CN113147408A - Pantograph abnormal lowering judgment method and device, electronic equipment and rail vehicle - Google Patents
Pantograph abnormal lowering judgment method and device, electronic equipment and rail vehicle Download PDFInfo
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- CN113147408A CN113147408A CN202110336484.7A CN202110336484A CN113147408A CN 113147408 A CN113147408 A CN 113147408A CN 202110336484 A CN202110336484 A CN 202110336484A CN 113147408 A CN113147408 A CN 113147408A
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- 230000002159 abnormal effect Effects 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004590 computer program Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 description 5
- 230000000630 rising effect Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
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- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention provides a method and a device for judging abnormal lowering of a pantograph, electronic equipment and a rail vehicle; the method comprises the following steps: collecting pantograph lifting relay signals and pantograph pressure switch relay signals; and judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal. According to the method and the device for judging the abnormal lowering of the pantograph, the electronic equipment and the storage medium, provided by the invention, the abnormal lowering phenomenon of the pantograph is timely and accurately judged by integrating the pantograph lifting relay signal and the pantograph pressure switch relay signal, the abnormal lowering of the pantograph in the running of a railway vehicle is prevented from being discovered in time, the operation order is prevented from being influenced, and the safe, reliable and punctual running of the railway vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of traffic equipment, in particular to a pantograph abnormal lowering judgment method and device, electronic equipment and a rail vehicle.
Background
In a plurality of fields such as railways, inter-city railways, urban rail transit and the like, electric traction rail vehicles are widely adopted. Electric traction rail vehicles utilize pantographs to obtain electrical energy from overhead contact lines.
During the operation of the electric traction railway vehicle, the pantograph may abnormally descend. For example, a carbon sliding plate of a pantograph is continuously worn during operation, and when the carbon sliding plate is worn to a certain extent, a gas leakage phenomenon occurs. At this time, the pantograph is immediately lowered.
Because the rated voltage of the pantograph is higher, such as 25KV generally, the pantograph is limited by the insulation technology, and a sensor cannot be directly installed on the pantograph. In the prior art, the state of the pantograph can be judged only through a signal of a pantograph pressure switch relay, and whether the pantograph normally falls or abnormally falls cannot be distinguished.
Therefore, when the pantograph is abnormally lowered, the abnormal lowering cannot be found in time, so that the abnormal lowering is not beneficial for a driver to accurately judge the vehicle condition in time, and the normal operation of the rail vehicle is influenced.
Disclosure of Invention
The invention provides a method and a device for judging abnormal lowering of a pantograph, electronic equipment and a rail vehicle, which are used for solving the defect that the abnormal lowering phenomenon of the pantograph cannot be timely and accurately identified in the prior art.
The invention provides a method for judging abnormal lowering of a pantograph, which comprises the following steps:
collecting pantograph lifting relay signals and pantograph pressure switch relay signals;
and judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
According to the method for determining abnormal lowering of a pantograph provided by the invention, whether the pantograph is abnormally lowered or not is determined according to a pantograph lifting relay signal and a pantograph pressure switch relay signal, and the method comprises the following steps:
determining that a pantograph lifting instruction has been received at the current moment and the duration of receiving the pantograph lifting instruction is higher than a preset time threshold according to the pantograph lifting relay signal;
determining that the pantograph is actually in a descending state at the current moment according to the pantograph pressure switch relay signal;
and judging the abnormal lowering condition of the pantograph.
According to the method for judging abnormal lowering of the pantograph provided by the invention, the pantograph raising command is determined to be received at the current moment according to the pantograph raising relay signal, and the method comprises the following steps:
and when the contact of the pantograph lifting relay is at a high level, determining that a pantograph lifting instruction is received at the current moment.
According to the method for judging abnormal lowering of the pantograph, the preset time threshold is 5 seconds.
According to the method for determining abnormal lowering of a pantograph provided by the invention, the step of determining that the pantograph is actually in a lowered state at the current time according to the pantograph pressure switch relay signal comprises the following steps:
and when the pantograph pressure switch relay is detected to generate a falling edge, determining that the pantograph is actually in a falling state at the current moment.
According to the method for determining abnormal lowering of a pantograph provided by the present invention, after the step of determining abnormal lowering of the pantograph, the method further comprises:
and sending an alarm signal of abnormal pantograph lowering failure.
The present invention also provides a pantograph abnormal lowering determination device, including:
the signal acquisition module is used for acquiring pantograph lifting relay signals and pantograph pressure switch relay signals;
and the judging module is used for judging whether the pantograph abnormally descends according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
The invention also provides a rail vehicle which is characterized by comprising the pantograph abnormal descending judgment device.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the pantograph abnormal drop judging method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, realizes the steps of the pantograph abnormal drop determination method as described above.
According to the method and the device for judging the abnormal lowering of the pantograph, the electronic equipment and the rail vehicle, provided by the invention, the abnormal lowering phenomenon of the pantograph is timely and accurately judged by integrating the pantograph lifting relay signal and the pantograph pressure switch relay signal, the abnormal lowering of the pantograph in the operation of the rail vehicle is prevented from being discovered in time, the operation order is prevented from being influenced, and the safe, reliable and punctual operation of the rail vehicle is ensured.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a pantograph abnormal lowering determination method according to the present invention;
fig. 2 is a schematic structural view of a pantograph abnormal lowering determination device according to the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method, the apparatus, the electronic device, and the rail vehicle for determining abnormal pantograph lowering according to the present invention will be described with reference to fig. 1 to 3.
Fig. 1 is a flowchart of a method for determining abnormal pantograph lowering provided by the present invention, and as shown in fig. 1, the method for determining abnormal pantograph lowering provided by the present invention includes:
The pantograph lifting relay is used for controlling the lifting of the pantograph. The pantograph lifting relay is provided as is well known to those skilled in the art. For example, the normally open contact of the pantograph lifting relay is positioned in the pantograph lifting control circuit, and the pantograph lifting control circuit can be switched on only when the normally open contact of the pantograph lifting relay is closed, so that the pantograph lifting is possible.
By collecting the pantograph lifting relay signal, the state information of whether the driver sends the pantograph lifting signal at the current moment can be obtained.
The pantograph pressure switch relay is used for detecting the pantograph lifting pressure state of the pantograph. Pantograph pressure switch relay arrangements are well known to those skilled in the art. For example, the pantograph rises and needs gas, the pantograph pressure switch can judge the pantograph rising pressure of the pantograph, the pantograph pressure switch drives the pantograph pressure switch relay to operate, the state of the pantograph pressure switch relay is monitored to judge the pantograph pressure, and then the state of the pantograph is judged.
By collecting the relay signal of the pantograph pressure switch, whether the pantograph is in a stressed state at the current moment can be obtained. If the pantograph is in a stressed state, the pantograph is in a descending state at the current time, and if the pantograph is not in the stressed state, the pantograph is in a lifting state at the current time.
How to collect pantograph up-switch relay signals and pantograph pressure switch relay signals is common knowledge of those skilled in the art, and therefore, will not be further described in this embodiment.
And 102, judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
In the previous step, the pantograph up-bow relay signal and the pantograph pressure switch relay signal have been collected. In this step, whether the pantograph is abnormally lowered or not can be determined by combining the pantograph lifting relay signal and the pantograph pressure switch relay signal.
Specifically, it is determined that the pantograph raising command has been received at the present time and the duration of receiving the pantograph raising command is higher than the preset time threshold value according to the pantograph raising relay signal, which indicates that the pantograph should have been raised theoretically.
Then, it is determined whether the pantograph is in a raised state or a lowered state at the present time based on the pantograph pressure switch relay signal. If the pantograph is in a descending state at the current moment, the phenomenon of air leakage of the pantograph is shown, and the pantograph is actually in the descending state.
If the pantograph is judged to be in a lifting state theoretically according to the pantograph lifting relay signal and the pantograph is judged to be in a descending state actually according to the pantograph pressure switch relay signal, the abnormal descending of the pantograph is described.
Obviously, if the pantograph is judged to be in a lifting state theoretically according to the pantograph lifting relay signal, and the pantograph is also judged to be in the lifting state actually according to the pantograph pressure switch relay signal, the pantograph is in a normal lifting state; if the pantograph is judged to be in a descending state theoretically according to the pantograph ascending relay signal and the pantograph is judged to be in a descending state actually according to the pantograph pressure switch relay signal, the pantograph is in a normal descending state. These two states are normal operating states of the pantograph and are therefore not further described here.
The method for judging the abnormal lowering of the pantograph can integrate the pantograph lifting relay signal and the pantograph pressure switch relay signal, realize the timely and accurate judgment of the abnormal lowering phenomenon of the pantograph, prevent the abnormal lowering of the pantograph from being discovered in time in the running of the rail vehicle, influence the operation order and ensure the safe, reliable and punctual running of the rail vehicle.
Based on any one of the above embodiments, in this embodiment, the determining that a pantograph lifting instruction has been received at the current time according to the pantograph lifting relay signal includes:
and when the contact of the pantograph lifting relay is at a high level, determining that a pantograph lifting instruction is received at the current moment.
In this embodiment, the pantograph up relay signal is further explained. And taking the state information that the contact of the pantograph lifting relay is at a high level as an indication signal for receiving a pantograph lifting command. Namely, if the contact of the pantograph lifting relay is at a high level, the pantograph lifting relay receives a pantograph lifting command; on the contrary, if the contact of the pantograph lifting relay is at a low level, it indicates that the pantograph lifting relay does not receive the pantograph lifting command.
The method for judging the abnormal lowering of the pantograph can integrate the pantograph lifting relay signal and the pantograph pressure switch relay signal, realize the timely and accurate judgment of the abnormal lowering phenomenon of the pantograph, prevent the abnormal lowering of the pantograph from being discovered in time in the running of the rail vehicle, influence the operation order and ensure the safe, reliable and punctual running of the rail vehicle.
Based on any one of the above embodiments, in this embodiment, the determining that the pantograph is actually in a lowered state at the current time according to the pantograph pressure switch relay signal includes:
and when the pantograph pressure switch relay is detected to generate a falling edge, determining that the pantograph is actually in a falling state at the current moment.
In this embodiment, the pantograph pressure switch relay signal is further described. And taking the state information of the falling edge generated by the pantograph pressure switch relay as an indication signal of the actual falling state of the pantograph. That is, if the pantograph pressure switch relay generates a falling edge, it indicates that the pantograph is actually in a falling state; on the contrary, if the pantograph pressure switch relay generates a rising edge, the pantograph is actually in a rising state.
The method for judging the abnormal lowering of the pantograph can integrate the pantograph lifting relay signal and the pantograph pressure switch relay signal, realize the timely and accurate judgment of the abnormal lowering phenomenon of the pantograph, prevent the abnormal lowering of the pantograph from being discovered in time in the running of the rail vehicle, influence the operation order and ensure the safe, reliable and punctual running of the rail vehicle.
Based on any one of the above embodiments, in this embodiment, the preset time threshold is 5 seconds.
In the present embodiment, the size of the time threshold for determining whether the pantograph has risen is defined.
As is known to those skilled in the art, the pantograph lifting process requires time, so that the pantograph lifting relay can not consider that the pantograph is lifted until the pantograph lifting relay receives a pantograph lifting command and maintains the pantograph lifting command for a period of time. The shortest value of this time is represented by the time threshold in the present invention.
The magnitude of the time threshold is related to the model of the pantograph, and in the present embodiment, the magnitude of the time threshold is set to 5 seconds. In other embodiments, the size of the time threshold may also be determined according to actual needs.
The method for judging the abnormal lowering of the pantograph can integrate the pantograph lifting relay signal and the pantograph pressure switch relay signal, realize the timely and accurate judgment of the abnormal lowering phenomenon of the pantograph, prevent the abnormal lowering of the pantograph from being discovered in time in the running of the rail vehicle, influence the operation order and ensure the safe, reliable and punctual running of the rail vehicle.
Based on any one of the above embodiments, in this embodiment, after the step of determining that the pantograph is abnormally lowered, the method further includes:
and sending an alarm signal of abnormal pantograph lowering failure.
In this embodiment, after determining that the pantograph is abnormally lowered based on the pantograph lifting relay signal and the pantograph pressure switch relay signal, the warning signal may be sent to the outside (such as an upper computer) to remind a driver of the railway vehicle to stop to check the pantograph state or to change the pantograph operation.
The alarm signal may be an alarm lamp, an alarm whistle, or the like, which is not limited in this embodiment.
The method for judging the abnormal lowering of the pantograph can integrate the pantograph lifting relay signal and the pantograph pressure switch relay signal, realize the timely and accurate judgment of the abnormal lowering phenomenon of the pantograph, prevent the abnormal lowering of the pantograph from being discovered in time in the running of the rail vehicle, influence the operation order and ensure the safe, reliable and punctual running of the rail vehicle.
The pantograph abnormal lowering determination device according to the present invention is described below, and the pantograph abnormal lowering determination device described below and the pantograph abnormal lowering determination method described above may be referred to in correspondence with each other.
Fig. 2 is a schematic structural view of the pantograph abnormal drop determination device provided by the present invention, and as shown in fig. 2, the pantograph abnormal drop determination device provided by the present invention includes:
the signal acquisition module 201 is used for acquiring pantograph lifting relay signals and pantograph pressure switch relay signals;
and the judging module 202 is configured to judge whether the pantograph is abnormally lowered according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
The pantograph lifting relay is used for controlling the lifting of the pantograph. By collecting the pantograph lifting relay signal, the state information of whether the driver sends the pantograph lifting signal at the current moment can be obtained.
The pantograph pressure switch relay is used for detecting the pantograph lifting pressure state of the pantograph. By collecting the relay signal of the pantograph pressure switch, whether the pantograph is in a stressed state at the current moment can be obtained. If the pantograph is in a stressed state, the pantograph is in a descending state at the current time, and if the pantograph is not in the stressed state, the pantograph is in a lifting state at the current time.
And determining that the pantograph lifting command is received at the current moment and the duration of receiving the pantograph lifting command is higher than a preset time threshold according to the pantograph lifting relay signal, so that the pantograph is theoretically lifted.
And determining whether the pantograph is in a lifting state or a descending state at the current moment according to the signal of the pantograph pressure switch relay. If the pantograph is in a descending state at the current moment, the phenomenon of air leakage of the pantograph is shown, and the pantograph is actually in the descending state.
If the pantograph is judged to be in a lifting state theoretically according to the pantograph lifting relay signal and the pantograph is judged to be in a descending state actually according to the pantograph pressure switch relay signal, the abnormal descending of the pantograph is described.
The device for judging abnormal lowering of the pantograph provided by the invention can integrate pantograph lifting relay signals and pantograph pressure switch relay signals, realize timely and accurate judgment of abnormal lowering phenomena of the pantograph, prevent abnormal lowering of the pantograph from being discovered in time in the running of a rail vehicle, influence the operation order and ensure safe, reliable and punctual running of the rail vehicle.
The invention also provides a rail vehicle which comprises the pantograph abnormal descending judgment device.
The rail vehicle with the pantograph abnormal descending judgment device can synthesize pantograph ascending relay signals and pantograph pressure switching relay signals, realize timely and accurate judgment of pantograph abnormal descending phenomena, prevent the pantograph abnormal descending phenomena from being discovered in time in the operation of the rail vehicle, influence operation order and ensure the safe, reliable and punctual operation of the rail vehicle.
Fig. 3 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 3, the electronic device may include: a processor (processor)310, a communication Interface (communication Interface)320, a memory (memory)330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. The processor 310 may call logic instructions in the memory 330 to perform a pantograph abnormal drop determination method, the method comprising:
collecting pantograph lifting relay signals and pantograph pressure switch relay signals;
and judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing the pantograph abnormal drop determination method provided by the above methods, the method including:
collecting pantograph lifting relay signals and pantograph pressure switch relay signals;
and judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the pantograph abnormal drop determination method provided in the above aspects, the method including:
collecting pantograph lifting relay signals and pantograph pressure switch relay signals;
and judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A pantograph abnormal lowering judgment method is characterized by comprising the following steps:
collecting pantograph lifting relay signals and pantograph pressure switch relay signals;
and judging whether the pantograph is abnormally lowered or not according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
2. The method of determining abnormal pantograph lowering according to claim 1, wherein said determining whether or not the pantograph is abnormally lowered based on the pantograph up relay signal and the pantograph pressure switch relay signal includes:
determining that a pantograph lifting instruction has been received at the current moment and the duration of receiving the pantograph lifting instruction is higher than a preset time threshold according to the pantograph lifting relay signal;
determining that the pantograph is actually in a descending state at the current moment according to the pantograph pressure switch relay signal;
and judging the abnormal lowering condition of the pantograph.
3. The method according to claim 2, wherein determining that a pantograph up command has been received at a current time based on the pantograph up relay signal includes:
and when the contact of the pantograph lifting relay is at a high level, determining that a pantograph lifting instruction is received at the current moment.
4. The method for determining abnormal lowering of a pantograph according to claim 2, wherein the preset time threshold is 5 seconds.
5. The method of determining abnormal pantograph lowering according to claim 2, wherein said determining that the pantograph is actually in a lowered state at the present time based on the pantograph pressure switch relay signal includes:
and when the pantograph pressure switch relay is detected to generate a falling edge, determining that the pantograph is actually in a falling state at the current moment.
6. The pantograph abnormal lowering determination method according to any one of claims 1 to 5, wherein after the step of determining that the pantograph abnormal lowering has occurred, the method further comprises:
and sending an alarm signal of abnormal pantograph lowering failure.
7. An abnormal pantograph lowering determination device, comprising:
the signal acquisition module is used for acquiring pantograph lifting relay signals and pantograph pressure switch relay signals;
and the judging module is used for judging whether the pantograph abnormally descends according to the pantograph lifting relay signal and the pantograph pressure switch relay signal.
8. A rail vehicle, characterized by comprising the pantograph abnormal lowering determination device according to claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the pantograph abnormal drop determination method according to any one of claims 1 to 6.
10. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the pantograph abnormal drop determination method according to any one of claims 1 to 6.
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| CN110525224A (en) * | 2019-08-20 | 2019-12-03 | 中车青岛四方机车车辆股份有限公司 | Train pantograph logic and intelligent control system based on intelligent control unit |
| CN111137134A (en) * | 2020-01-02 | 2020-05-12 | 中车青岛四方机车车辆股份有限公司 | Device and method for controlling lifting bow in operation of railway vehicle |
| CN112332364A (en) * | 2020-09-28 | 2021-02-05 | 中车青岛四方机车车辆股份有限公司 | Overcurrent protection control method and system under pantograph lifting state of pantograph |
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