CN110395290A - Rolling stock information collecting method and acquisition device - Google Patents
Rolling stock information collecting method and acquisition device Download PDFInfo
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- CN110395290A CN110395290A CN201910735230.5A CN201910735230A CN110395290A CN 110395290 A CN110395290 A CN 110395290A CN 201910735230 A CN201910735230 A CN 201910735230A CN 110395290 A CN110395290 A CN 110395290A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/04—Indicating or recording train identities
Abstract
Aiming at the problem that how to improve rolling stock dynamic inspection detection efficiency, the present invention provides a kind of rolling stock information collecting method and acquisition device, belongs to the data collecting field of rolling stock.At the time of the present invention passes through sensor by three wheel signal sensors acquisition each axis of each car, the wheelbase information of this vehicle is obtained using the moment, it is matched using wheelbase information with known wheelbase table, judges the attribute of vehicle and the location information of electronic tag.The AEI data for reading vehicle by ground AEI antenna at the same time demodulate to obtain the information such as vehicle, license number, manufactory and the date of manufacture of vehicle.At the time of further according to signal is obtained with wheel signal sensor at the time of reading AEI data, AEI data are matched with vehicle.This method of the present invention can accurately obtain the information of vehicle, provide effective guarantee for vehicle dynamic instrumentation.
Description
Technical field
The present invention relates to a kind of information collection of rolling stock, in particular to a kind of AEI data for acquiring rolling stock and
The method of axle location information.
Background technique
In past several years, railway transportation continues to develop, grows.The promotion of transport power, vehicle increase, and traditional column, which are examined, to be made
Industry mode has welcome new challenge.It is apparent it is contemplated that artificial detection, the mode of record in terms of certainly
It is not able to satisfy the requirement of real vehicle transport.Under in view of the situation, dynamic inspection detection is to improve detection efficiency, reduce cost
One of reasonable effective way.
Summary of the invention
Aiming at the problem that how to improve rolling stock dynamic inspection detection efficiency, the present invention provides a kind of railcar detected automatically
Information collecting method and acquisition device.
A kind of rolling stock information collecting method of the invention, described method includes following steps:
S1, using at least three wheel signal sensors acquisition rolling stock each axis wheel signal, record respectively
At the time of each wheel signal sensor acquisition signal, and rolling stock bottom electronics mark is acquired using ground AEI license number antenna
AEI data in label, at the time of record acquires AEI data；
S2, according to each wheel signal sensor acquire signal at the time of, obtain the wheelbase information of rolling stock；
S3, according to acquisition AEI data at the time of at least three wheel signal sensors acquisition wheel signal at the time of, it is right
AEI data and the vehicle of acquisition match, the corresponding relationship of the AEI data of determining acquisition and corresponding electronic tag place vehicle,
It completes to acquire the AEI data of every section vehicle.
Preferably, the S2 includes:
S21, according to the initial time of two wheel signal sensors acquisition wheel signal at the time of it is poor, in conjunction with described two
Mounting distance between wheel signal sensor calculates the speed of service of rolling stock；
S22, the railway that difference and S21 are obtained at the time of generate two adjacent signals according to the same wheel signal sensor
Running velocity calculates wheelbase information.
The present invention also provides a kind of rolling stock information collecting device, described device is sensed including at least three wheel signals
Device, ground AEI license number antenna and collecting vehicle information module；
Each wheel signal sensor, the wheel signal of each axis for acquiring the rolling stock passed through；
Ground AEI license number antenna, for acquiring the AEI data in the electronic tag of rolling stock bottom；
Collecting vehicle information module includes logging modle, wheelbase acquisition module and processing module；
Logging modle, while being connect with wheel signal sensor and ground AEI license number antenna, for recording each wheel letter
At the time of number sensor acquisition signal and at the time of acquisition AEI data；
Wheelbase obtains module, connect with logging modle, at the time of for acquiring signal according to each wheel signal sensor,
Obtain the wheelbase information of rolling stock；
Processing module, while obtaining module with logging modle and wheelbase and connect, for according at the time of acquisition AEI data and
At moment at the time of at least three wheel signal sensors acquire wheel signal, match to AEI data and the vehicle of acquisition, determines
The corresponding relationship of the AEI data of acquisition and vehicle where corresponding electronic tag is completed to acquire the AEI data of every section vehicle.
Preferably, the wheelbase acquisition module includes:
Speed of service computing module, for according to the initial time of two wheel signal sensors acquisition wheel signal when
It is poor to carve, and in conjunction with the mounting distance between two wheel signal sensors, calculates the speed of service of rolling stock；
Wheelbase computing module, at the time of for generating two adjacent signals according to the same wheel signal sensor difference and
The rolling stock speed of service that S21 is obtained calculates wheelbase information.
Beneficial effects of the present invention, rolling stock information collecting method of the present invention pass through three wheel signal sensor acquisitions
At the time of each axis of each car passes through sensor, the wheelbase information of this vehicle is obtained using the moment, using wheelbase information and
The wheelbase table known is matched, and judges the attribute of vehicle and the location information of electronic tag.Pass through ground AEI antenna at the same time
The AEI data for reading vehicle demodulate to obtain the information such as vehicle, license number, manufactory and the date of manufacture of vehicle.Further according to reading
At the time of obtaining signal with wheel signal sensor at the time of AEI data, AEI data are matched with vehicle.The present invention should
Method can accurately obtain the information of vehicle, provide effective guarantee for vehicle dynamic instrumentation.The present invention can adapt to 1-
The train of 250km/h passes through.It is applied widely, almost cover all lorry routes, coach route and part high-speed rail route.
Information of vehicles of the invention identifies, matching rate can reach 99.99%.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is the schematic illustration of apparatus of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
A kind of rolling stock information collecting method of present embodiment, includes the following steps:
S1, using at least three wheel signal sensors acquisition rolling stock each axis wheel signal, record respectively
At the time of each wheel signal sensor acquisition signal, and rolling stock bottom electronics mark is acquired using ground AEI license number antenna
AEI data in label, at the time of record acquires AEI data；
S2, according to each wheel signal sensor acquire signal at the time of, obtain the wheelbase information of rolling stock；
S3, according to acquisition AEI data at the time of at least three wheel signal sensors acquisition wheel signal at the time of, it is right
AEI data and the vehicle of acquisition match, the corresponding relationship of the AEI data of determining acquisition and corresponding electronic tag place vehicle,
It completes to acquire the AEI data of every section vehicle.
Present embodiment utilizes the temporal information and every section electronic tag for vehicles that acquire wheel signal and AEI data and the section
The positional relationship of each axle of vehicle determines the corresponding relationship of electronic tag Yu every section vehicle, and then by the AEI data and vehicle of acquisition
Correspondence, data acquisition.Present embodiment can accurately obtain the information of vehicle, for providing for vehicle dynamic instrumentation
Effective guarantee.The train that the present invention can adapt to 1-250km/h passes through.It is applied widely, almost cover all lorry lines
Road, coach route and part high-speed rail route.Information of vehicles of the invention identifies, matching rate can reach 99.99%.
In preferred embodiment, the S2 of present embodiment includes:
S21, the time difference according to the initial time of two wheel signal sensors acquisition wheel signal, in conjunction with described two
Mounting distance between wheel signal sensor calculates the speed of service of rolling stock；
According to " speed=distance/time " formula, the speed of service of rolling stock is calculated；
The iron that S3, the time difference that two adjacent signals are generated according to the same distal end wheel signal sensor and S2 are obtained
The road vehicles speed of service calculates wheelbase information；
According to " distance=speed * time " formula, the wheelbase information of vehicle is calculated.The same wheel signal sensor
In rolling stock operational process, the wheel signal of process, every one wheel signal of acquisition and previous wheel are ceaselessly acquired
Signal calculates a wheelbase information；
The railway that S22, the time difference that two adjacent signals are generated according to the same wheel signal sensor and S21 are obtained
Running velocity calculates wheelbase information.
The method for arranging of three wheel signal sensors of present embodiment are as follows:
It is sequentially arranged three wheel signal sensors in the single-sided tracks on the traveling road of rolling stock, second
The mounting distance of wheel signal sensor and third wheel signal sensor is greater than the length of wagon of every section vehicle, reduces measurement
Error.
The ground AEI license number antenna of present embodiment is arranged close to the position of third wheel signal sensor, make ground
It is close as far as possible at the time of at the time of face AEI license number antenna acquires electronic tag with wheel signal sensor acquisition wheel signal, subtract
Little railroad vehicle error caused by speed variation during traveling.
Specific embodiment: present embodiment is in order to realize the dynamic inspection to rolling stock, in the dynamic inspection inspection of rolling stock operation
Three wheel signal sensors are set in the single-sided tracks of survey, and two wheel signal sensors are arranged in distal end, and proximal end is arranged two
Wheel signal sensor, mounting distance proximally and distally are greater than the length of vehicle body, and during rolling stock is advanced, wheel is first
By distal end wheel signal sensor, using proximal end wheel signal sensor；Ground AEI license number antenna is arranged in the two of proximal end
Among two tracks between a wheel signal sensor, and as close as possible to third wheel signal sensor, make ground AEI license number
It is close as far as possible at the time of at the time of antenna acquires electronic tag with wheel signal sensor acquisition wheel signal, reduce rolling stock
The error caused by speed variation during traveling；As shown in Figure 1, a kind of rolling stock information collecting method of this implementation, packet
It includes:
Step 1: recording two respectively using the wheel signal of two wheel signal sensor acquisition rolling stock distal ends
At the time of wheel signal sensor acquires signal；
When wheel passes through wheel signal sensor, wheel signal sensor generates a sine wave signal, and wheel signal passes
The signal is carried out processing and is converted to a digital signal and returns to collecting vehicle information software by sensor control cabinet.Information of vehicles is adopted
At the time of collecting the generation of each signal of software records, i.e., at the time of each axis passes through wheel signal sensor；
Another two proximal end wheel signal sensor acquires the wheel signal of the rolling stock proximal end, while acquisition
Need to record the acquisition moment；
Step 2: it is poor at the time of using the distally initial time of two wheel signal sensor acquisition wheel signals, in conjunction with
The distally mounting distance between two wheel signal sensors, calculates the speed of service of rolling stock；
Collecting vehicle information software is poor according to the digital time that the fixed two wheel signal sensors in distal end generate
The operation of rolling stock is calculated according to " speed=distance/time " formula with two wheel signal sensor mounting distances
Speed；
Step 3: generating time difference and the S2 acquisition of two adjacent signals according to the same distal end wheel signal sensor
The rolling stock speed of service, obtain a wheelbase information；
The time difference for two signals that collecting vehicle information software is generated according to the same wheel signal sensor and calculating
The wheelbase information of vehicle is calculated according to " distance=speed * time " formula in the obtained rolling stock speed of service.It is same
A wheel signal sensor ceaselessly acquires the wheel signal of process, one wheel of every acquisition in rolling stock operational process
Signal and previous wheel signal calculate a wheelbase information；
Step 4: being matched according to the wheelbase information that step 3 obtains with known wheelbase table, if successful match, determine
The number of axle of corresponding section rolling stock, and the corresponding vehicle attribute of matched wheelbase information is found, electronics is determined according to vehicle attribute
The positional relationship of label and each axle；
Collecting vehicle information software is retrieved in known wheelbase table according to the wheelbase information being calculated, is matched,
Find corresponding wheelbase information, then it is assumed that successful match, the wheelbase in wheelbase table correspond to vehicle attribute, obtain the wheelbase
The corresponding vehicle attribute of information.In the matching process, because not knowing the section rolling stock is a few axis vehicles, first axis is obtained
It begins to be matched with wheelbase table away from information, if it fails, waiting for second wheelbase of step 3 acquisition, second axis
Away from being matched with first wheelbase composition wheelbase sequence with wheelbase table, one wheelbase information of every increase is just matched once, until
Successful match after successful match, just can determine that the section rolling stock is a few axis vehicles；Then continue for the wheelbase of next section vehicle
Matching；
The attribute of every section vehicle may be different, so every section vehicle requires wheelbase matching, present embodiment vehicle attribute
Including lorry, car, motor-car and locomotive, the positional relationship of electronic tag Yu each axle can determine according to vehicle attribute；
The wheelbase of every kind of vehicle attribute and the position of electronic tag be it is fixed, electronics mark can determine according to vehicle attribute
The positional relationship of label and each axis, such as: four-axle truck, electronic tag is close to third axis；
Step 5: when ground AEI license number antenna is collected by AEI data in the electronic tag of rolling stock bottom,
At the time of parsing the data, and record acquisition AEI data；
When being equipped with the sphere of action of the vehicle of electronic tag by ground AEI license number antenna, electronic tag is according in
Deposit data carries out reflection modulation to the signal that ground AEI license number antenna emits, and ground AEI license number antenna is received through electronic tag
The information of modulation, the modulation intelligence be this section vehicle itself AEI data, while record AEI data acquisition at the time of, according to
The coding rule known is demodulated, and the attribute of vehicle, vehicle, license number, manufactory, date of manufacture and the letter such as attach section can be obtained
Breath.
About ground AEI license number antenna Startup time in present embodiment, can arrive when detecting vehicle, it may be assumed that distal end
First wheel signal sensor when collecting wheel signal, just start ground AEI license number antenna and emit signal, this embodiment party
Formula saves the energy of ground AEI license number antenna, and after step 4 successful match, control ground AEI license number antenna emits signal.
Vehicle is obtained during traveling using step 1 to five, respectively saves the AEI data of vehicle and acquires AEI data
The wheel data and acquisition moment that moment, the number of axle of each section vehicle and three wheel signal sensors acquire, S6 needs will acquisition
AEI data it is corresponding with the vehicle joint number where corresponding electronic tag；
Step 6: at the time of according at the time of acquisition AEI data with three wheel signal sensor acquisition wheel signals, knot
The positional relationship for closing every section electronic tag for vehicles Yu each axle of section vehicle matches to AEI data and the vehicle of acquisition, determines
The corresponding relationship of the AEI data of acquisition and vehicle where corresponding electronic tag is completed to acquire the AEI data of every section vehicle, will
The information of acquisition is stored；
The positional relationship of electronic tag and each axle is fixed, then wheel signal sensor acquires every section wheel of vehicle
At the time of signal and ground AEI license number antenna be exactly at the time of acquiring the electronic tag of the section vehicle it is regular, according to acquisition
The rule at moment can determine the corresponding relationship of AEI license number antenna collected this section vehicle AEI data and this section axle for vehicle, will
Corresponding axis and AEI Data Integration are to the acquisition for together, just completing this section information of vehicles；
Because vehicle sometimes forward travel, be occasionally reversed traveling, such as: four-axle truck, in forward travel, if electronics mark
Label are between third axis and third axis, and in backward going, electronic tag is exactly to be located at first axis and second axis
Between, and during according to actually detected, it not can determine that vehicle is forward travel or backward going, so in matching,
When being matched with time data, it should be noted that the positional relationship of this problem, electronic tag and each axle of vehicle may have one
Kind or two kinds of deformation, when matching will consider.
Specific embodiment 2: as shown in Fig. 2, a kind of rolling stock information collecting device of present embodiment, including three
A wheel signal sensor, ground AEI license number antenna and collecting vehicle information module；
Be sequentially arranged three wheel signal sensors on the traveling road of rolling stock, second wheel signal sensor and
The mounting distance of third wheel signal sensor is greater than the length of wagon of every section vehicle, and ground AEI license number antenna is close to third
A wheel signal sensor installation；
Using the wheel signal of three wheel signal sensor acquisition rolling stocks, collecting vehicle information module records respectively
At the time of each wheel signal sensor acquisition signal；
Present embodiment collecting vehicle information module realizes following functions: for being acquired according to two wheel signal sensors
The time difference of the initial time of wheel signal calculates rolling stock in conjunction with the mounting distance between two wheel signal sensors
The speed of service；It is also used to generate the time difference of two adjacent signals and the iron of acquisition according to the same wheel signal sensor
The road vehicles speed of service obtains a wheelbase information；It is also used to according to the wheelbase information of acquisition and the progress of known wheelbase table
Match, if successful match, determines the number of axle of corresponding section rolling stock, and find the corresponding vehicle attribute of matched wheelbase information, root
The positional relationship of electronic tag Yu each axle is determined according to vehicle attribute；It is also used to collect when ground AEI license number antenna by iron
At the time of when AEI data in the electronic tag of road vehicles bottom, parsing the data, and record acquisition AEI data；It is also used to basis
At the time of at the time of acquiring AEI data with three wheel signal sensor acquisition wheel signals, in conjunction with every section electronic tag for vehicles
With the positional relationship of each axle of section vehicle, match to AEI data and the vehicle of acquisition, determine acquisition AEI data with it is right
The corresponding relationship of vehicle where answering electronic tag is completed to acquire the AEI data of every section vehicle, the information of acquisition is deposited
Storage.
The function that the collecting vehicle information module of present embodiment is realized can be stored in storage in a manner of computer program
In equipment, which can run on the processor of computer, achieve above-mentioned function.
Specific embodiment: the present embodiment is a kind of rolling stock information collecting device, including at least three wheel signals pass
Sensor, ground AEI license number antenna and collecting vehicle information module；
Each wheel signal sensor, the wheel signal of each axis for acquiring the rolling stock passed through；
Ground AEI license number antenna, for acquiring the AEI data in the electronic tag of rolling stock bottom；
Collecting vehicle information module includes logging modle, wheelbase acquisition module, wheelbase matching module and processing module；
Logging modle, while being connect with wheel signal sensor and ground AEI license number antenna, for recording each wheel letter
At the time of number sensor acquisition signal and at the time of acquisition AEI data；
Wheelbase obtains module, connect with logging modle, at the time of for acquiring signal according to each wheel signal sensor,
Obtain the wheelbase information of rolling stock；
Processing module, while being connect with logging modle and wheelbase matching module, for according at the time of acquisition AEI data with
At the time of at least three wheel signal sensors acquire wheel signal, in conjunction with every section electronic tag for vehicles and each axle of section vehicle
Positional relationship, match to AEI data and the vehicle of acquisition, determine the AEI data of acquisition and corresponding electronic tag place vehicle
Corresponding relationship, complete to acquire the AEI data of every section vehicle.
The present embodiment is sequentially arranged three wheel signals sensing in the single-sided tracks on the traveling road of rolling stock
The mounting distance of device, second wheel signal sensor and third wheel signal sensor is greater than the vehicle body length of every section vehicle
Degree.
The ground AEI license number antenna of the present embodiment is installed close to the position of third wheel signal sensor.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (4)
1. a kind of rolling stock information collecting method, which is characterized in that described method includes following steps:
S1, using at least three wheel signal sensors acquisition rolling stock each axis wheel signal, record is each respectively
At the time of wheel signal sensor acquires signal, and using in ground AEI license number antenna acquisition rolling stock bottom electronic tag
AEI data, record acquisition AEI data at the time of；
S2, according to each wheel signal sensor acquire signal at the time of, obtain the wheelbase information of rolling stock；
S3, according to acquisition AEI data at the time of at least three wheel signal sensors acquisition wheel signal at the time of, to acquisition
AEI data match with vehicle, determine the AEI data of acquisition and the corresponding relationship of corresponding electronic tag place vehicle, completion
AEI data acquisition to every section vehicle.
2. rolling stock information collecting method according to claim 1, which is characterized in that the S2 includes:
S21, the time difference according to the initial time of two wheel signal sensors acquisition wheel signal, in conjunction with described two wheels
Mounting distance between signal transducer calculates the speed of service of rolling stock；
The rolling stock that S22, the time difference that two adjacent signals are generated according to the same wheel signal sensor and S21 are obtained
The speed of service calculates wheelbase information.
3. a kind of rolling stock information collecting device, which is characterized in that described device include at least three wheel signal sensors,
Ground AEI license number antenna and collecting vehicle information module；
Each wheel signal sensor, the wheel signal of each axis for acquiring the rolling stock passed through；
Ground AEI license number antenna, for acquiring the AEI data in the electronic tag of rolling stock bottom；
Collecting vehicle information module includes logging modle, wheelbase acquisition module and processing module；
Logging modle, while being connect with wheel signal sensor and ground AEI license number antenna, it is passed for recording each wheel signal
Sensor acquires the time of signal and the time of acquisition AEI data；
Wheelbase obtains module, connect with logging modle, for acquiring the time of signal according to each wheel signal sensor, obtains
The wheelbase information of rolling stock；
Processing module, while obtaining module with logging modle and wheelbase and connecting, for according at the time of acquisition AEI data and at least
At moment time of three wheel signal sensor acquisition wheel signals, matches to AEI data and the vehicle of acquisition, determine acquisition
AEI data and the corresponding relationship of vehicle where corresponding electronic tag, complete to acquire the AEI data of every section vehicle.
4. rolling stock information collecting device according to claim 3, which is characterized in that the wheelbase obtains module packet
It includes:
Speed of service computing module, the time of the initial time for acquiring wheel signal according to two wheel signal sensors
Difference calculates the speed of service of rolling stock in conjunction with the mounting distance between two wheel signal sensors；
Wheelbase computing module, for generating time difference and the S21 of two adjacent signals according to the same wheel signal sensor
The rolling stock speed of service of acquisition calculates wheelbase information.
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| CN111414890A (en) * | 2020-04-03 | 2020-07-14 | 哈尔滨市科佳通用机电股份有限公司 | Locomotive number automatic detection method |
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| CN111055892A (en) * | 2019-12-26 | 2020-04-24 | 中国铁道科学研究院集团有限公司通信信号研究所 | Railway signal acquisition information fault-tolerant method based on threshold delay processing |
| CN111055892B (en) * | 2019-12-26 | 2021-11-30 | 中国铁道科学研究院集团有限公司通信信号研究所 | Railway signal acquisition information fault-tolerant method based on threshold delay processing |
| CN113386826A (en) * | 2020-03-13 | 2021-09-14 | 株洲中车时代电气股份有限公司 | System and method for detecting position of locomotive in train |
| CN111414890A (en) * | 2020-04-03 | 2020-07-14 | 哈尔滨市科佳通用机电股份有限公司 | Locomotive number automatic detection method |
| CN113753095A (en) * | 2021-10-22 | 2021-12-07 | 江苏集萃智能光电系统研究所有限公司 | Train wheelbase sequence information resolving method |
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