CN113085948B - Track comprehensive detection system - Google Patents
Track comprehensive detection system Download PDFInfo
- Publication number
- CN113085948B CN113085948B CN202110640307.8A CN202110640307A CN113085948B CN 113085948 B CN113085948 B CN 113085948B CN 202110640307 A CN202110640307 A CN 202110640307A CN 113085948 B CN113085948 B CN 113085948B
- Authority
- CN
- China
- Prior art keywords
- track
- module
- information
- vehicle
- section
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
Abstract
The invention relates to the technical field of rail detection, in particular to a comprehensive rail detection system. The detection system is arranged on the train, and vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information are obtained in real time to complete real-time detection and monitoring of the train, so that the safety of the train journey is ensured; meanwhile, track abnormity and positions are obtained through comprehensive analysis according to the received vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information, so that mutual evidence between the track inspection information and the track geometric parameters is provided, and the track detection precision and reliability are effectively improved.
Description
Technical Field
The invention relates to the technical field of rail detection, in particular to a comprehensive rail detection system.
Background
With the development of the application of the rail system in the fields such as rail transit and the like and the improvement of the degree of automation, the degree of modernization of the detection equipment is continuously improved. The conventional track detection cannot detect and monitor the track in real time according to the existing information, and the track cannot be maintained and processed in a targeted manner in the process of daily maintenance by manual intervention, so that the detection precision is low and the error rate is high; meanwhile, whether the abnormal position is maintained or not can be judged according to individuals in daily maintenance, potential safety hazards exist, and driving safety is not facilitated.
Disclosure of Invention
The invention aims to provide a comprehensive track detection system and method for detecting and monitoring a train in real time and effectively improving the track detection precision and reliability.
In order to solve the technical problems, the technical scheme adopted by the invention for solving the technical problems is as follows:
a track comprehensive detection system comprises a geometric parameter measuring module, an inertia module, a track inspection module, a track section acquisition module, a vehicle-mounted processing module and a power supply module for providing power supply for the train track comprehensive detection system, wherein the track inspection module is used for acquiring track inspection image information of a track and a track bed and transmitting the track inspection image information to the vehicle-mounted processing module; the inertia module is used for measuring vehicle attitude parameter information when the train runs; the geometric parameter measuring module is used for measuring geometric parameter information of the running track in real time and transmitting the geometric parameter information to the vehicle-mounted processing module for storage, the track section acquisition module is used for acquiring a section image of the running track, and the vehicle-mounted processing module determines the position of track abnormity and the reason of the track abnormity according to the received vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information so as to obtain track maintenance information.
Further, the track module of patrolling and examining includes track camera and railway roadbed camera, the track camera is used for carrying out the equidistance scanning to the rail and obtains rail surface image and the sleeper image and the fastener image that are connected with the rail, the railway roadbed camera is used for carrying out the equidistance scanning to the railway roadbed and obtains the railway roadbed image.
Further, the track section acquisition module comprises a laser sensor and a section camera, wherein the laser sensor is used for emitting laser and irradiating the laser on the track section; the section camera is used for shooting the section of the track under laser irradiation to obtain a real-time track profile, and the vehicle-mounted processing module compares the track profile with a standard track profile to obtain a track abrasion position.
Further, geometric parameter measurement module, inertia module, track are patrolled and examined module, track section collection module and are all set up in the train bottom, the track is patrolled and examined the module and is set up above the track, track section collection module sets up in the railway roadbed top, on-vehicle processing module and power module set up in the train carriage.
The train positioning system further comprises a radar speed measuring module, wherein the radar speed measuring module is arranged at the bottom of the train and used for detecting the running speed and the mileage data of the train in real time and transmitting the speed and the mileage data to the vehicle-mounted processing module, and the vehicle-mounted processing module obtains train positioning information according to the received speed and mileage data.
The invention has the beneficial effects that:
the detection system is arranged on the train, and vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information are obtained in real time to complete real-time detection and monitoring of the train, so that the safety of the train journey is ensured; meanwhile, track abnormity and positions are obtained through comprehensive analysis according to the received vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information, so that mutual evidence between the track inspection information and the track geometric parameters is provided, and the track detection precision and reliability are effectively improved.
Drawings
Fig. 1 is a schematic diagram of a track comprehensive detection system of the present invention.
FIG. 2 is a flow chart of the detection of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-2, the rail comprehensive detection system is installed on a train, and comprises a geometric parameter measuring module, an inertia module, a rail inspection module, a rail section collecting module, a vehicle-mounted processing module and a power supply module for supplying power to the train rail comprehensive detection system, wherein the rail inspection module is used for collecting rail inspection image information of a rail and a track bed and transmitting the rail inspection image information to the vehicle-mounted processing module; the inertia module is used for measuring vehicle attitude parameter information when the train runs; the geometric parameter measuring module is used for measuring geometric parameter information of the running track in real time and transmitting the geometric parameter information to the vehicle-mounted processing module for storage, the track section acquisition module is used for acquiring a section image of the running track, and the vehicle-mounted processing module determines the position of track abnormity and the reason of the track abnormity according to the received vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information so as to obtain track maintenance information.
The detection system is arranged on the train, and vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information are obtained in real time to complete real-time detection and monitoring of the train, so that the safety of the train journey is ensured; meanwhile, track abnormity and positions are obtained through comprehensive analysis according to the received vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information, so that mutual evidence between the track inspection information and the track geometric parameters is provided, and the track detection precision and reliability are effectively improved.
The track inspection module comprises a track camera and a track bed camera, the track camera is used for scanning the steel rail at equal intervals to obtain a steel rail surface image and a sleeper image and a fastener image which are connected with the steel rail, and the track bed camera is used for scanning the track bed at equal intervals to obtain a track bed image.
The rail surface images comprise rail inner side images, rail outer side images and rail top images, so that a rail camera can comprehensively obtain inspection images of the rail, whether the rail inspection part has defects or not is judged through the images, and judgment is carried out by adopting manual spot inspection or an image intelligent identification method of the center in the prior art.
The rail anomalies include rail clamp plate joint bolt loss, rail fastener loss (large glue under rail and plate, spring bar), iron tie plate bolt loss, turnout bolt loss, sleeper cracks, block falling, and rail corrugation (profile) wear.
The geometric parameter information comprises parameters such as track gauge, superelevation, height, track direction, triangular pits and vehicle body acceleration of the track, and is used for completing track gauge irregularity detection, track gauge change rate, height irregularity detection, horizontal irregularity detection, track direction change rate, triangular pit detection, composite irregularity detection, curvature detection and curvature change rate.
The track section acquisition module comprises a laser sensor and a section camera, wherein the laser sensor is used for emitting laser and irradiating the laser on a track section; the section camera is used for shooting the section of the track under laser irradiation to obtain a real-time track profile, and the vehicle-mounted processing module compares the track profile with a standard track profile to obtain a track abrasion position.
By comparing the real-time track profile graph with the standard track profile, the abrasion of the top of the track, the abrasion of the side surface of the track, the abrasion of a set point and the like can be obtained, and the abrasion condition and the track state of the track are judged. And extracting the change value of the abrasion position to obtain the abrasion value. The specific implementation method of the abrasion calculation comprises the following steps: correcting the acquired outline angle of the rail-shaped data; extracting a vertical abrasion point and a side abrasion point of a standard steel rail; extracting vertical wearing points and side wearing points of worn steel rails; and matching the vertical abrasion points with the side abrasion points with the standard rails.
The measurement of the three postures of rolling, pitching and direction of the vehicle body and the vertical vibration acceleration, the horizontal vibration acceleration and the longitudinal vibration acceleration of the vehicle body is completed by an inertia module, the inertia module comprises three accelerometers and three inclinometers, the accelerometers and strain gages of the inclinometers are caused to change under external excitation, and the sensors convert the body changes into digital signals and output the digital signals to a vehicle-mounted processing module, so that the measurement of the posture and the acceleration of each direction of the vehicle body is realized.
Geometric parameter measurement module, inertia module, track are patrolled and examined module, track section collection module and are all set up in the train bottom, the track is patrolled and examined the module and is set up above the track, track section collection module sets up in the railway roadbed top, on-vehicle processing module and power module set up in the train carriage.
The train positioning system is characterized by further comprising a radar speed measuring module, wherein the radar speed measuring module is arranged at the bottom of the train and used for detecting the running speed and the mileage data of the train in real time and transmitting the speed and the mileage data to the vehicle-mounted processing module, and the vehicle-mounted processing module obtains train positioning information according to the received speed and mileage data.
The radar speed measurement module can carry out non-contact measurement to vehicle velocity of motion and direction of travel, can adapt to different reflection road surfaces, can overcome the velocity fault that tachometric transducer arouses, can eliminate the error that tests the speed that arouses because of wheel idle running, slides and wheel footpath wearing and tearing, improves the train and tests the speed, range finding precision, and then realizes the accurate positioning of vehicle running position.
The invention also includes a track detection method, comprising:
acquiring images of a track and a track bed and a section image of an operating track in real time, detecting abnormal fault points in a track system, if the abnormal fault points exist, confirming track abnormal parameters according to track geometric parameters and attitude parameters of corresponding positions, and judging the reason of track abnormity according to the images and the section image of the track and the track bed so as to obtain track maintenance information; if the track maintenance information does not exist, the track geometric parameters and the attitude parameters are corrected in real time according to the images and the section images of the track and the track bed so as to obtain the track maintenance information.
Confirming track abnormal parameters according to the track geometric parameters and the attitude parameters of the corresponding positions, and judging the reasons of track abnormality according to the track, the images of the track bed and the section images; and correcting the geometric parameters and the attitude parameters of the track in real time according to the images and the section images of the track and the track bed so as to obtain track maintenance information, and comprehensively analyzing the routing inspection information and the geometric parameters of the track to obtain the abnormal position and the abnormal reason of the track, so that the detection precision is further improved.
The method comprises the steps of acquiring a section image in real time, establishing a database of standard track profiles in a normal state of a track, and comparing the section image with the standard track profiles at the same position in the database according to the fact that the standard track profiles in the database are matched with corresponding track profile parameters to obtain the track abrasion position and the track state.
Confirming track abnormal parameters according to the track geometric parameters and the attitude parameters of the corresponding positions, and judging the reasons of track abnormality according to the track, the images of the track bed and the section images;
the rail gauge obtained in real time exceeds a preset threshold value, at the moment, the train can shake or the train wheels and the steel rail are not in complete contact and idle running, the condition of the steel rail at the moment can be judged through the images and the section images of the track and the track bed, namely, the condition is caused by the reason that the sleeper of the track bed is broken, the steel rail fastener is loosened, the steel rail has a large broken edge and the like, the abnormal reason can be judged quickly, the track maintenance information is obtained, and the follow-up maintenance is carried out in pertinence.
Otherwise, correcting the geometric parameters and the attitude parameters of the track in real time according to the images and the section images of the track and the track bed so as to obtain track maintenance information;
specifically, according to the images of the track and the track bed and the section images obtained in real time, when abnormal conditions, namely, a sleeper of the track bed is broken, a steel rail fastener is loosened, a steel rail has large broken edges and the like, occur in the images, the track gauge, the height, the track direction, the triangular pit and the vehicle body acceleration of the track exceed a set threshold value, if the abnormal conditions can not cause driving safety, the geometric parameters and the attitude parameters are corrected in real time, and false alarm is avoided; if the device can be used temporarily, but is not beneficial to driving safety, a maintenance alarm should be sent out to maintain the corresponding position in time.
If the geometric parameter information appears in the threshold edge loitering and does not exceed the threshold, shortening the sampling interval of the cross-section image, the track and the image of the track bed, calling 8-11 frames of images before and after the parameter abnormal point, determining the geometric parameter abnormal information through multi-frame image comprehensive analysis, preventing the track abnormality and ensuring the driving safety.
When the track gauge is 1450mm, the height range of the left track and the right track is +/-100 mm, the range of the transverse acceleration of the train is +/-8 m/s, and the composite irregularity range is +/-120 mm, the sampling interval of the sectional images is 0.25m, and the image sampling interval of the tracks and the track bed is 1.6 mm.
When the track parameters exceed the threshold values, the track information and the positions are calculated by the geometric parameters, the related positions can be rapidly checked according to the inspection images and the section images, timely maintenance is carried out, and the driving safety is guaranteed.
The preferable scheme is that the track outline acquisition interval is 0.25m and the image acquisition adopts a linear array camera sampling interval (advancing direction) of 1 mm; calculating the geometric parameters of the acquired orbit contour based on the wavelength through an inertial reference method and 2D point cloud data; the linear array camera collects 1000 data groups to assemble a JPG image to form a track inspection image, and the track inspection image comprises left and right track inspection and track bed inspection;
linkage analysis is carried out between track geometry and track inspection, the real defect of track inspection can be found through comprehensive judgment, when a certain position in the track geometry is out of limit of track gauge, the track inspection is associated with the track inspection at the same position, a track inspection image is checked to determine whether the position is a turnout, if the position is the turnout, the track gauge of the position is not out of limit, and if the position is not the turnout, the track gauge of the position is out of limit, so that the comprehensive analysis is completed.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (5)
1. A track comprehensive detection system is characterized by comprising a geometric parameter measuring module, an inertia module, a track inspection module, a track section acquisition module, a vehicle-mounted processing module and a power supply module for providing power for the train track comprehensive detection system, wherein the track inspection module is used for acquiring track inspection image information of a track and a track bed and transmitting the track inspection image information to the vehicle-mounted processing module; the inertia module is used for measuring vehicle attitude parameter information when the train runs; the system comprises a geometric parameter measuring module, a vehicle-mounted processing module, a track section acquisition module, a track inspection image processing module and a fault detection module, wherein the geometric parameter measuring module is used for measuring geometric parameter information of an operation track in real time and transmitting the geometric parameter information to the vehicle-mounted processing module for storage, the track section acquisition module is used for acquiring a section image of the operation track, and the vehicle-mounted processing module is used for detecting abnormal fault points in a track system according to the received vehicle attitude parameter information, track inspection image information, track section information and geometric parameter information;
if the track maintenance information exists, confirming track abnormal parameter information according to the track geometric parameter information and the attitude parameter information of the corresponding position, and judging the reason of the track abnormality according to the image information and the section image information of the track and the track bed so as to obtain track maintenance information; if the track maintenance information does not exist, the track geometric parameter information and the attitude parameter information are corrected in real time according to the image information and the section image information of the track and the track bed, so that the track maintenance information is obtained.
2. The comprehensive rail detection system according to claim 1, wherein the rail inspection module comprises a rail camera and a track bed camera, the rail camera is used for scanning rails at equal intervals to obtain images of the surfaces of the rails and images of sleepers and fasteners connected with the rails, and the track bed camera is used for scanning the track bed at equal intervals to obtain images of the track bed.
3. The track comprehensive detection system according to claim 1, wherein the track section acquisition module comprises a laser sensor and a section camera, the laser sensor is used for emitting laser and irradiating the laser on the track section; the section camera is used for shooting the section of the track under laser irradiation to obtain a real-time track profile, and the vehicle-mounted processing module compares the track profile with a standard track profile to obtain a track abrasion position.
4. The comprehensive track detection system according to claim 1, wherein the geometric parameter measurement module, the inertia module, the track inspection module and the track section acquisition module are all arranged at the bottom of the train, the track inspection module is arranged above the track, the track section acquisition module is arranged above the track bed, and the vehicle-mounted processing module and the power supply module are arranged in a train carriage.
5. The track comprehensive detection system according to claim 1, further comprising a radar speed measuring module, wherein the radar speed measuring module is arranged at the bottom of the train, the radar speed measuring module is used for detecting the running speed and mileage data of the train in real time and transmitting the speed and mileage data to the vehicle-mounted processing module, and the vehicle-mounted processing module obtains train positioning information according to the received speed and mileage data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640307.8A CN113085948B (en) | 2021-06-09 | 2021-06-09 | Track comprehensive detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640307.8A CN113085948B (en) | 2021-06-09 | 2021-06-09 | Track comprehensive detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113085948A CN113085948A (en) | 2021-07-09 |
| CN113085948B true CN113085948B (en) | 2021-10-19 |
Family
ID=76664565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110640307.8A Active CN113085948B (en) | 2021-06-09 | 2021-06-09 | Track comprehensive detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113085948B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895477A (en) * | 2021-08-25 | 2022-01-07 | 陈春 | Tram cell type rail track geometric parameters test system |
| CN114228778A (en) * | 2021-12-09 | 2022-03-25 | 上海市东方海事工程技术有限公司 | Inspection vehicle-based track three-vertical-face detection system and method |
| CN114379607B (en) * | 2022-01-26 | 2023-07-14 | 株洲时代电子技术有限公司 | Comprehensive railway inspection method |
| CN114592388A (en) * | 2022-03-07 | 2022-06-07 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Ride comfort detection method and system for long and large tunnel rail transportation track |
| CN117068233B (en) * | 2023-10-16 | 2023-12-15 | 江苏天佑路航认证检测有限公司 | Magnetic levitation train safety detection system and method based on big data |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372315A (en) * | 2001-02-20 | 2002-08-21 | Digital Image Res Ltd | Determining the track condition in a transport system |
| CN107284473A (en) * | 2017-06-21 | 2017-10-24 | 北京铁科英迈技术有限公司 | Rail detection system and method |
| CN108974043A (en) * | 2018-08-09 | 2018-12-11 | 铁路愿景欧洲有限公司 | Railroad track survey system |
| CN109910947A (en) * | 2019-01-28 | 2019-06-21 | 北京城建设计发展集团股份有限公司 | Carrying type track health status dynamic monitoring and wisdom analysis system and method |
| CN110161043A (en) * | 2019-05-10 | 2019-08-23 | 同济大学 | A kind of subway tunnel structure synthetic detection vehicle |
| CN212500409U (en) * | 2020-06-11 | 2021-02-09 | 南京航空航天大学 | Portable track detection device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10320093A1 (en) * | 2003-05-05 | 2004-11-25 | Hultsch, Eberhard, Dr. | Rail wear status measurement procedure uses lightweight measurement wagon with laser and measurement wheel sensors for continuous longitudinal and intermittent cross section recording |
| CA2902742C (en) * | 2013-03-21 | 2018-01-09 | International Electronic Machines Corporation | Noncontact measuring device |
| CN105109517A (en) * | 2015-08-13 | 2015-12-02 | 中国神华能源股份有限公司 | Rail-flaw analyzing method and rail-flaw detecting car |
| US10518791B2 (en) * | 2015-10-20 | 2019-12-31 | Sameer Singh | Integrated rail and track condition monitoring system with imaging and inertial sensors |
| CN107380204B (en) * | 2017-08-11 | 2023-12-01 | 暨南大学 | Track geometric parameter detection vehicle and track geometric parameter detection method |
| CN107554553B (en) * | 2017-08-31 | 2019-01-01 | 常州路航轨道交通科技有限公司 | Track geometry irregularities detection method based on two-dimensional laser displacement sensor |
-
2021
- 2021-06-09 CN CN202110640307.8A patent/CN113085948B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372315A (en) * | 2001-02-20 | 2002-08-21 | Digital Image Res Ltd | Determining the track condition in a transport system |
| CN107284473A (en) * | 2017-06-21 | 2017-10-24 | 北京铁科英迈技术有限公司 | Rail detection system and method |
| CN108974043A (en) * | 2018-08-09 | 2018-12-11 | 铁路愿景欧洲有限公司 | Railroad track survey system |
| CN109910947A (en) * | 2019-01-28 | 2019-06-21 | 北京城建设计发展集团股份有限公司 | Carrying type track health status dynamic monitoring and wisdom analysis system and method |
| CN110161043A (en) * | 2019-05-10 | 2019-08-23 | 同济大学 | A kind of subway tunnel structure synthetic detection vehicle |
| CN212500409U (en) * | 2020-06-11 | 2021-02-09 | 南京航空航天大学 | Portable track detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113085948A (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113085948B (en) | Track comprehensive detection system | |
| Weston et al. | Perspectives on railway track geometry condition monitoring from in-service railway vehicles | |
| US9340219B2 (en) | Wayside measurement of railcar wheel to rail geometry | |
| CN102548828B (en) | Method and instrumentation for detection of rail defects, in particular rail top defects | |
| CN109910947A (en) | Carrying type track health status dynamic monitoring and wisdom analysis system and method | |
| US20120300060A1 (en) | Vision system for imaging and measuring rail deflection | |
| US20110064273A1 (en) | Automated turnout inspection | |
| CN113320447A (en) | Track-contact net equipment health state integration comprehensive detection robot | |
| CN113104063A (en) | Comprehensive detection system and method for network rail tunnel | |
| CN113091833A (en) | Bow net comprehensive detection system | |
| CN106042983A (en) | Laser overhead contact system wire inspection device and method | |
| CN113466247B (en) | Rail weld detection method and system based on inertial technology and machine vision fusion | |
| US20220017129A1 (en) | Onboard Railway Health Monitoring | |
| Wang et al. | A machine vision system based on driving recorder for automatic inspection of rail curvature | |
| AU2015261670B2 (en) | Wayside measurement of railcar wheel to rail geometry | |
| CN113091835A (en) | Network rail tunnel comprehensive detection device and method based on edge calculation and big data | |
| KR101371531B1 (en) | A system and a method for inspecting catenary through a vibration correction | |
| CN205871787U (en) | Laser contact net wire inspection device | |
| Molina Camargo et al. | Emerging condition monitoring technologies for railway track components and special trackwork | |
| WO2013162398A1 (en) | Method for surveying rail-wheel contact | |
| CN213482904U (en) | Image analysis system and device suitable for track detection | |
| CN115219251A (en) | Railway vehicle dynamic performance monitoring system based on wheel pair operation posture | |
| CN108622130A (en) | A kind of novel track component detection system | |
| Samia et al. | Automated railway maintenance system in context of Bangladesh | |
| Stamenković et al. | MODERN APPROACHES TO CONDITION MONITORING OF RAILWAY ASSETS |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |