CN112550378B - Method, system and storage for mapping positions between track accompanying optical cable and track - Google Patents
Method, system and storage for mapping positions between track accompanying optical cable and track Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 163
- 230000003287 optical effect Effects 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000013307 optical fiber Substances 0.000 claims abstract description 94
- 238000009434 installation Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 10
- 239000000835 fiber Substances 0.000 claims description 7
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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 trains or setting of track apparatus
- B61L25/06—Indicating or recording the setting of track apparatus, e.g. of points, of signals
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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
- B61K9/08—Measuring installations for surveying permanent way
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Abstract
A method for mapping positions between a track accompanying optical cable and a track comprises the steps of recording a train carrying a mapping system as a mapping train, carrying out geographical mapping through the mapping system arranged on the mapping train, and collecting geographical coordinate information of the track in real time; acquiring a vibration signal generated by the running of a train on a track through an optical fiber in a track accompanying optical cable; recording a vibration signal corresponding to the mapping train as a target vibration signal, and acquiring an optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system on the mapping train; and associating the geographic coordinate information acquired by the same mapping train at the same time with the generated target vibration signal to realize the mapping between the optical fiber length node corresponding to the target vibration signal and the geographic coordinate information. According to the invention, mapping between the optical fiber length node where the vibration signal is located and the geographic coordinate obtained by mobile mapping is realized.
Description
Technical Field
The invention relates to the technical field of railway safety, in particular to a method, a system and a storage for mapping positions between a track accompanying optical cable and a track.
Background
Based on the phase sensitive distributed optical fiber sound vibration sensing technology, the sensing of vibration signals is realized by utilizing the sensitive characteristic of Rayleigh scattering to the vibration signals when the detection laser with ultra-narrow line width is transmitted in the optical fiber, and the position distribution measurement of the vibration signals can be realized by utilizing time or frequency conversion.
The vibration signal generated by the train running on the track accompanying optical cable on the railway line is monitored in real time through the technology, and the real-time monitoring of the train running is realized by combining the position change of the vibration signal on the track accompanying optical cable, so that the method is a common means for monitoring the railway safety at present.
Various mechanical construction processes such as farmland cultivation, factory construction, road maintenance, illegal construction and the like and natural disaster factors can often occur along the track, and great threats can be generated on the safety of the optical cable accompanying the track. The existing railway communication optical cable safety state monitoring method (for example, a railway optical cable state real-time monitoring system and method CN108880668A; a railway safety monitoring system and monitoring method CN 106452567A) can only realize the positioning of optical cable fault points along the length of an optical cable.
Because optical cable and track are crooked extension, and optical cable can appear bending, reserve optical cable joint, bypass the culvert, bypass the pond etc. relative to the track in laying process, therefore the length of optical cable and the position of track are not the one-to-one correspondence. When a rail communication optical cable fails, it is difficult to obtain the precise location of the failure point on the rail.
Disclosure of Invention
In order to solve the defect that the length node of the track communication optical cable cannot be accurately positioned in the prior art, the invention provides a method, a system and a storage for mapping positions between a track accompanying optical cable and a track.
One of the purposes of the invention adopts the following technical scheme:
a track accompanying optical cable and inter-track position mapping method comprises the following steps:
s101, carrying out geographical surveying and mapping through a surveying and mapping system installed on the train, and acquiring geographical coordinate information of a track in real time;
s102, acquiring a vibration signal generated by running of a train on a track through an optical fiber in a track accompanying optical cable; recording a train carrying a mapping system as a mapping train, recording a vibration signal corresponding to the mapping train as a target vibration signal, and acquiring an optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system on the mapping train;
s103, associating the geographic coordinate information acquired by the same mapping train at the same time with the generated target vibration signal, and mapping between the optical fiber length node corresponding to the target vibration signal and the geographic coordinate information.
Preferably, in step S103, a target track is selected first, and geographic coordinate information acquired when the mapping train runs on the target track is associated with the generated target vibration signal; the target track is a track between two adjacent stations along the railway.
Preferably, in step S103, when a plurality of trains run in the same direction on the target track, the arrangement sequence of the mapping trains is first obtained according to the departure time of the station, and then the target vibration signal of the corresponding mapping train on the track accompanying optical cable is obtained according to the arrangement sequence.
Preferably, in step S102, the method for obtaining the optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system includes: firstly, acquiring a length value of an optical fiber length node along a railway, and acquiring a vibration detection range corresponding to a target vibration signal; the optical fiber length node corresponding to the target vibration signal is an intercepting range which takes the installation position of the mapping system on the mapping train as the center and takes the length value as the diameter in a corresponding vibration detection range; the length value is a fixed value.
Preferably, the length value corresponds to the mapping train, and the length value is smaller than or equal to the distance of the corresponding mapping train running on two adjacent geographic coordinate information acquisition time intervals.
Preferably, in step S102, the method for acquiring the optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system includes: firstly, dividing a track accompanying optical cable into a plurality of optical fiber length nodes, and acquiring the optical fiber length nodes positioned in a vibration detection range of the target vibration signal; and acquiring an optical fiber length node where the mapping system is located as the optical fiber length node corresponding to the target vibration according to the mapping train length and the mapping system installation position.
The second purpose of the invention adopts the following technical scheme:
a track companion cable and inter-track position mapping system, comprising: the device comprises an optical fiber detector, a communication module, a processing module and a storage module;
the optical fiber detector is used for detecting vibration signals in the track accompanying optical cable corresponding to the target track;
the communication module is used for communicating with the optical fiber detector and a mapping system installed on the train;
a storage module for storing a computer program;
the processing module is respectively connected with the communication module and the storage module, and is used for realizing the track accompanying optical cable and the inter-track position mapping method provided by the invention when executing the computer program.
Preferably, the processing module is associated with a geographical range, and the processing module communicates with the optical fiber detector for detecting the vibration signal in the corresponding geographical range and the mapping system in the corresponding geographical range through the communication module.
Preferably, the geographical area associated with the processing module includes at least one track segment located between adjacent train stations.
The third purpose of the invention adopts the following technical scheme:
a memory stores a computer program that, when executed, is used in the track accompanying optical cable and inter-track position mapping method provided by the present invention. The invention adopts the following technical scheme:
the invention has the advantages that:
1. in the invention, the vibration signal in the track accompanying optical cable corresponding to the track and the geographic coordinate information acquired by the mapping system carried by the mapping train running on the track are mapped based on time synchronization, so that the mapping of the optical fiber length node corresponding to the vibration signal and the geographic coordinate obtained by mobile mapping is realized.
2. According to the invention, the coordinate mapping is carried out on the track line by the train carried mapping system, so that the geographical positioning of the optical fiber length node is realized, the positioning efficiency of the optical fiber length node is improved, and the manpower is released.
Drawings
Fig. 1 is a flowchart of a method for mapping positions between a track accompanying optical cable and a track according to embodiment 1;
fig. 2 is a schematic view of an optical fiber length node acquisition scenario provided in embodiment 1;
fig. 3 is a schematic view of another optical fiber length node acquisition scenario proposed in embodiment 1;
fig. 4 is a schematic view of an application scenario of a track accompanying optical cable and inter-track position mapping system according to embodiment 4;
fig. 5 is a flowchart of a method for positioning a fault point of a track accompanying optical cable according to embodiment 6.
Detailed Description
Example 1
Referring to fig. 1, the method for mapping a track accompanying optical cable and an inter-track position according to the present embodiment includes the following steps.
S101, recording the train with the mapping system as a mapping train, carrying out geographical mapping through the mapping system installed on the mapping train, and collecting geographical coordinate information of the track in real time.
S102, acquiring a vibration signal generated by running of a train on a track through an optical fiber in a track accompanying optical cable; recording a vibration signal corresponding to the mapping train as a target vibration signal, and acquiring an optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system on the mapping train. In specific implementation, in the step, the vibration signal can be collected through the redundant optical fiber in the track accompanying optical cable.
Specifically, in this step, the method for obtaining the optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system includes: when a target vibration signal generated by a mapping train at any moment is obtained, firstly, a length value of an optical fiber length node on a railway line is obtained, and a vibration detection range corresponding to the target vibration signal is obtained; the optical fiber length node corresponding to the target vibration signal is an intercepting range which takes the installation position of the surveying and mapping system on the surveying and mapping train as the center and takes the length value as the diameter in the vibration detection range corresponding to the target vibration signal; the length value is a fixed value. Referring to fig. 2 specifically, in this embodiment, the corresponding optical fiber length node n is calculated according to the geographical coordinate information acquired by the mapping train each time and the vibration detection range Dn of the mapping train. In the specific implementation of this embodiment, the length value corresponds to the mapping train, and the length value is less than or equal to the distance that the corresponding mapping train runs on two adjacent geographic coordinate information acquisition time intervals, so as to avoid the situation that the same optical fiber length node maps two different geographic coordinates. In this embodiment, the range of the optical fiber length node n corresponding to the mapping train at the current time is shown in fig. 2.
In specific implementation, the optical fiber length node corresponding to the target vibration signal is obtained according to the length of the mapping train and the installation position of the mapping system, and the method can be realized by the following steps: dividing a track accompanying optical cable into a plurality of optical fiber length nodes along the track extension direction, and acquiring the optical fiber length nodes within the vibration detection range of a target vibration signal when the target vibration signal generated by a mapping train at any moment is acquired; and acquiring an optical fiber length node where the mapping system is located as an optical fiber length node corresponding to the target vibration signal according to the mapping train length and the mapping system installation position. For example, as shown in fig. 3, the pre-partitioned fiber length nodes on the track-following fiber optic cable comprise n-4 to n +3. When the surveying and mapping train is located at the position shown in fig. 3, the vibration detection range is Dn, the vibration detection range Dn spans optical fiber length nodes n-3 to n +1, the length of the surveying and mapping train and the installation position of the surveying and mapping system on the surveying and mapping train can be calculated, the current surveying and mapping system is located on the optical fiber length nodes n, the optical fiber length nodes n serve as optical fiber length nodes corresponding to current target vibration signals, and geographic coordinate information collected by the surveying and mapping train at the current moment is mapped with the optical fiber length nodes n. In the specific implementation of this embodiment, the length of each optical fiber length node along the railway line should be less than or equal to the minimum distance that the mapping train runs on two adjacent geographic coordinate information acquisition time intervals, so as to avoid the situation that the same optical fiber length node maps two different geographic coordinates.
S103, associating the geographical coordinate information acquired by the same mapping train at the same time with the generated target vibration signal, and realizing mapping between the optical fiber length node corresponding to the target vibration signal and the geographical coordinate information, thereby realizing mapping between the track accompanying optical cable and the position between tracks.
In specific implementation, in step S103, a target track is first selected, and when a mapping train enters the target track, geographic coordinate information acquired when the mapping train runs on the target track is associated with a generated target vibration signal, so that an optical fiber length node corresponding to the target vibration signal is mapped with the geographic coordinate information associated with the target vibration signal.
In this embodiment, the geographic coordinate information acquired by the surveying and mapping system is a coordinate of the surveying and mapping system along the track, that is, a geographic coordinate of the track. In the embodiment, the geographical coordinates of the track and the optical fiber length nodes are mapped by surveying and mapping the operation of the train, so that the measurement is accurate, the automation degree is high, and the efficiency is high.
Example 2
In step S102 of this embodiment, when a plurality of trains run in the same direction on the target track, the track accompanying optical cable obtains a group of vibration signals at the same time, where the number of the group of vibration signals is consistent with the number of trains running in the same direction, and each signal in the group of vibration signals corresponds to a different position of the track accompanying optical cable respectively; and acquiring the arrangement sequence of the mapping train in the plurality of trains according to the departure time of the station or the arrival time of the train, comparing the arrangement sequence with the sequence of any group of vibration signals on the track accompanying optical cable, and acquiring the target vibration signals of the corresponding mapping train on the track accompanying optical cable at any moment.
It is assumed that, in the present embodiment, the track R can be set as the target track. The method comprises the steps that a track accompanying optical cable L of a track R collects a target vibration signal H generated by a surveying and mapping train C, geographic coordinate information D collected by a surveying and mapping system carried by the surveying and mapping train C is associated with the target vibration signal H with the same collection time, and an optical fiber length node corresponding to the vibration signal H and the geographic coordinate information D are mapped.
Specifically, the track R where the target vibration signal H is located refers to a track between two adjacent stations where the vibration signal H is located, and may be specifically referred to as (H; R1, R2), where H represents the target vibration signal, R1 and R2 represent two adjacent train stations where the mapping train passes through in sequence, and (H; R1, R2) represents that the mapping train corresponding to the vibration signal H travels from the train station R1 to the train station R2.
When a plurality of trains run in the same direction on the measured track R and at least one mapping train runs on the measured track R, firstly, the arrangement sequence of the plurality of trains running in the same direction is obtained, and the target vibration signal of the corresponding mapping train on the track accompanying optical cable is obtained according to the arrangement sequence.
Suppose that there are 3 vibration signals H on the track accompanying optical cable L 1 、H 2 、H 3 Synchronously generated and the 3 vibration signals move in the same direction on the track accompanying optical cable L, and in the signal moving direction, H 1 At the forefront, H 3 At the end of the run. Meanwhile, three trains C are arranged on the track R corresponding to the track accompanying optical cable L 1 、C 2 、C 3 Running in the same direction and the running direction is equal to 3 vibration signals H 1 、H 2 、H 3 Are in the same direction of movement, and C 1 Is positioned at the front of the front-most part,C 3 at the end of the run. Then, it is known that the vibration signal H 1 Associated train C 1 Vibration signal H 2 Associated train C 2 Vibration signal H 3 Associated train C 3 。
Suppose, train C 2 For mapping trains, the vibration signal H 2 Is the target vibration signal. Train C 2 The carried geographic coordinate information collected by the mapping system is recorded as D 2 Obtaining a target vibration signal H 2 Corresponding optical fiber length node and geographic coordinate information D 2 The mapping relationship of (2).
Example 3
In step S103 of embodiment 2, the target track is a track between two adjacent stations along the railway. Therefore, the track and the track accompanying optical cable are divided by the distance between two adjacent stations, so that the optical fiber detectors are conveniently arranged at the stations, the optical fiber length nodes are accurately positioned, and the mapping precision of the optical fiber length nodes and the geographic coordinates is further improved.
In this embodiment, two adjacent stations on a line are marked as a and B, and a track accompanying optical cable between the stations a and B of the train is marked as L AB Unit track accompanying optical cable L AB Collected vibration signal H i Notation as { vibration signal H i Time of acquisition T i Optical fiber length node L i In which Ti is the vibration signal H i With Li representing the vibration signal H i Corresponding fiber length nodes. Meanwhile, the geographic coordinate information Dj collected by a mapping system carried by a mapping train running on the track between the train stations A and B is recorded as { geographic coordinate information D j Time of acquisition T j And Tj represents the acquisition time of the geographic coordinate information Dj. Thus, in this embodiment, it can be confirmed that the track accompanying optical cable mark L is L according to the train stations a and B first AB Target vibration signal { vibration signal H } i Time of acquisition T i Optical fiber length node L i And associating the geographic coordinate information Dj with the optical fiber length node Li according to Ti = Tj, and acquiring a mapping relation between the geographic coordinate information Dj and the optical fiber length node Li.
Example 4
Referring to fig. 4, in the present embodiment, a track accompanying optical cable and inter-track position mapping system is provided, including: the fiber detector 1, the communication module 6, the processing module 7 and the storage module 8.
The optical fiber detector is used for detecting vibration signals in the track accompanying optical cable corresponding to the target track.
The communication module 6 is used for communicating with the fiber-optic probe 1 and the mapping system 4 mounted on the train 3.
And the storage module 8 is used for storing the computer program.
The processing module 7 is respectively connected to the communication module 6 and the storage module 8, and is configured to implement the track accompanying optical cable and inter-track position mapping method described in embodiment 1, embodiment 2, embodiment 3, or embodiment 4 when executing a computer program, so as to implement mapping between the optical fiber length node and the geographical coordinate on the track 5.
In specific implementation, the processing module 7 may set a region range, and the processing module communicates with the optical fiber detector for detecting the vibration signal in the corresponding region range and the mapping system in the corresponding region range through the communication module. Therefore, through the division of the region range, the signal crosstalk in different region ranges can be avoided, and the accuracy and reliability of data processing are improved.
In specific implementation, the region range associated with the processing module 7 includes at least one section of track located between adjacent train stations, so that the train stations can accurately adapt the corresponding relationship between the track 5 and the track accompanying optical cable 2, thereby ensuring the association accuracy between the target vibration signal and the geographic coordinate information.
Example 5
The present embodiment provides a memory storing a computer program for implementing the track accompanying optical cable and inter-track position mapping method described in embodiment 1, embodiment 2, or embodiment 3 when the computer program is executed.
Example 6
Referring to fig. 5, the present embodiment provides a method for positioning a fault point of a track accompanying optical cable, which specifically includes the following steps:
s100, obtaining the corresponding relation between the optical fiber length nodes on the track accompanying optical cable and the geographical coordinates along the track.
Specifically, in this step, the method for mapping positions between the track accompanying optical cable and the track provided by the present invention is adopted to obtain the correspondence between the optical fiber length node on the track accompanying optical cable and the geographical coordinate along the track, that is, the target vibration signal acquired by the track accompanying optical cable corresponding to the track and the geographical coordinate information acquired by the surveying and mapping train operating on the track are mapped based on time synchronization, so that mapping between the optical fiber length node corresponding to the target vibration signal and the geographical coordinate information is realized.
In this embodiment, the obtaining of the corresponding relationship between the optical fiber length node on the track accompanying optical cable and the geographical coordinate along the track may specifically refer to embodiments 1 to 3.
S200, acquiring optical fiber fault points on the track accompanying optical cable, and acquiring geographic coordinates corresponding to the optical fiber fault points by combining the corresponding relation between optical fiber length nodes on the track accompanying optical cable and geographic coordinates along the track.
Compared with the existing mode of marking the optical fiber fault position by the optical fiber length, in the embodiment, after the optical fiber fault point, namely the optical fiber length node where the fault position is located, is obtained, the optical fiber fault point is further positioned by the geographical coordinates, so that the optical fiber fault position is clear and visible, and the secondary positioning of optical fiber maintenance is avoided.
In specific implementation, in this embodiment, step S300 may be further configured: and acquiring a scene picture associated with the geographic coordinate corresponding to the optical fiber fault point. Specifically, the scene picture is included in the geographic coordinate information collected by the mapping system.
That is, in this embodiment, the mapping system obtains the corresponding relationship between the geographic coordinates along the track and the scene picture, so that after obtaining the geographic coordinates corresponding to the optical fiber fault point, the corresponding scene picture is further obtained, so as to assist the positioning of the optical fiber fault point through the scene picture.
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A track accompanying optical cable and inter-track position mapping method is characterized by comprising the following steps:
s101, recording a train carrying a mapping system as a mapping train, carrying out geographical mapping through the mapping system arranged on the mapping train, and acquiring geographical coordinate information of a track in real time;
s102, acquiring a vibration signal generated by running of a train on a track through an optical fiber in a track accompanying optical cable; recording a vibration signal corresponding to the mapping train as a target vibration signal, and acquiring an optical fiber length node corresponding to the target vibration signal according to the length of the mapping train and the installation position of the mapping system on the mapping train;
s103, associating the geographical coordinate information acquired by the same mapping train at the same time with the generated target vibration signal, and realizing mapping between the optical fiber length node corresponding to the target vibration signal and the geographical coordinate information, so as to realize mapping between the track accompanying optical cable and the position between tracks;
the length value of the optical fiber length node along the railway is smaller than or equal to the running distance of the corresponding mapping train on the adjacent two geographical coordinate information acquisition time intervals.
2. The method for mapping a track accompanying optical cable and a position between tracks according to claim 1, wherein in step S103, a target track is first selected, and geographical coordinate information collected when the mapping train runs on the target track is associated with the generated target vibration signal; the target track is a track between two adjacent stations along the railway.
3. The method for mapping positions between track accompanying optical cable and track according to claim 2, wherein in step S102, when a plurality of trains are traveling in the same direction on the target track, the track accompanying optical cable will obtain a set of vibration signals at the same time, the number of the set of vibration signals corresponds to the number of trains traveling in the same direction, and each signal in the set of vibration signals corresponds to a different position of the track accompanying optical cable; and acquiring the arrangement sequence of the mapping train in the plurality of trains according to the departure time of the station or the arrival time of the train, comparing the arrangement sequence with the sequence of any group of vibration signals on the track accompanying optical cable, and acquiring the target vibration signals of the corresponding mapping train on the track accompanying optical cable at any moment.
4. The method for mapping a track accompanying optical cable and a position between tracks according to claim 1, wherein in step S102, the method for obtaining the optical fiber length node corresponding to the target vibration signal according to the mapping train length and the mapping system installation position comprises: firstly, acquiring a length value of an optical fiber length node on a railway line, and when acquiring a target vibration signal generated by a mapping train at any moment, firstly acquiring a vibration detection range corresponding to the target vibration signal; the optical fiber length node corresponding to the target vibration signal is an intercepting range which takes the installation position of the mapping system on the mapping train as the center and takes the length value as the diameter in the corresponding vibration detection range; the length value is a fixed value.
5. The method for mapping a track accompanying optical cable and a position between tracks according to claim 1, wherein in step S102, the method for obtaining the optical fiber length node corresponding to the target vibration signal according to the mapping train length and the mapping system installation position comprises: dividing a track accompanying optical cable into a plurality of optical fiber length nodes along the track extension direction, and acquiring the optical fiber length nodes within the vibration detection range of a target vibration signal when the target vibration signal generated by a mapping train at any moment is acquired; and acquiring an optical fiber length node where the mapping system is located as an optical fiber length node corresponding to the target vibration signal according to the mapping train length and the mapping system installation position.
6. A track companion cable and inter-track position mapping system, comprising: the system comprises an optical fiber detector, a communication module, a processing module and a storage module;
the optical fiber detector is used for detecting a vibration signal in a track accompanying optical cable corresponding to the target track;
the communication module is used for communicating with the optical fiber detector and a mapping system installed on the train;
a storage module for storing a computer program;
the processing module is connected with the communication module and the storage module respectively, and is used for realizing the track accompanying optical cable and inter-track position mapping method according to any one of claims 1 to 5 when executing the computer program.
7. The track-associated fiber optic cable and inter-track position mapping system of claim 6, wherein the processing module is associated with a geographic area, and wherein the processing module communicates with the fiber optic probe for detecting vibration signals within the corresponding geographic area and the corresponding mapping system within the geographic area via the communication module.
8. The track-associated fiber optic cable and inter-track position mapping system of claim 7, wherein the geographical area associated with the processing module includes at least one section of track located between adjacent train stations.
9. A memory storing a computer program which, when executed, implements the track accompanying cable and inter-track position mapping method of any one of claims 1 to 5.
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| CN113418590A (en) * | 2021-07-19 | 2021-09-21 | 安徽徽一通讯科技有限公司 | Method for monitoring railway signal by optical fiber sensing |
| CN114194255B (en) * | 2021-12-31 | 2022-07-19 | 安徽洪鸿光电技术有限公司 | Train locking tracking method based on optical fiber sensing technology |
| CN117491947B (en) * | 2023-12-29 | 2024-04-12 | 高勘(广州)技术有限公司 | Object track tracking method, device, equipment and storage medium |
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