CN114111716A - System and method for detecting gradient of contact net positioner - Google Patents
System and method for detecting gradient of contact net positioner Download PDFInfo
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- CN114111716A CN114111716A CN202111386370.XA CN202111386370A CN114111716A CN 114111716 A CN114111716 A CN 114111716A CN 202111386370 A CN202111386370 A CN 202111386370A CN 114111716 A CN114111716 A CN 114111716A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004088 simulation Methods 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 229910000838 Al alloy Inorganic materials 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001012 protector Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
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- 229910000831 Steel Inorganic materials 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
Abstract
The invention relates to a gradient detection system for a contact net positioner, which comprises a bracket system, a simulated positioning pipe component, an angle control system, a simulated positioner system and an electrical system, wherein the simulated positioning pipe component is vertically fixed on the bracket system; the angle control system is fixedly connected with the simulation positioning pipe component; the simulation locator system is positioned below the simulation locator pipe component, one end of the simulation locator system is connected with the angle control system, and the simulation locator system is driven by the angle control system to rotate; and the electrical system is in communication connection and electrical connection with the angle control system and the analog positioner system and is used for supplying power to the angle control system and the analog positioner system, sending a control command and receiving detection information. The system for detecting the gradient of the contact net positioner simplifies the positioner system on the premise of meeting the measurement accuracy, and has the advantages of small occupied area, convenience in operation, high safety, cost saving and the like. The invention further relates to a method for detecting the gradient of the contact net positioner.
Description
Technical Field
The invention relates to a high-speed bow net comprehensive detection system, in particular to a contact net positioner gradient detection system and a detection method.
Background
The high-speed pantograph and catenary comprehensive detection device is vehicle-mounted catenary detection equipment installed on a comprehensive detection train, and comprehensive detection is carried out on parameters and states of a catenary of the high-speed railway and a high-speed pantograph and catenary relation along with the itinerant detection operation of the comprehensive detection train on the high-speed railway. The overhead line system is mainly composed of a support column, a foundation, a supporting structure, a contact suspension and the like. The contact net geometric parameters are parameters representing the characteristics of the spatial position where the contact net is located, and mainly comprise contact line height, gradient, transverse offset, relative position and the like. The slope of the contact net positioner is the slope of the extension line of the positioner connecting line relative to the two steel rail surfaces (applied to the Z-shaped limiting positioner).
The gradient of the positioner is one of important indexes influencing the running safety of the train. When the train passes through the supporting device at a high speed, the contact line and the positioner are lifted to a certain degree due to the pantograph lifting pressure of the pantograph, but the lifting is not invaded into the pantograph envelope line, so that the contact line operation accident caused by pantograph hitting due to the fact that the pantograph collides with the positioner when passing through is avoided. There is therefore a certain requirement for the range of positioner slopes. In the current overhaul and maintenance of the overhead contact system in China, the slope of a static positioner has clear overhaul and maintenance requirements; according to the TG/GD 124-2015 high-speed railway contact net operation and maintenance rule, the limit value of the gradient of the static positioner is 4-15 degrees. The field generally measures the slope of the static locator through an angle gauge, and then detects the slope defect of the static locator according to the standard. Therefore, the detection of the gradient of the positioner is an important contact network safety detection item.
The high-speed bow net comprehensive detection device mainly measures the gradient of the locator by non-contact methods such as a laser scanning method, an image recognition method, ultrasonic waves and the like. The method of dynamically checking the checking and measuring accuracy of the tested product on the actual operation line is adopted, and the actual performance of the tested product cannot be accurately detected due to the inconsistency and the non-repeatability of the static measured value and the dynamic measured value of the supporting device along with the mutual positions between the electric locomotive and the track and between the electric locomotive and the contact network. The existing static detection method can only simply simulate the gradient of the positioner, needs to manually place the gradient position of the simulated positioner, cannot accurately simulate the actual working state and the positioning gradient value of the positioner, and has the disadvantages of complex operation, low positioning precision and poor repeatability.
In order to dynamically detect whether the gradient of the locator is in a safe range, a high-speed pantograph and catenary comprehensive detection device (1C) in a high-speed railway power supply safety detection monitoring system (6C) clearly provides the requirement for detecting the gradient of the locator, and performance indexes are clearly specified through TJ/GD007-2014 temporary technical conditions of the high-speed pantograph and catenary comprehensive detection device (1C). In order to verify whether the performance of the high-speed bow net comprehensive detection device (1C) meets the requirements of temporary technical conditions, the detection accuracy of the device under the condition of the gradient of a standard positioner needs to be checked.
One scheme of the conventional simulation standard target is that a slender round bar simulation positioner is placed on a simple support, the simulation positioner is manually arranged, the standard gradient of the positioner is determined by combining a level gauge and an angle ruler, the position of the simulation positioner is fixed through a tether and serves as a detection standard target, and the accuracy of the measured value of a measured product is checked. However, the slope standard target value of the simulated positioner is manually measured and fixed, when the slope standard target value is measured due to the influence of a person on a loop, the 0 point serving as a positioning reference is not accurate, and the measured value has larger deviation with the true value; meanwhile, when the analog positioner is fixed manually, the measured value is likely to change due to human reasons, so that the real value and the target value have large errors, the precision is low, the repeatability is poor, and the requirement as the inspection standard cannot be met. The other scheme is that the analog positioner is clamped by the dividing head, and different standard target values of the gradient of the positioner are simulated by manually shaking the dividing head. The scheme partially solves the problem of errors generated when the analog positioner is manually fixed, but the 0 point of the positioning reference of the analog positioner still needs to be manually determined, the rotating angle also needs to be manually calculated and determined, a human is in a loop, and the true value and the target value of the analog positioner have larger errors.
The two schemes simplify the related structure of the locator, and the locator can be identified only by designing a special algorithm, so that the locator has a larger difference with the identification algorithm applied to the tested product and cannot truly reflect the condition of the product.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention adopts a brand-new form, drives the simulation positioner to rotate to a target position by adopting a supporting structure similar to the real installation condition of the positioner and utilizing a high-precision servo motor and a speed reducing mechanism, and combines a high-precision tilt angle sensor, feeds back the angle information of the simulation positioner in real time through special embedded software, and wirelessly transmits the angle information to a special control panel computer to display and control a detection target value in real time. The standard target value indicated by the whole system has high accuracy, the positioning datum 0 point has high precision, good consistency, good repeatability and simple and quick detection process.
The technical scheme of the invention is as follows:
a gradient detection system for a contact net positioner comprises a support system, a simulation positioning pipe component, an angle control system, a simulation positioner system and an electrical system, wherein the simulation positioning pipe component is vertically fixed on the support system; the angle control system is fixedly connected with the simulation positioning pipe component; the simulation locator system is positioned below the simulation locator pipe component, one end of the simulation locator system is connected with the angle control system, and the simulation locator system is driven by the angle control system to rotate; and the electrical system is in communication connection and electrical connection with the angle control system and the analog positioner system and is used for supplying power to the angle control system and the analog positioner system, sending a control command and receiving detection information.
Preferably, the mounting system includes an undercarriage component and a leg component mounted perpendicular to the undercarriage component, the analog positioning tube component and the angle control system being secured to the leg component.
Preferably, the bottom of the underframe part is provided with a plurality of legs capable of adjusting height.
Preferably, an inclined support frame is fixedly connected between the underframe part and the strut part.
Preferably, the angle control system comprises a servo motor, a speed reducer and a speed reducer hanger, the servo motor is in transmission connection with the speed reducer and is fixed together through a bolt, and the fixed servo motor and the fixed speed reducer are fixed on the simulation positioning pipe component through the speed reducer hanger.
Preferably, the simulation locator system comprises a simulation locating hook and a standard rectangular aluminum alloy locator additionally provided with the high-precision inclination angle sensor, the simulation locating hook is installed on an output shaft of the speed reducer in a matched mode through a key, the standard rectangular aluminum alloy locator is fixedly connected with the simulation locating hook and fixed through a motor end cover and a set screw, and the high-precision inclination angle sensor is fixed on the standard rectangular aluminum alloy locator.
Preferably, the electrical system comprises a power supply module, a control module and an execution module; the power supply module comprises a leakage protector, a filter and a switching power supply, the input AC220V voltage is subjected to voltage stabilization treatment and then divided into two paths, wherein one path is AC220V and is supplied to the servo motor, and the other path is converted into DC24V through the switching power supply and is supplied to the control module and the high-precision sensor; the control module comprises a servo driver, a WIFI server and a main controller, the servo driver is controlled by the main controller, angle information required by the main controller is converted into a fixed position required by a servo motor through operation and is executed by controlling the servo driver; the WIFI server is in wireless connection with the industrial tablet computer, receives the instructions of the tablet computer to the master controller, and feeds back the related information of the master controller to the industrial tablet computer; the main controller is connected with the high-precision tilt sensor, the servo driver and the WIFI server, receives an instruction of the industrial tablet computer, calculates and determines the position of the servo motor, controls the servo driver to execute the servo motor, receives data of the high-precision tilt sensor, obtains current angle information and forms a large closed loop; and the execution module encoder is used for executing corresponding instructions given by the servo controller and feeding back self information through the brake, the servo motor and the speed reducer.
The invention also relates to a method for detecting the gradient of the contact net positioner, which comprises the following steps:
(1) turning on a system power switch;
(2) the analog locator returns to '0';
(3) self-calibration of equipment;
(4) and receiving an instruction sent by the tablet computer, if the instruction indicates that the angle of the simulation locator is the same as the original angle, the simulation locator is not moved, and if the angle of the simulation locator indicated by the instruction is different from the original angle, the control module controls the simulation locator to rotate through the servo motor so as to enable the simulation locator to operate to a specified angle.
Preferably, the range of angular values for the analog positioner is 0-20 degrees, with the system being inactive less than 0 degrees or greater than 20 degrees.
The system for detecting the gradient of the contact net positioner simplifies the positioner system on the premise of meeting the measurement accuracy, and has the advantages of small occupied area, convenience in operation, high safety, cost saving and the like.
Drawings
In order that the technical solutions and advantageous effects of the present invention can be more easily understood, the present invention will be described in detail with reference to specific embodiments thereof shown in the accompanying drawings. The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention:
fig. 1 is a schematic structural diagram of a contact line locator grade detection system according to an embodiment of the invention;
fig. 2 is a schematic view of an electrical system of the catenary locator grade detection system shown in fig. 1;
fig. 3 is a work flow chart of the contact net locator gradient detection system shown in fig. 1.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying fig. 1-3.
The system designed by the invention mainly comprises a bracket system, a simulation positioning pipe component, an angle control system, a simulation positioner system and an electrical system. The measured product is placed at a proper position (generally, the mounting distance of the car roof), after the whole system is started, the handheld wireless management system is used for controlling the simulation positioner to rotate to a set angle, and an angle sensor in the simulation positioning system feeds back a measured angle value in real time and feeds back the measured angle value to the handheld wireless management system for comparison and verification of whether the error of the measured value of the measured product is within a qualified range.
As shown in fig. 1, the rack system 1 is a mounting base of the whole system, and mainly comprises an underframe member, a pillar member, and auxiliary support frames thereof. The chassis component is positioned at the bottom of the system and is a base of the whole system; the pillar member and each auxiliary support frame are mounted on the base frame member as a support body of the analog positioning pipe member 2; the bracket system is designed with a special one-way supporting structure which supports the rear part of the angle control system 3 in one way, so that the deviation of the angle control system caused by gravity is reduced, and the safety of the product is ensured. This mounting system 1 is through reasonable in design's chassis structure, each part is fixed together through dedicated right angle or specific angle connecting piece, utilize the foot part of installing at each key fulcrum, the support state to the balance point of being convenient for adjust the chassis, combine the bearing diagonal frame of installing at each key point department of pillar part, mounting system's steadiness has been guaranteed, avoided rocking excessively of superstructure that causes because of the chassis is uneven and the long cantilever beam structure of pillar part, it is inaccurate to cause the simulation locator to rock and angle indication, cause the error of self as the detected object too big, influence the accuracy and the credibility of being surveyed the product inspection.
The simulation positioning pipe component 2 is fixedly arranged on the pillar component through a special connecting piece, and the image algorithm of the tested product can conveniently identify the positioner by designing the structure and the installation position which are similar to those of a real positioning pipe and a positioner support, so that the algorithm degree of the tested product which is modified to adapt to the detection target is avoided or reduced, the detection result is closer to the actual application, and the detection result is more accurate and reliable.
The angle control system 3 comprises a servo motor, a speed reducer and a speed reducer hanger. The servo motor and the speed reducer are fixed together through bolts at 4 corners, and the motor and the speed reducer are connected together in a transmission way through a hoop in the middle; after the two components are fixed, the two components are installed together with a speed reducer hanger by using 4 bolts and then installed on the simulation positioning pipe component by using special installation bolts. The servo motor of the component executes corresponding actions including returning to a '0' point, a given angle, a single-point action and the like by receiving a driving instruction sent by a control module in an electrical system, is provided with a program automatic control function, can execute a series of actions by one key, and controls the accuracy of the actions through an automatic brake; the speed reducer is used for reducing the rapid rotation of the servo motor to the required speed, so that the equipment is ensured to run stably, the action execution process is smooth, and the identification of a tested product is facilitated; the speed reducer hanger is used for installing the attached servo motor and the speed reducer on the simulation positioning pipe, and meanwhile, the limiting effect of the simulation positioner is taken into consideration, and the safety of the system is guaranteed.
The simulation locator system 4 comprises a simulation locating hook and a standard rectangular aluminum alloy locator additionally provided with a high-precision tilt sensor, and is installed on the support system 1 through 2 bolts. The simulation location hook is installed on the output shaft of speed reducer through the key cooperation, and the rectangle aluminum alloy locator links firmly with the simulation location hook through 2 shoulder screws and is in the same place, realizes driving the rectangle aluminum alloy locator and according to needs pivoted function to it is fixed through motor end cover and holding screw, prevents that the simulation location hook from droing from the speed reducer axle. The high-precision tilt angle sensor is fixed on the standard rectangular aluminum alloy positioner through 4 screws. The simulation positioning hook refers to the overall dimension of the standard positioning hook, and the mounting structure is adaptively improved, so that the simulation positioning hook is conveniently mounted on an angle control system and is fixed with the simulation positioner into a whole, and the mounting precision is ensured. In order to be as close to a real positioner as possible, the system adopts a standard rectangular aluminum alloy positioner, an original positioning hook is removed, and a high-precision tilt angle sensor is additionally arranged on the back surface, so that the identification of a detected product is not influenced. The power supply box 5 is mounted on the pillar part through 4 bolts, in which a power supply module is mounted, for power management of the system. The power supply box 5 is connected with the control box 6 through 2 cables to supply power to the control box 6. The control box 6 is mounted on the pillar member by 4 bolts, in which a control module is mounted for each function implementation of the control system. The control box 6 is respectively connected with the servo motor and the high-precision tilt sensor through 4 cables, so that the functions of supplying power to the servo motor, controlling the band-type brake, controlling the encoder and reading the numerical value of the tilt sensor are realized.
As shown in fig. 2, the electrical system includes a power supply module, a control module, and an execution module; the power supply module comprises a leakage protector, a filter and a switching power supply, the input AC220V voltage is subjected to voltage stabilization treatment and then divided into two paths, wherein one path is AC220V and is supplied to the servo motor, and the other path is converted into DC24V through the switching power supply and is supplied to the control module and the high-precision sensor; the control module comprises a servo driver, a WIFI server and a main controller, the servo driver is controlled by the main controller, angle information required by the main controller is converted into a fixed position required by a servo motor through operation and is executed by controlling the servo driver; the WIFI server is in wireless connection with the industrial tablet computer, receives the instructions of the tablet computer to the master controller, and feeds back the related information of the master controller to the industrial tablet computer; the main controller is connected with the high-precision tilt sensor, the servo driver and the WIFI server, receives an instruction of the industrial tablet computer, calculates and determines the position of the servo motor, controls the servo driver to execute the servo motor, receives data of the high-precision tilt sensor, obtains current angle information and forms a large closed loop; and the execution module encoder is used for executing corresponding instructions given by the servo controller and feeding back self information through the brake, the servo motor and the speed reducer.
The industrial tablet computer carries the WIN10 system, and special application software matched with the system is configured on the industrial tablet computer and is used for checking equipment states, executing operation commands, feeding back command information and the like.
As shown in fig. 3, a system power switch is turned on, the simulation locator automatically runs to a point "0" after power-on starting, the master controller performs equipment self-checking at the point to obtain a difference value between the point "0" and a horizontal position, and then receives an instruction sent by the tablet personal computer, if the instruction indicates that the angle of the simulation locator is the same as the original angle, the simulation locator is not moved, and if the angle of the simulation locator indicated by the instruction is different from the original angle, the simulation locator runs to a specified angle. The device is always in the state of receiving the command, and the tablet computer sends the command to the device once in 500ms at the latest.
The control module controls the simulation positioner to rotate through the servo system, and the angle value range of the simulation positioner is set to be (0-20 degrees), and the system does not move when the angle value range is smaller than 0 degree or larger than 20 degrees, so that the system is protected. The angular resolution of the servo system is 0.001 degree, the precision of the tilt sensor is 0.005 degree, and the integral angular precision of the system is less than or equal to 0.1 degree.
The present invention may be embodied in other specific forms without departing from its scope, which is limited only by the accompanying claims.
Claims (9)
1. The utility model provides a contact net locator slope detecting system, includes mounting system, simulation positioning pipe part, angle control system, simulation locator system and electrical system, its characterized in that: the analog positioning pipe component is vertically fixed on the bracket system; the angle control system is fixedly connected with the simulation positioning pipe component; the simulation locator system is positioned below the simulation locator pipe component, one end of the simulation locator system is connected with the angle control system, and the simulation locator system is driven by the angle control system to rotate; and the electrical system is in communication connection and electrical connection with the angle control system and the analog positioner system and is used for supplying power to the angle control system and the analog positioner system, sending a control command and receiving detection information.
2. The catenary positioner slope detection system of claim 1, wherein the support system comprises an undercarriage component and a strut component mounted perpendicular to the undercarriage component, the simulated locator component and the angle control system being secured to the strut component.
3. The catenary positioner slope detection system of claim 2, wherein the bottom of the undercarriage component is provided with a plurality of legs that can be adjusted in height.
4. The catenary positioner slope detection system of claim 2, wherein an angle brace is fixedly connected between the undercarriage component and the strut component.
5. The catenary locator slope detection system of claim 1, wherein the angle control system comprises a servo motor, a speed reducer, and a speed reducer hanger, the servo motor is in transmission connection with the speed reducer and is fixed together by bolts, and the fixed servo motor and speed reducer are fixed to the simulated locator tube member by the speed reducer hanger.
6. The system for detecting the gradient of the locator of the overhead line system of claim 5, wherein the system of the analog locator comprises an analog locating hook and a standard rectangular aluminum alloy locator additionally provided with the high-precision tilt angle sensor, the analog locating hook is installed on an output shaft of the speed reducer in a matched mode through a key, the standard rectangular aluminum alloy locator is fixedly connected with the analog locating hook and fixed through a motor end cover and a set screw, and the high-precision tilt angle sensor is fixed on the standard rectangular aluminum alloy locator.
7. The catenary locator slope detection system of claim 6, wherein the electrical system comprises a power module, a control module, and an execution module; the power supply module comprises a leakage protector, a filter and a switching power supply, the input AC220V voltage is subjected to voltage stabilization treatment and then divided into two paths, wherein one path is AC220V and is supplied to the servo motor, and the other path is converted into DC24V through the switching power supply and is supplied to the control module and the high-precision sensor; the control module comprises a servo driver, a WIFI server and a main controller, the servo driver is controlled by the main controller, angle information required by the main controller is converted into a fixed position required by a servo motor through operation and is executed by controlling the servo driver; the WIFI server is in wireless connection with the industrial tablet computer, receives the instructions of the tablet computer to the master controller, and feeds back the related information of the master controller to the industrial tablet computer; the main controller is connected with the high-precision tilt sensor, the servo driver and the WIFI server, receives an instruction of the industrial tablet computer, calculates and determines the position of the servo motor, controls the servo driver to execute the servo motor, receives data of the high-precision tilt sensor, obtains current angle information and forms a large closed loop; and the execution module encoder is used for executing corresponding instructions given by the servo controller and feeding back self information through the brake, the servo motor and the speed reducer.
8. A method for detecting the gradient of the catenary locator by using the catenary locator gradient detection device of claim 7, comprising the following steps:
(1) turning on a system power switch;
(2) the analog locator returns to '0';
(3) self-calibration of equipment;
(4) and receiving an instruction sent by the tablet computer, if the instruction indicates that the angle of the simulation locator is the same as the original angle, the simulation locator is not moved, and if the angle of the simulation locator indicated by the instruction is different from the original angle, the control module controls the simulation locator to rotate through the servo motor so as to enable the simulation locator to operate to a specified angle.
9. The method of claim 8, wherein the range of angular values of the analog positioner is 0-20 degrees, less than 0 degrees, or greater than 20 degrees, with no system action.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111386370.XA CN114111716A (en) | 2021-11-22 | 2021-11-22 | System and method for detecting gradient of contact net positioner |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111386370.XA CN114111716A (en) | 2021-11-22 | 2021-11-22 | System and method for detecting gradient of contact net positioner |
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| CN114111716A true CN114111716A (en) | 2022-03-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117471261A (en) * | 2023-12-28 | 2024-01-30 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
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| CN110850716A (en) * | 2019-11-13 | 2020-02-28 | 兰州交通大学 | Active control method of pantograph neural network sliding mode variable structure based on contact network prior information |
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2021
- 2021-11-22 CN CN202111386370.XA patent/CN114111716A/en active Pending
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| CN102175219A (en) * | 2011-01-31 | 2011-09-07 | 中国铁道科学研究院基础设施检测研究所 | High-speed contact network locator gradient detection method and apparatus thereof based on video analysis |
| CN110850716A (en) * | 2019-11-13 | 2020-02-28 | 兰州交通大学 | Active control method of pantograph neural network sliding mode variable structure based on contact network prior information |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117471261A (en) * | 2023-12-28 | 2024-01-30 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
| CN117471261B (en) * | 2023-12-28 | 2024-03-29 | 四川拓及轨道交通设备股份有限公司 | Detection method of vehicle-mounted flexible contact net positioning device based on no-load voltage |
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