CN115219251A - Railway vehicle dynamic performance monitoring system based on wheel pair operation posture - Google Patents
Railway vehicle dynamic performance monitoring system based on wheel pair operation posture Download PDFInfo
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- CN115219251A CN115219251A CN202210840257.2A CN202210840257A CN115219251A CN 115219251 A CN115219251 A CN 115219251A CN 202210840257 A CN202210840257 A CN 202210840257A CN 115219251 A CN115219251 A CN 115219251A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/08—Railway vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The invention discloses a railway vehicle dynamic performance monitoring system based on a wheel pair running posture, which comprises a parameter setting module, a wheel track profile identification module, a wheel track relative position identification module, a wheel track contact calculation module, a hunting instability identification and safety evaluation module, a wheel track contact three-dimensional display module, a data transmission and interaction module, a data display module and an alarm information display module, wherein the wheel track profile identification module is used for collecting wheel track profile data of wheels, the wheel track relative position identification module is used for collecting relative position data of the wheels, the wheel track contact three-dimensional display module can be used for carrying out three-dimensional display on the relative positions of the wheels, the actually measured data is reproduced, and the wheel track contact calculation module carries out wheel track contact calculation according to the wheel track profile data and the wheel track relative position data of the wheels.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a railway vehicle dynamic performance monitoring system based on the running posture of a wheel set.
Background
The railway is a major artery of traffic transportation, is related to the national civilians and has great significance in economic development, and the high-speed railway is taken as an integrated member of the railway and reflects the comprehensive strength of the state in high-end equipment manufacturing industry. In recent years, the development of domestic railway business is different in days and months, the operation mileage and the operation speed of the train are constantly high in innovation, and great challenges are brought to the safe operation of the train. The train still has snake-shaped movement even if running on a straight track due to self-excited vibration of the wheel pair, and the train is called as transverse instability when the transverse acceleration of the train is in steady-state constant-amplitude vibration. The transverse stability of the train is an important index for judging the running performance of the train, and the main purpose of the transverse stability is to avoid the snake-shaped instability of the train. When the train is subjected to hunting instability, the transverse displacement of wheel sets of the train is increased, even the collision of wheel rims and rails is caused, and in addition, the transverse vibration of the wheel sets can also induce large transverse vibration of a bogie and a train body. When such a phenomenon occurs, the traveling performance of the train deteriorates, the riding comfort is degraded, the dynamic load acting on each part of the train increases, the wheel-rail force increases, and the vehicle and the track line are damaged, and even a derailment accident may occur.
At present, the main methods for detecting the train hunting instability comprise: and measuring the wheel rail force of the train and the transverse acceleration of the axle box of the train. Since the wheel-rail force measurement requires the installation of strain gauges on the rail, it can only be used for measurements in specific sections. Relatively speaking, the method for measuring the acceleration only needs to install the acceleration sensor on the axle box, and the acceleration sensor has small volume, convenient installation, lower requirement on the installation environment and less change to the vehicle. Therefore, the hunting instability of the train is mostly detected by measuring the axle box transverse acceleration of the existing train.
The hunting instability is defined according to the wheel set transverse displacement, but the wheel set transverse displacement cannot be obtained in the practical application process, the derailment safety evaluation according to the wheel set transverse displacement and the contact point position is the most direct means, the traditional safety evaluation through the derailment coefficient, the load shedding rate and the wheel set force index belongs to indirect evaluation, and even if the exceeding standard occurs, the contact state of the wheel track is still unclear, and whether the derailment risk exists really is determined.
Disclosure of Invention
The invention aims to solve the problems and provides a railway vehicle dynamic performance monitoring system based on the running posture of a wheel set, which can directly reflect the relative position between wheel tracks and can detect the running stability and safety of a train in an online and continuous monitoring mode.
In order to solve the technical problems, the technical scheme of the invention is as follows: a railway vehicle dynamic performance monitoring system based on wheel set operation postures comprises a parameter setting module, a wheel track profile recognition module, a wheel track relative position recognition module, a wheel track contact calculation module, a hunting instability recognition and safety evaluation module, a wheel track contact three-dimensional display module, a data transmission and interaction module, a data display module and an alarm information display module, wherein the wheel track profile recognition module is used for collecting wheel track profile data of wheels, the wheel track relative position recognition module is used for collecting relative position data of the wheels, the wheel track contact three-dimensional display module can be used for carrying out three-dimensional display on wheel track relative positions and reproducing actually measured data, and the wheel track contact calculation module is used for carrying out wheel track contact calculation according to the wheel track profile data and the wheel track relative position data of the wheels; the snake instability identification and safety evaluation module performs frequency spectrum analysis, time-frequency analysis and harmonic identification on the transverse displacement by wheels to complete snake instability identification, performs real-time early warning on instability states, and performs alarm display through the alarm information display module; the data transmission and interaction module is used for data transmission among all the modules, the data display module is used for displaying the calculation result of the wheel-rail contact calculation module and the result of the snake instability identification and safety evaluation module and comparing the calculation result with the parameters set in the parameter setting module, and the alarm information display module is used for displaying the parameters exceeding the parameters in the parameter setting module.
Preferably, the wheel-rail contact calculation module is capable of calculating a wheel-rail contact point as: wheel-rail contact parameters such as wheel-rail contact spots, equivalent taper, wheel diameter difference and the like, and can estimate the wheel-rail contact stress.
Preferably, the wheel-track contact three-dimensional display module can automatically generate a wheel-track contact track dynamic video, dynamically display a wheel-track contact point in a three-dimensional coordinate system, and display wheel-track contact spot information, a contact point position and other contact parameters.
Preferably, the hunting instability identification and safety evaluation module obtains a safety grade division criterion based on the wheel-rail contact track through a large amount of simulation analysis and bench tests, calculates the contact point running track according to the identified wheel-rail profile and the relative position of the wheel rail, and judges and warns the safety state of the vehicle according to the safety grade division criterion.
Preferably, the contour shape recognition module comprises a grating laser light source, a high-definition camera and a light supplement lamp, and the grating laser light source is used for irradiating the track and the wheel to form a strip-shaped track in the shooting range of the high-definition camera; the light filling lamp is used for providing illumination under the complex weather condition, the shooting effect of the high-definition camera is guaranteed, and the initial outlines of the wheels and the steel rails are extracted from the strip-shaped tracks of the steel rails and the wheels by means of an image processing technology.
Preferably, the strip-shaped track comprises a strip-shaped track on a wheel rail contact surface, a steel rail and a wheel.
Preferably, the contour identification module performs three-dimensional coordinate transformation on the original contours of the wheels and the steel rails according to internal parameter calibration of the high-definition camera and attitude self-calibration of the high-definition camera to obtain a front view of the contours in a track coordinate system, so as to obtain the contours of the wheels and the steel rails which can be used for contour contact calculation; and determining the relative motion of the high-definition camera and the wheel set through a camera back calculation technology, and eliminating the influence of the vibration of the high-definition camera on the identification result.
Preferably, the number of the high-definition cameras is two, the high-definition cameras are distributed on two sides of the wheel rail, the wheel rail profile, the relative transverse displacement and the wheel pair pivot angle can be analyzed according to the high-definition camera test results on the two sides by combining the image recognition technology and the algorithm, and finally, wheel rail contact calculation, snake-shaped instability, derailment safety evaluation and abrasion rule analysis can be obtained, so that the contact track monitoring is realized.
The invention has the beneficial effects that:
1. the railway vehicle dynamic performance monitoring system based on the wheel pair running posture can directly reflect the relative positions of the wheel rails and continuously monitor and detect the running stability and safety of the train on line.
2. The invention can directly adopt the information of wheel set transverse displacement, contact point position, wheel lifting amount and the like to evaluate the derailment safety, and can identify the rail climbing process when a vehicle passes through a small curve and the rail jumping process of straight-line snake-shaped instability.
3. The railway vehicle dynamic performance monitoring system based on the wheel pair running posture can be mutually verified with running safety evaluation based on wheel rail force, and is an important supplement of the railway vehicle dynamic performance monitoring system.
Drawings
FIG. 1 is a diagram of the calculation results of contact patch in the wheel-rail contact calculation module of the railway vehicle dynamic performance monitoring system based on the operational attitude of the wheel set according to the present invention;
FIG. 2 is a graph of wheel-rail contact calculation results in a wheel-rail contact calculation module of the present invention;
FIG. 3 is a three-dimensional display of wheel-rail contact in a three-dimensional wheel-rail contact display module according to the present invention;
FIG. 4 is a diagram of a wheel track contact footprint of the present invention;
FIG. 5 is a wheel track contact patch illustration of the present invention;
FIG. 6 is a flow chart of a hunting instability identification module of the present invention;
FIG. 7 is a functional schematic of the present invention;
fig. 8 is a diagram for monitoring the motion attitude of the wheel track and identifying the lateral movement of the wheel pair according to the invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
as shown in fig. 1 to 8, the railway vehicle dynamics performance monitoring system based on the wheel set operation posture provided by the invention comprises a parameter setting module, a wheel track profile recognition module, a wheel track relative position recognition module, a wheel track contact calculation module, a hunting instability recognition and safety evaluation module, a wheel track contact three-dimensional display module, a data transmission and interaction module, a data display module and an alarm information display module, wherein the wheel track profile recognition module is used for collecting wheel track profile data of a wheel, the wheel track relative position recognition module is used for collecting relative position data of the wheel, the wheel track contact three-dimensional display module can be used for three-dimensional display of the wheel track relative position and reproducing the actually measured data, and the wheel track contact calculation module is used for performing wheel track contact calculation according to the wheel track profile data and the wheel track relative position data of the wheel. The snake instability identification and safety evaluation module performs frequency spectrum analysis, time-frequency analysis and harmonic identification on the transverse displacement through the wheel to complete snake instability identification, performs real-time early warning on instability states, and performs alarm display through the alarm information display module. The data transmission and interaction module is used for data transmission among all the modules, the data display module is used for displaying the calculation result of the wheel-rail contact calculation module and the result of the snake instability identification and safety evaluation module and comparing the calculation result with the parameters set in the parameter setting module, and the alarm information display module is used for displaying the parameters exceeding the parameters in the parameter setting module. All modules are electrically connected according to actual use requirements, so that data information transmission is facilitated.
In this embodiment, the hunting instability identification and safety evaluation module is a module in the prior art, a safety classification criterion based on a wheel-rail contact trajectory is obtained through a large number of simulation analyses and bench tests, a contact point running trajectory is calculated according to the identified wheel-rail profile and the relative position of the wheel rail, and the safety state of the vehicle is judged and early warned according to the safety classification criterion.
The wheel-rail contact calculation module can calculate the wheel-rail contact point as: wheel-rail contact parameters such as wheel-rail contact spots, equivalent conicity, wheel diameter difference and the like, and can estimate the wheel-rail contact stress. The identification of the wheel-rail transverse displacement is the basis for identifying the hunting instability of the wheel set and the basis for calculating the wheel-rail contact, so the accuracy of the identification of the wheel-rail transverse displacement is very critical. And the wheel-rail contact calculation module is used for carrying out wheel-rail contact calculation according to the wheel-rail profile data and the wheel-rail relative position data, and the wheel-rail contact calculation is the conventional calculation technology.
The wheel-rail contact three-dimensional display module can automatically generate a wheel-rail contact track dynamic video, dynamically display wheel-rail contact points in a three-dimensional coordinate system, and display wheel-rail contact spot information, contact point positions and other contact parameters.
The snake-away instability identification and safety evaluation module obtains a safety grade division criterion based on the wheel-rail contact track through a large amount of simulation analysis and bench tests, calculates the contact point running track according to the identified wheel-rail profile and the relative position of the wheel rail, and judges and warns the safety state of the vehicle according to the safety grade division criterion.
The contour shape recognition module comprises a grating laser light source, a high-definition camera and a light supplement lamp, and the grating laser light source is used for irradiating the track and the wheel to form a strip-shaped track in the shooting range of the high-definition camera. The light filling lamp is used for providing illumination under the complex weather condition, the shooting effect of the high-definition camera is guaranteed, and the initial outlines of the wheels and the steel rails are extracted from the strip-shaped tracks of the steel rails and the wheels by means of an image processing technology.
In this example, the image processing techniques include image recognition and image processing. The image recognition is the basis of the outline shape recognition, and the image recognition is carried out on the basis of the image collected by the camera by adopting algorithms such as image preprocessing, edge detection, straight line detection and the like. The profile identified from the image is a projection of the spatial profile onto the image plane, in pixels, which needs to be converted from pixel to actual size. Firstly, preprocessing an acquired image, comprising the following steps: cutting an irrelevant area, supplementing light, converting a color space, correcting self-adaptive brightness, processing gray scale, reducing noise and the like, then carrying out Canny edge detection algorithm processing on the preprocessed image, carrying out rough positioning processing on the steel rail, and then detecting the left edge and the right edge of the steel rail by utilizing a Hough linear detection algorithm to realize positioning of the steel rail.
The strip-shaped track comprises a strip-shaped track on the wheel rail contact surface, the steel rail and the wheel.
And the contour recognition module performs three-dimensional coordinate transformation on the original contours of the wheels and the steel rail according to the internal parameter calibration and the attitude self-calibration of the high-definition camera to obtain a front view of the contours in a track coordinate system, and obtain the wheel contour and the steel rail contour which can be used for the contour contact calculation. And determining the relative motion of the high-definition camera and the wheel set by a camera inverse calculation technology, and eliminating the influence of the vibration of the high-definition camera on the identification result.
In this embodiment, the self-calibration of the attitude of the high-definition camera specifically means that the high-definition camera is mounted on a vehicle body, and along with vibration of the vehicle body, the high-definition camera also displaces relative to a wheel rail, and particularly when the vehicle passes through a curve, relative displacement and angle of the high-definition camera and the wheel rail change greatly. This directly affects the result of the coordinate transformation, and therefore requires automatic calibration of the camera pose in real time. At least 4 determined reference points are needed for the camera self-calibration, but in practice there is some difficulty in determining these 4 reference points. The invention utilizes the extinction point of the steel rail extension line and the slope of the steel rail side line to carry out the self-calibration of the camera attitude.
The reverse calculation technology of the video camera adopts a Zhang Zheng marked method, parameters of the camera are obtained through camera calibration, then a three-dimensional mapping relation is established to convert pixel distances into actual distances, and three-dimensional space mapping needs to be established according to specific image characteristics.
The number of the high-definition cameras is two, the high-definition cameras are distributed on two sides of the wheel track, the wheel track profile, the relative transverse displacement and the wheel pair pivot angle can be analyzed according to the high-definition camera test results on the two sides by combining the image recognition technology and the algorithm, finally, wheel track contact calculation, snake-shaped instability, derailment safety evaluation and abrasion rule analysis can be obtained, and monitoring of contact tracks is achieved.
And image information of the actual wheel track system and information sent by the grating laser light source are acquired through a high-definition camera to obtain wheel track images. And then, the wheel rail image is subjected to image preprocessing, edge detection, steel rail positioning and laser line identification to obtain the original profile of the wheel and the steel rail. The high-definition camera is internally provided with a camera motion inverse calculation module and a camera internal parameter calibration module, and the camera internal parameter calibration module performs self-calibration through the posture of the camera and performs coordinate transformation on the original contours of the wheels and the steel rails to obtain the actual contours of the wheels and the steel rails. And (3) eliminating errors of the actual contours of the wheels and the steel rails through the motion of the camera through a camera motion back calculation module to obtain the contour of the wheel rail, the relative transverse displacement and the oscillation angle, and then respectively carrying out wheel rail contact calculation, snakelike instability identification, derailment safety evaluation and abrasion rule analysis.
In this embodiment, the error elimination of the actual profile of the wheel and the steel rail includes an error elimination technique and a zero self-correction technique, and specifically includes the following steps:
s1, eliminating system errors
The error of the wheel-rail contact track recognition of the invention is mainly two aspects, namely the error of the wheel-rail profile recognition, the recognition error of the wheel-rail relative position, factors influencing the error and a corresponding error elimination method adopted by the subject are shown as the following table:
error and elimination method
S2, correcting errors based on geometric constraint of left and right wheel tracks
The invention selects the laser ray on the wheel as a reference object, and the distance between the left wheel and the right wheel is fixed, so the contour of the left wheel and the right wheel and the inner side distance of the wheel pair can be used as the dimension standard of the whole wheel. The relative displacement of the wheels and rails, separately identified on the left and right sides, is not directly a result of the wheel set traverse amount, since it contains track gauge unevenness and track gauge widening information of the track. The relative transverse movement of the left side wheel rail and the right side wheel rail obtained by image recognition is y l And y r The amount of wheel set lateral displacement y ws This can be obtained from the following equation:
y ws ＝(y r +y l )/2-(y r -y l )/2
meanwhile, wheel-track geometric constraint can be used as a basis for judging errors, and when the errors are too large, data are removed.
S3, error correction based on state continuity
The running state of the rail vehicle is continuous when the rail vehicle runs, and the recognized wheel set transverse displacement also follows the principle of state continuity, so that Kalman filtering is adopted to predict the wheel transverse displacement, recognition results with larger deviation are removed, and prediction signals are adopted to replace the wheel transverse displacement.
S4, zero self-correction technology
When the vehicle is started every time, the system is electrified and automatically started, zero point self-calibration is carried out by taking a wheel track image as a reference when the vehicle is static, camera attitude self-calibration is carried out, the current state is taken as the reference attitude of the camera, the wheel is considered to be centered when the vehicle is static, the transverse displacement is considered to be zero, and the current state of the relevant position of the wheel track is taken as the reference state.
The using process of the invention is as follows:
firstly, irradiating a rail and a wheel by using a grating laser light source to form a strip track in the shooting range of a high-definition camera; the high-definition camera comprises a wheel rail contact surface, a steel rail and a strip track on wheels, a light supplement lamp is used for providing illumination under a complex weather condition, the shooting effect of the high-definition camera is guaranteed, and the initial outlines of the wheels and the steel rail are extracted from the strip track of the steel rail and the wheels by using an image processing technology.
On the basis, according to the internal parameter calibration and the camera attitude self-calibration of the high-definition camera, the original profiles of the wheels and the steel rails are subjected to three-dimensional coordinate transformation to obtain a front view of the profiles under a track coordinate system, and the wheel and steel rail profiles which can be used for wheel-rail contact calculation are obtained. And determining the relative motion of the camera and the wheel pair through a camera back-calculation technology, and eliminating the influence of the vibration of the camera on the identification result. According to the test results of the high-speed cameras on the left side and the right side, the contour shape, the relative transverse displacement and the wheelset yaw angle can be analyzed by combining the image recognition technology and the algorithm. And finally, wheel-rail contact calculation, snake-shaped instability, derailment safety evaluation and abrasion rule analysis can be obtained, and monitoring of a contact track is realized.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto and changes may be made without departing from the scope of the invention in its aspects.
Claims (8)
1. A railway vehicle dynamics performance monitoring system based on wheel set operation posture is characterized in that: the device comprises a parameter setting module, a wheel-rail profile recognition module, a wheel-rail relative position recognition module, a wheel-rail contact calculation module, a hunting instability recognition and safety evaluation module, a wheel-rail contact three-dimensional display module, a data transmission and interaction module, a data display module and an alarm information display module, wherein the wheel-rail profile recognition module is used for collecting wheel-rail profile data of a wheel, the wheel-rail relative position recognition module is used for collecting relative position data of the wheel, the wheel-rail contact three-dimensional display module can be used for carrying out three-dimensional display on the wheel-rail relative position and reproducing the actually measured data, and the wheel-rail contact calculation module is used for carrying out wheel-rail contact calculation according to the wheel-rail profile data and the wheel-rail relative position data of the wheel; the snake instability identification and safety evaluation module performs frequency spectrum analysis, time-frequency analysis and harmonic identification on the transverse displacement by the wheel to complete snake instability identification, performs real-time early warning on instability states, and performs alarm display through the alarm information display module; the data transmission and interaction module is used for data transmission among all the modules, the data display module is used for displaying the calculation result of the wheel-rail contact calculation module and the result of the snake instability recognition and safety evaluation module and comparing the calculation result with the parameters set in the parameter setting module, and the alarm information display module is used for displaying the parameters exceeding the parameters in the parameter setting module.
2. A railway vehicle dynamics monitoring system based on wheelset operational attitude as claimed in claim 1, wherein: the wheel-rail contact calculation module can calculate the wheel-rail contact point as follows: wheel-rail contact parameters such as wheel-rail contact spots, equivalent conicity, wheel diameter difference and the like, and can estimate the wheel-rail contact stress.
3. A railway vehicle dynamics monitoring system based on wheelset operational attitude as claimed in claim 1, wherein: the wheel-rail contact three-dimensional display module can automatically generate a wheel-rail contact track dynamic video, dynamically display wheel-rail contact points in a three-dimensional coordinate system, and display wheel-rail contact spot information, contact point positions and other contact parameters.
4. A railway vehicle dynamics monitoring system based on wheelset operational attitude according to claim 1, wherein: the snake-away instability identification and safety evaluation module obtains a safety grade division criterion based on the wheel-rail contact track through a large amount of simulation analysis and bench tests, calculates the contact point running track according to the identified wheel-rail profile and the relative position of the wheel rail, and judges and warns the safety state of the vehicle according to the safety grade division criterion.
5. A railway vehicle dynamics monitoring system based on wheelset operational attitude as claimed in claim 1, wherein: the wheel profile recognition module comprises a grating laser light source, a high-definition camera and a light supplement lamp, and the grating laser light source is used for irradiating the track and the wheel to form a strip track in the shooting range of the high-definition camera; the light filling lamp is used for providing illumination under the complex weather condition, the shooting effect of the high-definition camera is guaranteed, and the initial outlines of the wheels and the steel rails are extracted from the strip-shaped tracks of the steel rails and the wheels by means of an image processing technology.
6. A railway vehicle dynamics monitoring system based on wheelset operational attitude as claimed in claim 5, wherein: the strip-shaped track comprises a wheel-rail contact surface, a steel rail and a strip-shaped track on a wheel.
7. A railway vehicle dynamics monitoring system based on wheelset operational attitude according to claim 1, wherein: the contour recognition module is used for carrying out three-dimensional coordinate transformation on original contours of the wheel and the steel rail according to internal parameter calibration and high-definition camera posture self-calibration of the high-definition camera to obtain a front view of the contours under a track coordinate system and obtain the wheel and steel rail contours which can be used for contour contact calculation; and determining the relative motion of the high-definition camera and the wheel set by a camera inverse calculation technology, and eliminating the influence of the vibration of the high-definition camera on the identification result.
8. A railway vehicle dynamics monitoring system based on wheelset operational attitude as claimed in claim 1, wherein: the number of the high-definition cameras is two, the high-definition cameras are distributed on two sides of the wheel track, the wheel track profile, the relative transverse displacement and the wheel pair rolling head angle can be analyzed according to the high-definition camera test results on the two sides and by combining the image recognition technology and the algorithm, finally, wheel track contact calculation, snake-shaped instability, derailment safety evaluation and abrasion rule analysis can be obtained, and monitoring of a contact track is achieved.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116654050A (en) * | 2023-08-02 | 2023-08-29 | 成都西交轨道交通技术服务有限公司 | Device and method for monitoring running and operation on-orbit state of polishing trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116654050A (en) * | 2023-08-02 | 2023-08-29 | 成都西交轨道交通技术服务有限公司 | Device and method for monitoring running and operation on-orbit state of polishing trolley |
| CN116654050B (en) * | 2023-08-02 | 2023-10-13 | 成都西交轨道交通技术服务有限公司 | Device and method for monitoring running and operation on-orbit state of polishing trolley |
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