-t10)]/2。
9. the detection method of train operation state according to claim 8, which is characterized in that carry out the detection of train wheelbase also
Including:Train forms wheelbase table after detection interval, obtains obtaining train type after comparing with each vehicle wheelbase of national regulation
Number.
10. carrying out the inspection of train operation state using the railroad train condition monitoring system described in one of claim 1-5
Survey method, which is characterized in that it includes following method to carry out Train Stopping or state of rolling backward detection:
When one of which infrared emission sensor continuously sends out signal, and another set infrared sensor no signal exports, then sentence
Disconnected train is in dead ship condition;And/or
It is super then to judge the vehicle for dead ship condition after a period of time when two groups of infrared emission sensors continuously send out signal;With/
Or,
The detection method of state of rolling backward is:After judging Train Stopping, continue to read shear force sensor signal, when train is by cutting
When force snesor, the signal of shear force sensor is positive value by negative value transition or is negative value by positive value transition, according to signal transition
Time difference and speed calculate the axle distance by shear force sensor, if it is positive by axle distance and back through
Axle distance is identical, then judges that train is in state of rolling backward.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110908004A (en) * | 2019-12-16 | 2020-03-24 | 武汉黎赛科技有限责任公司 | Servicing yard locomotive platform location positioning system and positioning method |
| CN112197788A (en) * | 2020-12-07 | 2021-01-08 | 天津美腾科技股份有限公司 | Vehicle traveling state detection method and device |
| CN112477925A (en) * | 2019-09-12 | 2021-03-12 | 株洲中车时代电气股份有限公司 | System and method for judging position of locomotive in train |
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