CN112590715A - Intelligent sweeping system and process for subway bottom - Google Patents
Intelligent sweeping system and process for subway bottom Download PDFInfo
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- CN112590715A CN112590715A CN202110015689.5A CN202110015689A CN112590715A CN 112590715 A CN112590715 A CN 112590715A CN 202110015689 A CN202110015689 A CN 202110015689A CN 112590715 A CN112590715 A CN 112590715A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/006—Vehicle cleaning apparatus not integral with vehicles specially adapted for railway vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of rail vehicle cleaning, in particular to an intelligent sweeping system and process for a subway bottom. The blowing system comprises a movable blowing unit, a dust collecting unit, a control unit, a detection positioning unit and an intelligent unit; the two dust collecting units are symmetrically arranged on the two sides of the vehicle body, and the dust collecting units on the two sides of the vehicle body synchronously move or stop at the same speed along with the corresponding movable blowing unit in the cleaning operation process; the detection positioning unit is used for acquiring the position information of each part at the bottom of the vehicle; the intelligent unit finishes the planning of the purging path and time according to the information acquired by the detection positioning unit and generates a corresponding purging program instruction; the control unit controls the movable purging unit and the dust collecting unit to complete purging operation according to the program instruction. The invention further realizes the automation and the intellectualization of the sweeping operation of the bottom of the vehicle body on the basis of forming the local sweeping operation space.
Description
Technical Field
The invention relates to the technical field of rail vehicle cleaning, in particular to an intelligent sweeping system and process for a subway bottom.
Background
After the subway vehicle runs for a period of time, a large amount of dust can be deposited on parts such as a running part, a motor, an electric appliance cabinet and the like at the bottom of the vehicle body, if the dust is not removed in time, the performance and the service life of the vehicle can be affected, and vehicle faults can be caused in serious cases, so that traffic accidents are caused.
The most common method for cleaning the bottom of the vehicle body in the prior art is as follows: utilize the fan to sweep the bottom, be furnished with dust collection device, simultaneously, in order to prevent the diffusion of dust, still need to build relatively inclosed operational environment in automobile body both sides. Traditionally, dust blocking walls or dust covers matched with the length of the whole row of vehicle bodies are arranged on two sides of the vehicle bodies. Meanwhile, a plurality of dust collecting devices are arranged on two sides of the vehicle body.
The traditional blowing scheme has the advantages of large required matching engineering amount, large occupied area and more matched auxiliary facilities; a large number of matching projects and auxiliary facilities lead to long construction period of the traditional blowing scheme.
The patent application numbers are: 201710702126.7, which discloses a system and a method for purging the bottom of a rail transit vehicle. The blowing system is provided with a dust collector, a carrier, a guide wheel, a guide groove, a dust collection port and an air hose;
the guide grooves are formed in the ground on two sides of the outline of the vehicle and used for placing the guide wheels, and the guide wheels are used for moving along the guide grooves; a carrier is arranged above the guide wheel; a dust collector is arranged in the carrier, a dust collection port is arranged on one side surface of the carrier close to the outline of the vehicle, one end of the dust collection port is connected with the dust collector, and the other end of the dust collection port is of a horn-shaped structure and is used for forming a relatively closed space with the bottom of the rail vehicle, so that a better dust collection effect is achieved by using smaller suction force; one corner of the carrier is provided with the air hose, and the air hose deepens in the bottom of rail train for realize sweeping the rail train bottom.
The technical scheme disclosed by the patent document solves the problems that the traditional purging system is large in engineering quantity, large in occupied area and large in auxiliary facility requirement, and greatly shortens the production and installation time of equipment.
However, there are still areas in this solution that need to be improved; for example, the technical solution disclosed in this patent document does not achieve true automation, and the traveling of the truck needs to be performed by a worker operating a remote control; when the technical scheme is adopted to sweep complex parts at the bottom of the vehicle body, certain difficulty is brought to the realization of comprehensive sweeping of the vehicle bottom due to the fact that the accurate positions of the parts are difficult to judge.
Disclosure of Invention
The invention provides an intelligent subway train bottom sweeping system and process based on artificial intelligence and automatic control technology, and aims to solve the technical problems that a traditional sweeping system is large in engineering quantity, high in manufacturing cost and large in occupied space, and comprehensive sweeping is difficult and labor cost is high and efficiency is low in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: an intelligent sweeping system for the bottom of a subway train comprises a movable sweeping unit, a dust collecting unit and a control unit, wherein the movable sweeping unit is arranged in a maintenance trench at the bottom of the train, the movable sweeping unit moves in the maintenance trench along the length direction of a train body, and the dust collecting unit is arranged on two sides of the train body; the system also comprises a detection positioning unit and an intelligent unit; the detection positioning unit and the intelligent unit are respectively arranged on the mobile blowing unit; one movable blowing unit corresponds to the two dust collecting units, and the two dust collecting units are symmetrically arranged on two sides of the vehicle body; the movable blowing unit is arranged in the dust collection operation range of the dust collection units at the two sides, and the positions of the movable blowing unit and the dust collection units are relatively static, namely the dust collection units at the two sides of the vehicle body move or stop synchronously and at the same speed along with the corresponding movable blowing unit in the cleaning operation process; the detection positioning unit is used for acquiring the position information of each part at the bottom of the vehicle; the intelligent unit finishes the planning of the purging path and time according to the information acquired by the detection positioning unit and generates a corresponding purging program instruction; and the purging program instruction generated by the intelligent unit is transmitted to the control unit, and the control unit controls the movable purging unit and the dust collecting unit to complete purging operation according to the program instruction.
The sweeping process based on the intelligent sweeping system for the subway train bottom comprises the following steps:
the method comprises the following steps that firstly, the whole train is driven to a position above a blowing maintenance station, meanwhile, a blowing system is reset, and blowing operation is started normally when all data are needed;
step two, the movable blowing unit moves from one end of the train to the other end of the train, and in the process, the detection and positioning unit acquires images and position information of all parts at the bottom of the train and transmits the images and the position information to the intelligent unit;
step three, the intelligent unit automatically generates a purging program instruction according to the information acquired by the detection positioning unit and transmits the generated program instruction to the control unit;
step four, the control unit receives a purging program instruction transmitted by the intelligent unit; the mobile blowing unit and the dust collecting unit are controlled to start under the action of the control unit, and the blowing time and the planning of the path are returned to the initial end according to the program instruction; and the movable purging unit and the dust collecting unit return to the initial end and the purging operation is finished after the program instruction is finished.
Compared with the prior art, the invention has the beneficial effects that: by arranging the control unit, the detection positioning unit and the intelligent unit, the automatic and intelligent purging operation is realized; meanwhile, the sweeping modes of the movable sweeping unit and the dust collecting units positioned on two sides of the vehicle body synchronously follow up to form a local closed air flow space, and a large amount of manpower and material resources are not needed to construct a closed operation space.
In order to obtain better technical effects, the invention is further improved on the basis of the scheme, and the further improvement scheme is as follows.
Further, the movable purging unit comprises an AGV trolley, a mounting plate, a storage battery, a purging robot and an air compressor; the top surface of the AGV trolley is fixedly provided with a mounting plate, the storage battery and the air compressor are respectively fixed on the mounting plate, and the purging robot is arranged on the mounting plate; the air compressor, the blowing robot, the control unit, the intelligent unit and the detection positioning unit are respectively connected with the storage battery; the air compressor is connected with the blowing robot and provides an air source for the blowing robot.
The blowing robot comprises a UR cooperation mechanical arm and an air knife, the air knife is installed at the tail end of the UR mechanical arm, and an air inlet of the air knife is connected with an air outlet of an air storage tank of the air compressor through a flexible high-pressure air pipe.
Further, the dust collection unit comprises a transfer vehicle, a dust collection fan, a fan cover, an air compressor and a dust collection box; the dust collection fan, the fan cover, the air compressor and the dust collection box are respectively arranged on the transfer vehicle; the side of the fan cover close to the vehicle body is provided with a dust collection port, and the dust collection box is arranged below the fan cover and communicated with the fan cover; the dust collection fan is arranged on one side in the dust collection box, the dust collection hopper is arranged on the other side of the dust collection box, and the filter element is arranged between the dust collection fan and the dust collection hopper.
Furthermore, a sweeping robot is arranged on the transfer vehicle of the dust collection unit, and the sweeping robot arranged at the position is responsible for sweeping two sides of the bottom of the vehicle body; and each dust collection unit is provided with a set of positioning detection unit for acquiring images and position information of all parts on two sides of the bottom of the vehicle body.
Furthermore, the detection positioning unit adopts a binocular vision camera to realize image acquisition and positioning of all parts at the bottom of the vehicle, and transmits the acquired images and position information of all parts to the intelligent unit.
Furthermore, the intelligent unit is provided with a component standard parameter library, a purging algorithm library and a purging expert library; standard image characteristic parameters of all parts at the bottom of the vehicle are stored in the part standard parameter library, and the intelligent unit compares the image acquired by the detection positioning unit with data in the part standard parameter library to finish the identification of the type and the model of the part; sub-algorithms which are used for planning purging paths and time and correspond to various types and models of parts are stored in the purging algorithm library; the purging expert base is used for planning a purging path and time of the train bottom of the whole train; and the purging expert library automatically generates a program instruction for purging the whole train by calling a component standard parameter library and a purging algorithm library according to the position and the image information acquired by the detection positioning unit.
Further, a blowing robot and a positioning detection unit are arranged on the dust collection unit; and in the second step, the image and the position information of each part on two sides of the bottom of the vehicle, which are acquired by the detection positioning unit on the dust collecting unit, are transmitted to the intelligent unit.
The intelligent unit generates a total purging program instruction according to the images and the position information received from all the detection positioning units; the control unit controls the dust collection unit and the movable purging unit to complete purging operation together according to the purging program instruction.
Drawings
Fig. 1 is a front view of the overall layout of an embodiment of the intelligent sweeping system for the subway bottom of the invention.
Fig. 2 is a top view (vehicle body omitted) of an embodiment of the intelligent sweeping system for the subway bottom of the invention.
Fig. 3 is a perspective view of a mobile purging unit in an embodiment of the intelligent purging system for subway cars according to the invention.
Fig. 4 is an internal structure view of a mobile purging unit in an embodiment of the subway bottom intelligent purging system.
Fig. 5 is a perspective view of a dust collection unit in an embodiment of the intelligent sweeping system for the subway bottom of the invention.
Fig. 6 is a top view of a dust collection unit in an embodiment of the intelligent sweeping system for the subway bottom of the invention.
FIG. 7 is a flow chart of a sweeping process of the intelligent sweeping system for the subway bottom.
Fig. 8 is a schematic diagram of information transmission in the intelligent sweeping system for the subway bottom.
In the figure: a mobile purge unit 1; an AGV trolley 101; a mounting plate 102; a storage battery 103; a purge robot 104; an air compressor 105; a dust collection unit 2; a transfer cart 201; a fan guard 202; a dust collection box 203; a control unit 3; a detection positioning unit 4; a binocular vision camera 401; an intelligent unit 5; a platform 6; a column 7; a trench 8; and a vehicle body 9.
Detailed Description
The invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1 to 5, the intelligent sweeping system for the bottom of the subway car provided by the embodiment of the invention mainly comprises a mobile sweeping unit 1, a dust collecting unit 2, a control unit 3, a detection positioning unit 4, an intelligent unit 5 and the like.
Wherein, remove and sweep unit 1 and set up in the vehicle bottom overhauls the trench, remove and sweep unit 1 and remove along automobile body length direction in overhauing the trench, and dust collection unit 2 sets up in the automobile body both sides.
The detection positioning unit 4 and the intelligent unit 5 are respectively arranged on the mobile blowing unit 1; one movable blowing unit 1 corresponds to the two dust collecting units 2, and the two dust collecting units 2 are symmetrically arranged on two sides of the vehicle body; the movable blowing unit 1 is arranged in the dust collection operation range of the dust collection units 2 on the two sides, and the positions of the movable blowing unit 1 and the dust collection units 2 are relatively static, namely, the dust collection units 2 on the two sides of the vehicle body move or stop synchronously and at the same speed along with the corresponding movable blowing unit 1 in the cleaning operation process. Therefore, a relatively sealed local working space is formed between the dust collection unit 2 and the movable purge unit 1 on both sides of the vehicle body, and the dust collection units 2 on both sides collect the dust (or other adhering objects) purged by the movable purge unit 1.
In the specific implementation of the invention, in order to form a local working space with better sealing effect between the dust collection unit 2 and the movable purging unit 1, air curtains are respectively added at the front side and the rear side of the movable purging unit 1, and the air curtains at the two sides are respectively aligned with the two sides of the dust collection unit 2.
The detection positioning unit 4 is used for acquiring the position information of each part at the bottom of the vehicle; the intelligent unit 5 finishes the planning of the purging path and time according to the information acquired by the detection positioning unit 4 and generates a corresponding purging program instruction; the purging program instruction generated by the intelligent unit 5 is transmitted to the control unit 3, and the control unit 3 controls the movable purging unit 1 and the dust collecting unit 2 to complete the purging operation according to the program instruction.
Referring to fig. 7 and 8, the purging process based on the intelligent purging system for the subway train underbody comprises the following steps.
And step one, the whole train is driven to the position above the purging and overhauling station, and meanwhile, the purging system is reset to start purging operation when all data are normal.
And step two, the movable blowing unit moves from one end of the train to the other end, in the process, the detection positioning unit 4 finishes the acquisition of images and position information of all parts at the bottom of the train, and transmits the acquired information to the intelligent unit 5.
And step three, the intelligent unit 5 automatically generates a purging program instruction according to the information acquired by the detection positioning unit 4, and transmits the generated program instruction to the control unit 3.
Step four, the control unit 3 receives a purging program instruction transmitted by the intelligent unit 5, then controls the movable purging unit 1 and the dust collecting unit 2 to start, and plans the purging time and the path according to the program instruction and returns to the initial end; and the movable purging unit 1 and the dust collecting unit 2 return to the initial end and the purging operation is finished after the program instruction operation is finished.
In order to achieve a better technical effect, the following preferred embodiments may be adopted in practical implementation of the present embodiment.
Preferably, the mobile purge unit 1 comprises an AGV cart 101, a mounting plate 102, a battery 103, a purge robot 104 and an air compressor 105; the top surface of the AGV trolley 101 is fixedly provided with a mounting plate 102, a storage battery 103 and an air compressor 105 are respectively fixed on the mounting plate 102, and the mounting plate 102 is provided with a purging manipulator; the air compressor 105, the blowing robot 104, the control unit 3, the intelligent unit 5 and the detection positioning unit 4 are respectively connected with the storage battery 103; the air compressor 105 is connected with the purging robot 104 and provides an air source for the purging robot 104.
In the specific implementation of the embodiment, as shown in fig. 3, after the storage battery 103, the air compressor 105, the control unit 3, the intelligent unit 5 and the detection positioning unit 4 are integrally mounted on the AGV, the mobile purging unit 1 covers the AGV with a sheet metal shell to achieve a dustproof effect.
The blowing robot 104 comprises a UR cooperation mechanical arm and an air knife, the air knife is installed at the tail end of the UR mechanical arm, and an air inlet of the air knife is connected with an air outlet of an air storage tank of the air compressor 105 through a flexible high-pressure air pipe (accessories such as the air knife and an air pipe are omitted in the attached drawings).
Preferably, the dust collection unit 2 comprises a carrying vehicle 201, a dust suction fan, a fan cover 202, an air compressor 105 and a dust collection box 203; the dust collection fan, the fan cover 202, the air compressor 105 and the dust collection box 203 are respectively arranged on the transfer cart 201; the side of the fan cover 202 close to the vehicle body is provided with a dust collection port, and the dust collection box 203 is arranged below the fan cover 202 and communicated with the fan cover 202; the dust collection fan is arranged at one side in the dust collection box 203, the dust collection hopper is arranged at the other side of the dust collection box 203, and a filter element is arranged between the dust collection fan and the dust collection hopper (at the air inlet). When the dust collection fan works normally, the dust collection fan sucks air, dust and the like generated in blowing operation enter the dust collection box 203 along with negative pressure airflow formed by the dust collection fan through a dust collection opening, and are blocked and filtered by the filter element in the dust collection box 203; after the operation is finished, the dust collection fan blows air reversely to blow the dust blocked by the filter element into the dust collection hopper.
Preferably, the transfer vehicle 201 of the dust collection unit 2 is provided with the purging robot 104, and the purging robot 104 provided therein is responsible for purging both sides of the bottom of the vehicle body; a set of positioning detection unit is installed on each dust collection unit 2, and the positioning detection units installed on the dust collection units 2 are used for collecting images and position information of all parts on two sides of the bottom of the vehicle body.
Preferably, the detection positioning unit 4 adopts a binocular vision camera 401 to realize image acquisition and positioning of all parts at the bottom of the vehicle, and transmits the acquired images and position information of all parts to the intelligent unit 5.
Preferably, the intelligent unit 5 is provided with a component standard parameter library, a purging algorithm library and a purging expert library; the standard image characteristic parameters of all parts at the bottom of the car are stored in the part standard parameter library, and the intelligent unit 5 compares the image acquired by the detection positioning unit 4 with the data in the part standard parameter library to finish the identification of the type and the model of the part; sub-algorithms which are used for planning purging paths and time and correspond to various types and models of parts are stored in the purging algorithm library; the purging expert base is used for planning a purging path and time of the train bottom of the whole train; and the purging expert library automatically generates a program instruction for purging the whole train by calling a component standard parameter library and a purging algorithm library according to the position and the image information acquired by the detection positioning unit 4.
Preferably, in order to achieve the blowing operation on both sides of the bottom of the vehicle body, a set of detection positioning unit 4 and a set of blowing robot 104 may be mounted on the dust collecting devices on both sides of the vehicle body. In the second step, the dust collecting devices on the two sides of the train body and the movable purging system move from one end of the train to the other end of the train, in the process, the positioning detection units arranged on the dust collecting devices on the two sides of the train body complete the acquisition of images and position information of parts on the two sides of the train bottom, and the acquired information is transmitted to the intelligent unit 5.
In the embodiment of the invention, a totally enclosed multi-polar tube type sliding contact line is adopted to supply power to the dust collecting devices on two sides of the vehicle body, and the adopted power supply is as follows: 3AC380V 50Hz N PE 20 kw.
Claims (8)
1. An intelligent sweeping system for the bottom of a subway train comprises a movable sweeping unit, a dust collecting unit and a control unit, wherein the movable sweeping unit is arranged in a maintenance trench at the bottom of the train, the movable sweeping unit moves in the maintenance trench along the length direction of a train body, and the dust collecting unit is arranged on two sides of the train body; the method is characterized in that: the system also comprises a detection positioning unit and an intelligent unit; the detection positioning unit and the intelligent unit are respectively arranged on the mobile blowing unit;
one movable blowing unit corresponds to the two dust collecting units, and the two dust collecting units are symmetrically arranged on two sides of the vehicle body; the movable blowing unit is arranged in the dust collection operation range of the dust collection units at the two sides, and the positions of the movable blowing unit and the dust collection units are relatively static, namely, the dust collection units at the two sides of the vehicle body synchronously move or stop at the same speed along with the corresponding movable blowing unit in the cleaning operation process;
the detection positioning unit is used for acquiring the position information of each part at the bottom of the vehicle; the intelligent unit finishes the planning of the purging path and time according to the information acquired by the detection positioning unit and generates a corresponding purging program instruction;
and the purging program instruction generated by the intelligent unit is transmitted to the control unit, and the control unit controls the movable purging unit and the dust collecting unit to complete purging operation according to the program instruction.
2. The intelligent sweeping system for the underbody of the subway as claimed in claim 1, wherein: the movable purging unit comprises an AGV trolley, a mounting plate, a storage battery, a purging robot and an air compressor; a mounting plate is fixed on the top surface of the AGV; the storage battery and the air compressor are respectively fixed on the mounting plate, and the purging robot is arranged on the mounting plate; the air compressor, the blowing robot, the control unit, the intelligent unit and the detection positioning unit are respectively and electrically connected with the storage battery; the air compressor machine provides the air supply for sweeping the robot.
3. The intelligent sweeping system for the underbody of the subway as claimed in claim 1, wherein: the dust collection unit comprises a transfer vehicle, a dust collection fan, a fan cover, an air compressor and a dust collection box; the dust collection fan, the fan cover, the air compressor and the dust collection box are respectively arranged on the transfer vehicle; the side of the fan cover close to the vehicle body is provided with a dust collection port, and the dust collection box is arranged below the fan cover and communicated with the fan cover; the dust collection fan is arranged on one side in the dust collection box, the dust collection hopper is arranged on the other side of the dust collection box, and the filter element is arranged between the dust collection fan and the dust collection hopper.
4. The intelligent sweeping system for the underbody of the subway as claimed in claim 3, wherein: the sweeping robot is arranged on the carrying vehicle of the dust collecting unit and is responsible for sweeping two sides of the bottom of the vehicle body; and each dust collection unit is provided with a set of positioning detection unit for acquiring images and position information of all parts on two sides of the bottom of the vehicle body.
5. The intelligent sweeping system for the underbody of the subway as claimed in claim 1, wherein: the detection positioning unit adopts a binocular vision camera to realize image acquisition and positioning of all parts at the bottom of the vehicle, and transmits the acquired images and position information of all parts to the intelligent unit.
6. The intelligent sweeping system for the underbody of the subway as claimed in claim 1, wherein: the intelligent unit is provided with a component standard parameter library, a purging algorithm library and a purging expert library;
standard image characteristic parameters of all parts at the bottom of the vehicle are stored in the part standard parameter library, and the intelligent unit compares the image acquired by the detection positioning unit with data in the part standard parameter library to finish the identification of the type and the model of the part;
sub-algorithms which are used for planning purging paths and time and correspond to various types and models of parts are stored in the purging algorithm library;
the purging expert base is used for planning a purging path and time of the train bottom of the whole train; and the purging expert library automatically generates a program instruction for purging the train bottom of the whole train by calling a component standard parameter library and a purging algorithm library according to the position and the image information acquired by the detection positioning unit.
7. The sweeping process of the subway car bottom intelligent sweeping system based on the claim 1, is characterized by comprising the following steps:
the method comprises the following steps that firstly, the whole train is driven to a position above a blowing maintenance station, meanwhile, a blowing system is reset, and blowing operation is started normally when all data are needed;
step two, the movable blowing unit moves from one end of the train to the other end of the train, and in the process, the detection and positioning unit acquires images and position information of all parts at the bottom of the train and transmits the images and the position information to the intelligent unit;
step three, the intelligent unit automatically generates a purging program instruction according to the information acquired by the detection positioning unit and transmits the generated program instruction to the control unit;
step four, the control unit receives a purging program instruction transmitted by the intelligent unit; the mobile blowing unit and the dust collecting unit are controlled to start under the action of the control unit, and the blowing time and the planning of the path are returned to the initial end according to the program instruction; and the movable purging unit and the dust collecting unit return to the initial end and the purging operation is finished after the program instruction is finished.
8. The purge process of claim 7, wherein: the dust collection unit is provided with a blowing robot and a positioning detection unit;
and in the second step, the image and the position information of each part on two sides of the bottom of the vehicle, which are acquired by the detection positioning unit on the dust collecting unit, are transmitted to the intelligent unit.
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| CN115179980A (en) * | 2022-08-09 | 2022-10-14 | 安徽云轨信息科技有限公司 | Bottom detection maintenance vehicle for urban rail transit vehicle |
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| CN115179980A (en) * | 2022-08-09 | 2022-10-14 | 安徽云轨信息科技有限公司 | Bottom detection maintenance vehicle for urban rail transit vehicle |
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| CN112590715B (en) | 2023-01-24 |
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Denomination of invention: An Intelligent Purge System and Technology for Subway Underbody Effective date of registration: 20230727 Granted publication date: 20230124 Pledgee: China Merchants Bank Limited by Share Ltd. Tangshan branch Pledgor: TANGSHAN BAICHUAN INTELLIGENT MACHINE Co.,Ltd. Registration number: Y2023980049866 |