CN110629603B - Method for protecting sleeper position in tamping operation - Google Patents
Method for protecting sleeper position in tamping operation Download PDFInfo
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- CN110629603B CN110629603B CN201910979990.0A CN201910979990A CN110629603B CN 110629603 B CN110629603 B CN 110629603B CN 201910979990 A CN201910979990 A CN 201910979990A CN 110629603 B CN110629603 B CN 110629603B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
- E01B27/13—Packing sleepers, with or without concurrent work on the track
- E01B27/16—Sleeper-tamping machines
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Abstract
The invention discloses a method for protecting the position of a sleeper in tamping operation, which comprises the following steps: s10) acquiring line mileage data during tamping vehicle operation, and acquiring the distance between sleepers and the inertial braking distance of tamping operation through distance measurement; s20) calculating a sleeper protection area according to the sleeper distance, the tamping operation inertia braking distance and the tamping operation movement error distance, and outputting a sleeper protection signal. The invention can solve the technical problems that the existing operation method has operation accumulated errors, needs to continuously correct the moving distance and even causes the operation to be impossible.
Description
Technical Field
The invention relates to the technical field of railway engineering machinery, in particular to a sleeper position protection method applied to tamping operation of large-scale road maintenance machinery.
Background
At present, maintenance operation of a railway line is changed from a manual mode to a large-scale engineering machinery mode, a pickaxe needs to be stepped manually in large-scale mechanical tamping operation, a tamping descending pedal needs to be stepped down at a certain distance before a tamping point is reached, a tamping head descends, and accordingly one tamping operation is completed. In the automatic tamping operation process of the large-scale road maintenance machine, the measurement needs to be carried out on the operated railway line, the tamping-up inserting position needs to be calculated, and the moving distance from the current position to the next tamping inserting position needs to be calculated. However, when the system fails, or an accident occurs, the tamping unit may be inserted down to the place of the accident, such as: if inserted above the sleepers, the sleepers may be damaged or the sleepers may be tamped; if inserted to the edge of the tie, the positional relationship of the tie and the spacing between the ties may change. Meanwhile, in the case of manual tamping, an accident may occur in the working process due to an operator operation error or a machine failure.
In the prior art, a common tamping operation method adopts an equidistant operation method, and the operation method is suitable for occasions with unchanged or slightly changed moving distance of each operation. In fact, the distance moved by each operation and the expected distance moved by the operation often have errors, and the errors are gradually accumulated to form a large operation error, so that the operator is required to continuously correct the moving distance in a manual mode. Obviously, the automatic tamping operation method cannot operate under certain conditions, and the technical stuffing shortage that the operator needs to intervene at any time and cannot leave a working post exists.
In addition, the applicant, shoji times electronics technology limited company, filed on year 2018, No. 02/01, and published on year 2018, No. 05/29, and the chinese invention application with publication No. CN108086071A discloses a method for measuring the position of a railroad track sleeper. When the railway track sleeper position measuring device is positioned at the starting point of the railway track, the kilometer post is positioned to the starting point; the railway line sleeper position measuring device starts to measure along a railway line, the kilometer post moves forwards, and when the sleeper is detected, the central position of the sleeper is marked, and the corresponding kilometer post is marked; when an obstacle is detected to exist between the sleepers, an obstacle mark is marked between the two sleepers, and corresponding kilometer marks are marked; when a joint exists between two steel rails, marking a steel rail joint mark between two corresponding sleepers, and marking a corresponding kilometer post; and when the railway line sleeper position measuring device continuously detects the railway line sleeper position until the railway line measurement is finished, forming a data file of the corresponding relation between the sleeper and the kilometer post. The invention can solve the technical problems of large operation error, low automation degree, unstable operation state and manual intervention requirement of the existing measurement mode. However, the technical scheme of the invention application mainly relates to measuring and positioning of the line sleepers and forming of operation files before vehicle tamping operation, and does not relate to the sleeper position protection of vehicles in the tamping operation process.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for protecting a position of a sleeper in a tamping operation, so as to solve the technical problems that an operation accumulated error exists in the conventional tamping operation method, an operator is required to continuously correct a moving distance, and even the operation cannot be performed.
In order to achieve the above object, the present invention specifically provides a technical implementation scheme of a method for protecting a sleeper position in tamping operation, and the method for protecting the sleeper position in tamping operation comprises the following steps:
s10) acquiring line mileage data during tamping vehicle operation, and acquiring a sleeper spacing A and a tamping operation inertia braking distance B through distance measurement;
s20) calculating a sleeper protection area according to the sleeper distance A, the tamping operation inertia braking distance B and the tamping operation movement error distance D, and outputting a sleeper protection signal.
Further, the sleeper spacing a is calculated according to the following formula:
A＝S/J
wherein S is the total moving distance of the tamping device in the previous M times of operation, J is the total moving sleeper number of the tamping device in the previous M times of operation, and M is an integer from 1 to N.
Furthermore, in the operation process of the tamping vehicle, the total moving distance of the tamping device operated at the current latest time is replaced by the total moving distance of the tamping device operated at the previous Mth time.
Further, the tamping work inertia braking distance B is calculated according to the following formula:
B＝E/W
wherein E is the sum of the moving distances between the tamping device and the actual lower inserting position after the lower inserting signal of the tamping device is generated in the previous W times of operation, and W is an integer between 1 and N.
Furthermore, the tamping vehicle replaces the previous W th tamping operation inertia braking distance with the current latest tamping operation inertia braking distance in the operation process.
Further, the moving error distance D of the tamping operation at this time is a difference value between the moving distance of the tamping device and the actual moving distance of the tamping device obtained by previous theoretical calculation.
Furthermore, when the tamping vehicle starts to work, tamping work is carried out in a manual control mode, line mileage data of a downward inserting position of the tamping device is obtained through distance measurement, and the distance A between sleepers and the inertial braking distance B of the tamping work are calculated according to the line mileage data.
Further, the sleeper protection area is calculated according to the following formula:
X＝(K-0.5)*A+0.5G+D+H
Y＝(K+0.5)*A-0.5G+D-B-H
wherein X is the moving distance from the current operation position to the first conversion point, Y is the moving distance from the current operation position to the second conversion point, G is the width of the sleeper, H is the edge protection range of the sleeper, and K is the number of sleepers in each tamping operation;
the interval C allowing the tamping device to be inserted downwards is: and X is more than C and less than Y, and the other areas between two adjacent sleepers except the interval C are sleeper protection areas.
Further, in the step S20), if the tie protection signal is output to the tie protection executing unit, the tamping downward-inserting signal is cut off, the tamping downward valve cannot be powered, the tamping head cannot be inserted downward, and the tie protection signal can be cut off by manual cutting.
By implementing the technical scheme of the sleeper position protection method for tamping operation provided by the invention, the sleeper position protection method has the following beneficial effects:
(1) according to the sleeper position protection method for tamping operation, under the condition that the distance of a line sleeper does not change greatly, the sleeper position can be accurately positioned, and the fact that the sleeper position cannot be tamped and inserted downwards is achieved, so that the sleeper is effectively protected, accidents are prevented, automatic tamping operation protection can be achieved, operation protection in a manual stamping mode can be achieved, and the safety and the automation degree of tamping operation can be greatly improved;
(2) according to the sleeper position protection method for tamping operation, sleeper position information is deduced through measurement and calculation, operation protection can be realized by combining a corresponding algorithm, the descending action of a tamping head can be blocked in a protection area, the sleeper is prevented from being damaged or disturbed, and the safety of the tamping operation of large-scale engineering machinery is further ensured;
(3) the sleeper position protection method for tamping operation can automatically correct operation errors, is simple in implementation process, and does not need to additionally increase hardware cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be derived by a person skilled in the art without inventive effort.
FIG. 1 is a block diagram of the system architecture of one embodiment of a tamping tool tie position protection device upon which the method of the present invention is based;
FIG. 2 is a schematic view of a parameter display and setup interface of one embodiment of a method for protecting a tie location for tamping operations according to the present invention;
FIG. 3 is a block diagram of the system components of one embodiment of a tamping tool tie position protection device upon which the method of the present invention is based;
FIG. 4 is a schematic diagram illustrating a sleeper protection calculation principle according to an embodiment of the sleeper location protection method for tamping work according to the present invention;
FIG. 5 is a process flow diagram of one embodiment of a method of protecting the position of a tie for tamping operations according to the present invention;
in the figure: 1-processing unit, 2-distance measuring unit, 3-display unit, 4-sleeper protection execution unit, 5-manual cutting switch, 6-tamping descending valve, 41-control coil, 42-operation switch, 10-sleeper, 11-steel rail and 100-sleeper position protection device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, a concrete embodiment of the sleeper position protecting method for tamping work according to the present invention is shown, and the present invention will be further described with reference to the drawings and the concrete embodiment.
Example 1
As shown in fig. 1, an embodiment of a sleeper position protection device for tamping operation according to the present invention is a sleeper position protection device 100 disposed on a tamping vehicle, and specifically includes: a processing unit 1, and a distance measuring unit 2 and a sleeper protection execution unit 4 respectively connected to the processing unit 1. When tamping vehicle operation, distance measuring unit 2 (specifically adopt the distance measuring wheel) acquires the circuit mileage data and sends it to processing unit 1, and processing unit 1 acquires sleeper interval A and tamping operation inertia braking distance B through distance measuring unit 2, calculates the sleeper protection region according to sleeper interval A, tamping operation inertia braking distance B, and tamping operation movement error distance D, and outputs the sleeper protection signal to sleeper protection execution unit 4.
The tie spacing a is further calculated according to the following formula:
A＝S/J
wherein S is the total moving distance of the tamping device in the previous M times of operation, J is the total moving sleeper number of the tamping device in the previous M times of operation, and M is an integer from 1 to N.
The process of obtaining the (average) tie spacing a is an important part of this embodiment, and if the tie spacing of the track is the same, the operation data is obtained once, which may cause different measurement results due to the deviation of the inserting positions of the tamping devices twice before and after, and the error can be reduced by collecting the operation data twice and calculating the average value of the operation data twice. In all the operation data acquisition processes, only the first and last data acquisition with errors exist, and the actual average sleeper spacing of the line can be reflected in real time as long as enough times of data acquisition are carried out and the average value is obtained. However, the collection frequency of the operation data is not too large, otherwise the change condition of the line cannot be reflected in real time. Assuming that the tie spacing of the lines is differential, the average tie spacing can also be obtained using the method described in this embodiment.
In the process of the tamping vehicle operation, the processing unit 1 replaces the total moving distance of the tamping unit of the previous M-th operation with the total moving distance of the tamping unit of the current latest operation. The tamping work inertia braking distance B is further calculated according to the following formula:
B＝E/W
wherein E is the sum of the moving distances between the tamping device and the actual lower inserting position after the lower inserting signal of the tamping device is generated in the previous W times of operation, and W is an integer between 1 and N.
The process of obtaining the (average) tamping work inertia braking distance B is another important part of this embodiment, and when the tamping vehicle is working, the braking distance (i.e. the tamping work inertia braking distance B) obtained under the influence of various factors such as different working speeds, different actual conditions of the track (e.g. ascending and descending), different working time of the tamping vehicle (e.g. hydraulic oil temperature, and execution speed of the action mechanism), and the like. However, they all have a common point that under certain conditions, the working state of the tamping vehicle is stable, the change of the two operations before and after is small or basically unchanged, the change of the braking distance is not large, and the influence on the whole operation positioning is small because the value of the braking distance is small, so that the actual braking distance of the field operation can be well reflected by adopting the average braking distance.
During the operation of the tamping vehicle, the processing unit 1 replaces the current latest tamping operation inertia braking distance with the previous W-th tamping operation inertia braking distance.
The moving error distance D of the tamping operation is the difference between the moving distance of the tamping device and the actual moving distance of the tamping device obtained by previous theoretical calculation.
When the tamping vehicle starts to work, tamping work is firstly carried out in a manual control mode, and the processing unit 1 acquires line mileage data of the inserting position of the tamping device through the distance measuring unit 2 and calculates the distance A between sleepers and the inertial braking distance B of the tamping work according to the line mileage data. The position of insertion of the tamping tool for manual tamping operations can be selected at the center point between two adjacent sleepers 10.
As shown in fig. 4, the tie protection zone is further calculated according to the following formula:
X＝(K-0.5)*A+0.5G+D+H
Y＝(K+0.5)*A-0.5G+D-B-H
wherein, X is the moving distance from the current operation position to the first transition point, Y is the moving distance from the current operation position to the second transition point, G is the width of the sleeper 10, H is the edge protection range of the sleeper 10, and K is the number of sleepers in each tamping operation.
The interval C allowing the tamping device to be inserted downwards is: x is more than C and less than Y, and the other areas between two adjacent sleepers 10 except the interval C are sleeper protection areas.
As shown in fig. 2, a schematic diagram of various parameter display and setup interfaces of the tie position protection apparatus 100 is shown.
The sleeper position protection apparatus 100 further includes a display unit 3, and the display unit 3 serves as a man-machine interface.
As shown in fig. 3, the tie position protecting apparatus 100 further includes a manual cut-off switch 5 and a tamping descent valve 6, and the tie protection performing unit 4 further includes a control coil 41 and an operation switch 42. One end of the control coil 41 is connected to the processing unit 1, and the other end is connected to the manual excision switch 5. The tamper push-down signal Q10 is input to one end of the operating switch 42, and the other end is connected to the tamper lowering valve 6. When the sleeper protection is used, when the processing unit 1 outputs a sleeper protection signal (namely, the processing unit 1 outputs a high-level control signal) to the control coil 41, the sleeper protection signal is output to 24V, the tamping downward-inserting signal is cut off, the tamping descending valve 6 cannot be electrified, the tamping head cannot be inserted downward, and the sleeper protection signal can be cut off through the manual cut-off switch 5.
Example 2
As shown in fig. 5, an embodiment of the method for protecting the position of a sleeper in tamping work according to the present invention specifically includes the following steps:
s10) acquiring line mileage data during tamping vehicle operation, and acquiring a sleeper spacing A and a tamping operation inertia braking distance B through distance measurement;
s20) calculating a sleeper protection area according to the sleeper distance A, the tamping operation inertia braking distance B and the tamping operation movement error distance D, and outputting a sleeper protection signal.
The tie spacing a is further calculated according to the following formula:
A＝S/J
wherein S is the total moving distance of the tamping device in the previous M times of operation, J is the total moving sleeper number of the tamping device in the previous M times of operation, and M is an integer from 1 to N.
The tamping of the first pillow, the second pillow and the third pillow is analyzed and calculated in the specific calculation process. The total number of sleepers is equal to the sum of the number of times of operation multiplied by the number K of sleepers in each operation, the number of sleepers moved by tamping is represented by one sleeper, two sleepers and three sleepers, and if the parameter K is 2, the moving distance of the tamping device in one operation is 1200 mm.
In the operation process of the tamping vehicle, the total moving distance of the tamping device in the current latest operation replaces the total moving distance of the tamping device in the previous Mth operation. If M is 10, it represents that there are 10 times of operation data from 1 to 10, if there is a new data, it will be put in the 10 th, the original 10 th will become the 9 th, the 9 th will become the 8 th, the original first data will be discarded.
After the tamping vehicle obtains the inserting signal, the tamping device can have a forward inertia movement and can be finally inserted in place, and the inertia braking distance B of the tamping operation is further calculated according to the following formula if the average moving distance of the tamping vehicle is B:
B＝E/W
wherein E is the sum of the moving distances between the tamping device and the actual lower inserting position after the lower inserting signal of the tamping device is generated in the previous W times of operation, and W is an integer between 1 and N.
The tamping vehicle replaces the last inertia braking distance before the W-th inertia braking distance during the operation, and the definition of the inertia braking distance replaces the description of the total moving distance B of the tamping device.
There may be an error D between the theoretically calculated value of the distance traveled by the tamping device and the actual value of the distance traveled (1200 for the tamping vehicle to move forward, and 5 for the actual 1195 only move forward, which error will be superimposed on the next distance traveled).
The moving error distance D of the tamping operation is the difference between the moving distance of the tamping device and the actual moving distance of the tamping device obtained by previous theoretical calculation.
When the tamping vehicle starts to operate, tamping operation is firstly carried out in a manual control mode, and line mileage data of the lower inserting position of the tamping device is obtained through distance measurement. The line mileage data of the down-inserting position of each operation of the tamping device can be measured, and the line mileage data of the position where the down-inserting signal of the tamping device is sent can also be measured, so that the sleeper spacing A and the inertial braking distance B of the tamping operation can be calculated.
The sleeper protection area is further calculated according to the following formula:
X＝(K-0.5)*A+0.5G+D+H
Y＝(K+0.5)*A-0.5G+D-B-H
wherein, X is the moving distance from the current operation position to the first transition point, Y is the moving distance from the current operation position to the second transition point, G is the width of the sleeper 10, H is the edge protection range of the sleeper 10, and K is the number of sleepers in each tamping operation.
The interval C allowing the tamping device to be inserted downwards is: x is more than C and less than Y, and the other areas between two adjacent sleepers 10 except the interval C are sleeper protection areas.
In fig. 4, L1 is the theoretical insertion position of the tamping unit, L2 is the actual working position of the tamping unit, L3 is the first switching point, L4 is the next working position, and L5 is the second switching point.
In step S20), if a tie protection signal is output to the tie protection execution unit 4, the tamping downward-inserting signal is cut off, the tamping downward valve 6 cannot be energized, the tamping head cannot be inserted downward, and the tie protection signal can be cut off by manual cutting.
The sleeper position protection method described in embodiment 2 can be used for tamping operation protection on an unknown line, calculation and derivation are performed according to line data accumulated in the previous operation process, the specific position of a sleeper is located in an average equidistant mode, and the purpose of sleeper protection can be well achieved.
By implementing the technical scheme of the sleeper position protection method for tamping operation described in the specific embodiment of the invention, the following technical effects can be produced:
(1) according to the method for protecting the position of the sleeper during tamping operation, which is described in the specific embodiment of the invention, under the condition that the distance between the line sleepers is not changed greatly, the position of the sleeper can be accurately positioned, and the fact that the sleeper near the position cannot be tamped and inserted downwards is realized, so that the sleeper is effectively protected, accidents are prevented, automatic tamping operation protection can be realized, operation protection in a manual tamping mode can be realized, and the safety and the automation degree of tamping operation can be greatly improved;
(2) according to the sleeper position protection method for tamping operation described in the specific embodiment of the invention, sleeper position information is derived through measurement and calculation, operation protection can be realized by combining a corresponding algorithm, the descending action of a tamping head can be blocked in a protection area, the sleeper is prevented from being damaged or disturbed, and the safety of the tamping operation of large-scale engineering machinery is further ensured.
(3) The method for protecting the position of the sleeper during tamping operation, which is described in the specific embodiment of the invention, can automatically correct the operation error, is simple in implementation process, and does not need to additionally increase the hardware cost.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or equivalent modifications, without departing from the spirit and scope of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (8)
1. A method for protecting the position of a sleeper in tamping operation is characterized by comprising the following steps:
s10) acquiring line mileage data during tamping vehicle operation, and acquiring a sleeper spacing A and a tamping operation inertia braking distance B through distance measurement;
s20) calculating a sleeper protection area according to the sleeper distance A, the tamping operation inertia braking distance B and the tamping operation movement error distance D, and outputting a sleeper protection signal;
the sleeper protection area is calculated according to the following formula:
X＝(K-0.5)*A+0.5G+D+H
Y＝(K+0.5)*A-0.5G+D-B-H
wherein X is the moving distance from the current operation position to the first conversion point, Y is the moving distance from the current operation position to the second conversion point, G is the width of the sleeper (10), H is the edge protection range of the sleeper (10), and K is the number of sleepers in each tamping operation;
the interval C allowing the tamping device to be inserted downwards is: x is more than C and less than Y, and the other areas between two adjacent sleepers (10) except the interval C are sleeper protection areas.
2. The method of tamping work tie position protection according to claim 1, wherein said tie spacing A is calculated according to the following formula:
A＝S/J
wherein S is the total moving distance of the tamping device in the previous M times of operation, J is the total moving sleeper number of the tamping device in the previous M times of operation, and M is an integer from 1 to N.
3. The method of protecting the position of a tamping tool tie according to claim 2, wherein: in the operation process of the tamping vehicle, the total moving distance of the tamping device in the current latest operation replaces the total moving distance of the tamping device in the previous Mth operation.
4. A method of tamper work tie position protection according to claim 2 or 3, wherein said tamper work inertia braking distance B is calculated according to the formula:
B＝E/W
wherein E is the sum of the moving distances between the tamping device and the actual lower inserting position after the lower inserting signal of the tamping device is generated in the previous W times of operation, and W is an integer between 1 and N.
5. The method of protecting the position of sleepers in tamping operations as recited in claim 4, wherein: and in the operation process of the tamping vehicle, replacing the previous W-th tamping operation inertia braking distance with the current latest tamping operation inertia braking distance.
6. A method of protecting the position of a tamping tool tie according to claim 2, 3 or 5, wherein: the moving error distance D of the tamping operation is the difference between the moving distance of the tamping device and the actual moving distance of the tamping device obtained by previous theoretical calculation.
7. The method of protecting the position of sleepers in tamping operations as recited in claim 6, wherein: when the tamping vehicle starts to operate, tamping operation is carried out in a manual control mode, line mileage data of a lower inserting position of the tamping device is obtained through distance measurement, and the distance A between sleepers and the inertial braking distance B of the tamping operation are calculated according to the line mileage data.
8. A method of protecting the position of a tamping tool tie according to claim 1, 2, 3, 5 or 7 wherein: in the step S20), if the tie protection signal is output to the tie protection execution unit (4), the tamping downward-inserting signal is cut off, the tamping downward valve (6) cannot be energized, the tamping head cannot be inserted downward, and the tie protection signal can be cut off by manual cutting.
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| CN2632132Y (en) * | 2003-08-22 | 2004-08-11 | 卫登云 | Hydraulic tamping vehicles |
| CN101240520A (en) * | 2008-02-29 | 2008-08-13 | 天津市开希机器视觉技术有限公司 | Railway line parameter photoelectric testing device used for tamping vehicle and detection method thereof |
| CN101982609A (en) * | 2010-09-19 | 2011-03-02 | 北京凌云光视数字图像技术有限公司 | Tamping wagon photoelectric measurement system and method |
| CN203144851U (en) * | 2012-12-21 | 2013-08-21 | 长沙鸿汉电子有限公司 | Automatic front-end deviation data importing device of tamping wagon |
| CN203334145U (en) * | 2013-05-20 | 2013-12-11 | 宝钢集团新疆八一钢铁有限公司 | Anti-strip device of tamping head of middle tamping wagon |
| CN104975545A (en) * | 2015-07-30 | 2015-10-14 | 上海铁路局上海大型养路机械运用检修段 | Protecting device for preventing tamping and stabilizing cart tamping pick from inserting steel rails and application method thereof |
| CN107153394A (en) * | 2017-07-13 | 2017-09-12 | 株洲时代电子技术有限公司 | A kind of tamping car operation defense controls system |
| CN107313312A (en) * | 2017-07-13 | 2017-11-03 | 株洲时代电子技术有限公司 | A kind of tamping car operation defense controls method |
| CN108086070A (en) * | 2018-02-01 | 2018-05-29 | 株洲时代电子技术有限公司 | A kind of railway track sleeper position-measurement device |
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