CN112428754A - Straddle type monorail train horizontal rubber tire pressure on-line detection device - Google Patents
Straddle type monorail train horizontal rubber tire pressure on-line detection device Download PDFInfo
- Publication number
- CN112428754A CN112428754A CN202011452823.XA CN202011452823A CN112428754A CN 112428754 A CN112428754 A CN 112428754A CN 202011452823 A CN202011452823 A CN 202011452823A CN 112428754 A CN112428754 A CN 112428754A
- Authority
- CN
- China
- Prior art keywords
- pressure
- pressure sensor
- sensor
- monorail train
- tire pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 23
- 230000000712 assembly Effects 0.000 claims abstract description 18
- 238000000429 assembly Methods 0.000 claims abstract description 18
- 230000006835 compression Effects 0.000 claims abstract description 18
- 238000007906 compression Methods 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 239000000306 component Substances 0.000 description 4
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
- B60C23/08—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle by touching the ground
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
-
- 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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/04—Indicating or recording train identities
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a horizontal rubber tire pressure online detection device of a straddle type monorail train, which comprises a pressure detection system, a signal processing system and a display and control system, wherein the pressure detection system comprises at least two pressure sensor assemblies; the pressure sensor assembly comprises a sensor pressing plate, a compression spring and pressure sensors, and the signal processing system is respectively connected with each pressure sensor through a lead so as to obtain the pressure value detected by each pressure sensor and further convert the pressure value into the tire pressure; the display and control system comprises a computer and a vehicle number identification device. According to the invention, the positions of the corresponding horizontal rubber tires are calculated by carrying out pressure detection on the guide wheels and the stabilizing wheels and sequentially calculating the positions of the corresponding horizontal rubber tires through the vehicle number identification record and the pressure data of the pressure sensor assembly after the signal processing system sends the pressure detection data to the computer of the display and control system, so that the guide wheels and the stabilizing wheels which exceed the set range value can be overhauled or replaced in time, and the running safety of the straddle type monorail train is improved.
Description
Technical Field
The invention belongs to the technical field of urban rail transit vehicle maintenance, and particularly relates to an online tire pressure detection device for a horizontal rubber tire of a straddle type monorail train.
Background
Along with the rapid development of urban rail transit in China, cities for planning and constructing straddle type monorail systems are gradually increased. The straddle type monorail train is greatly different from a subway, and a horizontal wheel of a bogie of the straddle type monorail train mainly comprises a guide wheel and a stabilizing wheel.
The bogie of the straddle type monorail train is a core component and can best embody the running characteristics of the traffic system. Each bogie has 4 running wheels, 4 guide wheels and 2 stabilizing wheels, and all use rubber tires. And the guide wheels and the stabilizing wheels are horizontal rubber tires. The nitrogen-filled tubeless steel wire rubber tire is adopted as the travelling wheel, and the upper surface of the track beam is taken as a travelling surface, so that the functions of bearing, transmitting traction force and braking force and buffering vertical vibration of the straddle type monorail train are achieved; compressed air is filled in the guide wheels and the stabilizing wheels, the side faces of the track beams are used as walking faces, the transverse vibration of the straddle type monorail train is buffered, the guide wheels play a role in guiding when passing through a curve, and the stabilizing wheels play a role in stabilizing when the straddle type monorail train is subjected to centrifugal force and wind power. The bogie frame is formed by welding steel plates, and the front and the back of a left side beam and a right side beam of the bogie frame are provided with support frames of guide wheels, and the middle parts of the left side beam and the right side beam are provided with support frames of stabilizing wheels. When the straddle type monorail train runs, the running wheels and the stabilizing wheels tightly embrace the track beam, the track beam is not only a bearing bridge structure, but also a track for supporting and restraining the straddle type monorail train to run, and bears a large torsional load.
When the guide wheels and the stabilizing wheels have pre-pressure with the track beam, the straddle type monorail train can be quickly restored to the stable state after being subjected to small vibration after being disturbed by the road surface, and the straddle type monorail train basically returns to the zero position in the stable state. Therefore, the operation state of the straddle monorail train is the best when pre-pressure exists, and the straddle monorail train has good anti-overturning stability.
Because the straddle type monorail train runs under the working conditions of small curves and high loads for a long time, the rubber tires are easy to wear or leak air, and the running safety of the straddle type monorail train is affected due to insufficient tire pressure.
The prior art can not realize the online detection of the rubber tire pressure of the straddle type monorail train, and the tire pressure is always detected uniformly when the straddle type monorail train is subjected to daily inspection or wheel replacement after being stopped, so that the tire with abnormal tire pressure is overhauled or replaced.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an online detection device for the tire pressure of a horizontal rubber tire of a straddle type monorail train, which can perform online detection on the tire pressures of a stable wheel and a guide wheel in the running process of a vehicle so as to judge whether the running part of the vehicle is subjected to unbalance loading or component failure and the like, and when the tire pressure value exceeds the normal value range, a control system automatically alarms so as to repair or replace the tire in time and avoid influencing the driving safety.
In order to achieve the above object, according to one aspect of the present invention, there is provided an online tire pressure detecting device for a horizontal rubber tire of a straddle monorail train, comprising a pressure detecting system, a signal processing system and a display and control system, wherein:
the pressure detection system comprises at least two pressure sensor assemblies;
for each pressure sensor assembly, the pressure sensor assembly comprises a sensor pressing plate, a compression spring and a pressure sensor, the pressure sensor is fixedly arranged in a groove on the side surface of the track beam, the sensor pressing plate covers the groove and is fixedly arranged on the track beam, one end of the compression spring abuts against the pressure sensor, and the other end of the compression spring abuts against the sensor pressing plate;
at least one pressure sensor assembly is correspondingly arranged on a running path of the guide wheel, so that the guide wheel directly exerts pressure on the sensor pressure plate, and further exerts pressure on the pressure sensor through a compression spring;
at least one pressure sensor component is correspondingly arranged on a driving path of the stabilizing wheel, so that the stabilizing wheel directly exerts pressure on the sensor pressure plate, and further exerts pressure on the pressure sensor through a compression spring;
the signal processing system is respectively connected with each pressure sensor through a wire pre-buried in the track beam, so as to obtain the pressure value detected by each pressure sensor and further convert the pressure value into the tire pressure;
the display and control system comprises a computer and a vehicle number identification device, the computer receives the tire pressure information sent by the signal processing system to judge whether the tire pressure exceeds a set range, if so, alarm information is sent, and the vehicle number identification device is used for identifying the train number so as to cooperate with the pressure sensor assembly to obtain the position of a guide wheel or a stabilizing wheel of which the tire pressure exceeds the set range.
Preferably, the wire is embedded in an embedded pipeline in the track beam.
Preferably, two pressure sensor assemblies are correspondingly arranged on each side of the track beam on the running path of the guide wheel, so that the signal processing system obtains pressure data detected by the two pressure sensor assemblies and takes the average value of the two pressure data as the basis for calculating the tire pressure.
Preferably, two pressure sensor assemblies are correspondingly arranged on each side of the track beam on the driving path of the stabilizing wheel, so that the signal processing system obtains pressure data detected by the two pressure sensor assemblies and takes the average value of the two pressure data as the basis for calculating the tire pressure.
Preferably, the signal processing system comprises a pressure acquisition module, a pressure value analysis module and a data transmission module, wherein the pressure acquisition module acquires a pressure value detected by the pressure sensor and transmits the pressure value to the pressure value analysis module, and the pressure value analysis module converts the acquired pressure value into a tire pressure value and transmits the tire pressure value to the display and control system through the data transmission module.
Preferably, the display and control system is installed in a vehicle cab and a station control room.
Preferably, the car number recognition device is installed on one side of the track beam, and in the running process of the straddle type monorail train, the car number recognition device recognizes the serial number of the straddle type monorail train through image recognition.
Preferably, the surface of the sensor pressure plate that is pressed is flush with the rail beam.
Preferably, the pressure sensor is fixed in a groove of the rail beam by a bolt.
Preferably, the sensor pressure plate is fixed to a side surface of the rail beam by bolts.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects: the invention aims at the problem that the tire pressure of a rubber tire cannot be detected in real time in the running process of a straddle type monorail train, and designs a straddle type monorail horizontal rubber tire online tire pressure detection device. According to the invention, the positions of the corresponding horizontal rubber tires are calculated by carrying out pressure detection on the guide wheels and the stabilizing wheels, sending the pressure detection to the computer of the display and control system through the signal processing system, and then carrying out vehicle number identification recording of the display and control system and the pressure data sequence of the pressure sensor assembly, so that the guide wheels and the stabilizing wheels which exceed the set range value can be overhauled or replaced in time, and the running safety of the straddle type monorail train is improved.
Drawings
FIG. 1 is a logical relationship diagram of the system of the present invention;
FIG. 2 is a system schematic of the present invention;
FIG. 3 is a schematic view of a sensor platen of the present invention;
FIG. 4 is a schematic view of a pressure sensor of the present invention;
FIG. 5 is a schematic view of a compression spring of the present invention;
fig. 6 is a schematic view of the general assembly of the pressure sensing system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1-6, the guide wheels and the stabilizing wheels on the bogie of the straddle monorail train are all horizontal rubber tires, the tire pressure online detection device comprises a pressure detection system, a signal processing system 9 and a display and control system, the pressure detection system comprises at least two pressure sensor assemblies, the pressure sensor assemblies are embedded in a track beam 6, and the track beam 6 is supported by pier seats 7 installed on the ground.
For each of said pressure sensor assemblies, each comprising a sensor pressure plate 1, a compression spring 5 and a pressure sensor 3, the pressure sensor 3 is preferably fixedly arranged in a groove on the side surface of the track beam 6 through a bolt, a first mounting through hole 4 is arranged on the pressure sensor 3, so as to pass through the bolts, the sensor pressure plate 1 covers the groove and is fixedly arranged on the track beam 6 preferably through the bolts, the sensor pressure plate 1 is provided with a second mounting through hole 2, so as to pass through the bolt, one end of the compression spring 5 is abutted against the pressure sensor 3 and the other end is abutted against the sensor pressure plate 1, and is mainly used for transmitting the force of the sensor pressure plate 1, meanwhile, the pressure sensor 3 is prevented from being impacted too much when the straddle type monorail train runs over the pressure sensor assembly, and the buffer function is good.
At least one pressure sensor component is correspondingly arranged on a running path of the guide wheel, so that the guide wheel directly exerts pressure on the sensor pressure plate 1 and further exerts pressure on the pressure sensor 3 through a compression spring 5; the sensor pressing plate 1 is required to be elastically deformed when being pressed by the guide wheel so as to drive the compression spring 5 to also be elastically deformed to apply force on the pressure sensor 3, thereby realizing the pressure detection of the pressure sensor 3. Preferably, two pressure sensor assemblies are correspondingly arranged on the running path of the guide wheel on each side of the track beam 6, so that the signal processing system 9 obtains pressure data detected by the two pressure sensor assemblies and takes the average value of the two pressure data as the tire pressure calculation basis, and the detection accuracy can be improved.
At least one pressure sensor component is correspondingly arranged on a running path of the stabilizing wheel, so that the stabilizing wheel directly exerts pressure on the sensor pressure plate 1 and further exerts pressure on the pressure sensor 3 through the compression spring 5; the sensor pressure plate 1 is elastically deformed when being pressed by the stabilizing wheel to drive the compression spring 5 to elastically deform so as to apply a force on the pressure sensor 3, thereby realizing the pressure detection of the pressure sensor 3. Further, two pressure sensor assemblies are correspondingly arranged on the driving path of the stabilizing wheel on each side of the track beam 6, so that the signal processing system 9 obtains pressure data detected by the two pressure sensor assemblies and takes the average value of the two pressure data as a tire pressure calculation basis, and the detection accuracy can be improved.
The signal processing system 9 is respectively connected with the pressure sensors 3 through wires pre-embedded in the track beam 6 so as to obtain pressure values detected by the pressure sensors 3 and further convert the pressure values into tire pressure; preferably, the wire is embedded in an embedded pipeline in the track beam 6. As for the conversion of the pressure value into the tire pressure, horizontal rubber tires of known different tire pressures can be driven on the pressure sensor assembly in advance to measure the pressure, and a tire pressure-pressure curve can be obtained. When a subsequent straddle type monorail train runs on the track beam 6 and measures the tire pressure, the pressure can be obtained through the pressure sensor 3 firstly and then the tire pressure can be obtained according to the tire pressure-pressure curve.
The display and control system comprises a computer 10 and a vehicle number identification device, the display and control system is installed in a vehicle cab and a station control room, the computer 10 receives the tire pressure information sent by the signal processing system 9 to judge whether the tire pressure exceeds a set range, if so, alarm information is sent, and the tire pressure can be displayed on the computer 10. The train number identification device is used for identifying the train number, so that the train number identification device and the pressure sensor assembly are matched together to obtain the position of a guide wheel or a stabilizing wheel with the tire pressure exceeding a set range. The train number identification device is installed on one side of the track beam 6, and in the running process of the straddle type monorail train, the train number identification device identifies the serial number of the straddle type monorail train through image identification, so that the serial number of the straddle type monorail train can be obtained. When the computer 10 receives that the tire pressure value of the horizontal rubber tire exceeds the set range, the position of the corresponding horizontal rubber tire is calculated through the pressure data sequence of the vehicle number identification device and the pressure sensor assembly (the sequence of the horizontal rubber tires passing through the pressure sensor assembly corresponds to the pressure data sequence detected by the pressure sensor), so that the maintenance or the replacement can be carried out in time.
Further, the signal processing system 9 includes a pressure acquisition module, a pressure value analysis module and a data transmission module, the pressure acquisition module obtains the pressure value detected by the pressure sensor 3 and transmits the pressure value to the pressure value analysis module, the pressure value analysis module converts the obtained pressure value into a tire pressure value, and the tire pressure value is transmitted to the display and control system through the data transmission module.
Further, the pressed surface of the sensor pressure plate 1 is flush with the rail beam 6 to allow the guide wheels and the stabilizing wheels to smoothly pass through the sensor pressure plate 1.
The invention is mainly applied to vehicle bases and straight line sections, and avoids the large deviation of detection results caused by uneven stress of horizontal wheels due to vehicle steering and the like in curve sections. According to the invention, real-time online pressure detection is carried out on the guide wheels and the stabilizing wheels on the bogie, after the signal processing system 9 sends the pressure detection to the computer 10 of the display and control system, the position of the corresponding horizontal rubber tire is calculated through the vehicle number identification record of the display and control system and the pressure data sequence of the pressure sensor assembly, so that the guide wheels and the stabilizing wheels which exceed the set range value can be overhauled or replaced in time, and the running safety of the straddle type monorail train is improved.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a straddle type monorail train horizontal rubber tire pressure on-line measuring device which characterized in that, includes pressure detection system, signal processing system and demonstration and control system, wherein:
the pressure detection system comprises at least two pressure sensor assemblies;
for each pressure sensor assembly, the pressure sensor assembly comprises a sensor pressing plate, a compression spring and a pressure sensor, the pressure sensor is fixedly arranged in a groove on the side surface of the track beam, the sensor pressing plate covers the groove and is fixedly arranged on the track beam, one end of the compression spring abuts against the pressure sensor, and the other end of the compression spring abuts against the sensor pressing plate;
at least one pressure sensor assembly is correspondingly arranged on a running path of the guide wheel, so that the guide wheel directly exerts pressure on the sensor pressure plate, and further exerts pressure on the pressure sensor through a compression spring;
at least one pressure sensor component is correspondingly arranged on a driving path of the stabilizing wheel, so that the stabilizing wheel directly exerts pressure on the sensor pressure plate, and further exerts pressure on the pressure sensor through a compression spring;
the signal processing system is respectively connected with each pressure sensor through a wire pre-buried in the track beam, so as to obtain the pressure value detected by each pressure sensor and further convert the pressure value into the tire pressure;
the display and control system comprises a computer and a vehicle number identification device, the computer receives the tire pressure information sent by the signal processing system to judge whether the tire pressure exceeds a set range, if so, alarm information is sent, and the vehicle number identification device is used for identifying the train number so as to cooperate with the pressure sensor assembly to obtain the position of a guide wheel or a stabilizing wheel of which the tire pressure exceeds the set range.
2. The device for online detection of the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein the lead is embedded in an embedded pipeline in the track beam.
3. The device for online detection of the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein two pressure sensor assemblies are correspondingly arranged on each side of the track beam on the running path of the guide wheel, so that the signal processing system can obtain the pressure data detected by the two pressure sensor assemblies and take the average value of the two pressure data as the basis for tire pressure calculation.
4. The device for online detection of the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein two pressure sensor assemblies are correspondingly arranged on each side of the track beam on the running path of the stabilizing wheels, so that the signal processing system can obtain the pressure data detected by the two pressure sensor assemblies and take the average value of the two pressure data as the basis for tire pressure calculation.
5. The device for online detection of the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein the signal processing system comprises a pressure acquisition module, a pressure value analysis module and a data transmission module, the pressure acquisition module acquires the pressure value detected by the pressure sensor and transmits the pressure value to the pressure value analysis module, and the pressure value analysis module converts the acquired pressure value into a tire pressure value and transmits the tire pressure value to the display and control system through the data transmission module.
6. The device for online detection of the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein the display and control system is installed in a vehicle cab and a station control room.
7. The device for detecting the horizontal rubber tire pressure of the straddle type monorail train according to claim 1, wherein the train number identification device is installed on one side of the track beam, and the train number identification device identifies the serial number of the straddle type monorail train through image identification in the running process of the straddle type monorail train.
8. The device for online detection of the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein the pressed surface of the sensor pressing plate is flush with the rail beam.
9. The device for detecting the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein the pressure sensor is fixed in a groove of the track beam through a bolt.
10. The device for detecting the horizontal rubber tire pressure of the straddle monorail train as claimed in claim 1, wherein the sensor pressure plate is fixed on the side surface of the track beam through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011452823.XA CN112428754A (en) | 2020-12-11 | 2020-12-11 | Straddle type monorail train horizontal rubber tire pressure on-line detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011452823.XA CN112428754A (en) | 2020-12-11 | 2020-12-11 | Straddle type monorail train horizontal rubber tire pressure on-line detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112428754A true CN112428754A (en) | 2021-03-02 |
Family
ID=74691677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011452823.XA Pending CN112428754A (en) | 2020-12-11 | 2020-12-11 | Straddle type monorail train horizontal rubber tire pressure on-line detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112428754A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212073A (en) * | 2021-05-17 | 2021-08-06 | 中国第一汽车股份有限公司 | Tire pressure adjusting method and system based on vehicle-mounted camera and automobile |
| CN113997929A (en) * | 2021-11-22 | 2022-02-01 | 东风悦享科技有限公司 | Steering control method, system and device for PRT vehicle |
-
2020
- 2020-12-11 CN CN202011452823.XA patent/CN112428754A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212073A (en) * | 2021-05-17 | 2021-08-06 | 中国第一汽车股份有限公司 | Tire pressure adjusting method and system based on vehicle-mounted camera and automobile |
| CN113997929A (en) * | 2021-11-22 | 2022-02-01 | 东风悦享科技有限公司 | Steering control method, system and device for PRT vehicle |
| CN113997929B (en) * | 2021-11-22 | 2023-12-05 | 东风悦享科技有限公司 | Steering control method, system and device for PRT vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2574051C (en) | Apparatus for detecting hunting and angle of attack of a rail vehicle wheelset | |
| CN108860205B (en) | Derailment detection method and device for railway vehicle | |
| CN106383247B (en) | A kind of railcar wheel is to dynamic on-line monitoring system and method for detecting vehicle speed | |
| CN112428754A (en) | Straddle type monorail train horizontal rubber tire pressure on-line detection device | |
| CN111417553B (en) | System for determining a wheel-rail adhesion value of a rail vehicle and corresponding method | |
| CN110849288B (en) | Rail vehicle derailment detection method based on vehicle body contour line | |
| CN111591318A (en) | Heavy haul train locomotive dynamics monitoring devices | |
| CN110606105B (en) | Safety monitoring system for walking part of unmanned subway vehicle | |
| CN214028661U (en) | Subway vehicle operation quality monitoring system | |
| JP3537804B2 (en) | Wheel load acquisition device, wheel load acquisition method, railway vehicle, railway vehicle maintenance method, track maintenance method | |
| CN110803198B (en) | Rail vehicle derailment detection method based on bogie contour line | |
| CN213892073U (en) | Straddle type monorail train horizontal rubber tire pressure on-line detection device | |
| CN113654699A (en) | Wheel rail vertical force detection method and device | |
| KR20190089583A (en) | A System for Detecting an Element of a Train | |
| CN111391803A (en) | Train derailment recognition early warning device | |
| KR100733996B1 (en) | Method and apparatus for measuring contact position of wheel/rail in railroad car | |
| CN210618147U (en) | Track fastener overhauls equipment | |
| CN210363843U (en) | Unpowered comprehensive detection vehicle and bogie thereof | |
| CN220708323U (en) | Contact net hard spot and pantograph stress detecting system | |
| CN219056254U (en) | Locomotive dynamics detecting system | |
| CN114595514B (en) | Intelligent track safety calculation method | |
| CN211504093U (en) | Platform limit measuring vehicle | |
| CN114559987A (en) | Subway vehicle operation quality monitoring system and monitoring method thereof | |
| CN117029724A (en) | Online detection device and method for tire abrasion of running part of monorail train | |
| KR20230137300A (en) | Method and system for verifying the operation of the braking means of at least one vehicle and system for measuring friction force |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |