CN118393479A - Tractor length ranging system based on communication base station - Google Patents
Tractor length ranging system based on communication base station Download PDFInfo
- Publication number
- CN118393479A CN118393479A CN202410850973.8A CN202410850973A CN118393479A CN 118393479 A CN118393479 A CN 118393479A CN 202410850973 A CN202410850973 A CN 202410850973A CN 118393479 A CN118393479 A CN 118393479A
- Authority
- CN
- China
- Prior art keywords
- communication base
- communication
- base station
- signal
- calibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 title claims abstract description 172
- 230000003287 optical effect Effects 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000003137 locomotive effect Effects 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 10
- 239000013589 supplement Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a tractor length ranging system based on communication base stations, which comprises a plurality of communication base stations, optical detection signal transmitters and a server, wherein the communication base stations are uniformly arranged along the longitudinal direction of a railway track, each communication base station is of a columnar structure and is provided with a communication signal receiving device, each communication base station is connected with the server through the communication signal receiving device, each communication signal receiver of each communication base station is provided with a unique digital position mark, each communication base station is provided with a reflection target with a detection signal receiving sensor, communication signals and detection signal receiving ends of the communication base stations are mutually independent, and the optical detection signal transmitters are arranged on one side of each carriage of a train and are matched with the reflection targets of the communication base stations. The invention supplements each other through two measuring ranges of the optical and communication signals, meets timeliness and accuracy of vehicle length measurement, regards the vehicle speed in the measuring range of the communication signals as a linear relation, and relatively accurately obtains the current actual vehicle length by adjusting the actual vehicle length value through the optical signals.
Description
Technical Field
The invention relates to the field of radio wave distance measurement or speed measurement, in particular to a tractor length distance measurement system based on a communication base station.
Background
Along with the high-speed development of national economy, the railway transportation is increasingly required. The railway transportation department adopts measures such as increasing the traction tonnage of single-train marshalling, reducing the train interval time and increasing the driving density to improve the passing capacity of the line, and the measures inevitably accelerate the loss of the line and the contact net, so that the situation that the power supply of the contact net is unstable occurs. The existing locomotive energy supply has an energy supply scheme which is controlled in a mixed mode through a contact net and a storage battery.
In actual use, the energy supply of the locomotive is often simply switched based on the use scene, but not based on the steady-state requirement of the vehicle, and the use method often causes the power supply and the operation stability of the locomotive to be lower than the ideal state, so that the loss of the line and the contact net is further accelerated. Meanwhile, the storage battery of the electric locomotive is originally designed for a locomotive control system and cannot be completely used for power supply of the vehicle. Resulting in extreme practical use situations of the battery. This is detrimental to maintenance of the battery and catenary and to stability of train operation.
The existing power dispersion type power supply device solves the problem that the storage battery only generates power supply when the power of the pantograph is disconnected, the problem that the use scene of the storage battery is extreme cannot be avoided, and meanwhile in actual use of a locomotive, the mechanical state of the vehicle is often greatly influenced on power supply requirements. In the actual mechanical state measurement of the vehicle, the actual length measurement is often a problem seriously ignored by those skilled in the art, and because the coupler clearance is not the same value as the actual length and the ideal length of the vehicle, and the influence is often great when the vehicle length is long enough, the mechanical state of the vehicle has great difference, so that the detection of the actual length of the vehicle is an important problem to be solved by the vehicle ranging system.
There is thus a need for a tractor length ranging system based on a communication base station that solves the above-mentioned problems.
Disclosure of Invention
The invention provides a tractor length ranging system based on a communication base station, which solves the problems that in the prior art, the dynamic dispersion type power only generates power supply when a pantograph is powered off, the extreme problem of the use scene of a storage battery cannot be avoided, meanwhile, in the actual use of a locomotive, the mechanical state of a vehicle always has great influence on the power supply requirement, and in the actual mechanical state measurement of the vehicle, the actual length measurement is often seriously ignored by a person in the field, and because of a coupler clearance, the actual length and the ideal length of the vehicle are not the same value, and the influence is often great when the length of the vehicle is long enough, the mechanical state of the vehicle has great difference, so that the actual length of the detected vehicle is an important problem to be solved by a vehicle ranging system.
The invention provides a tractor length ranging system based on communication base stations, which comprises a plurality of communication base stations, optical detection signal transmitters and a server, wherein the communication base stations are uniformly arranged along the longitudinal direction of a railway track, each communication base station is of a columnar structure and is provided with a communication signal receiving device, each communication base station is connected with the server through the corresponding communication signal receiving device, each communication signal receiver of each communication base station is provided with a unique digital position mark, each communication base station is provided with a reflection target with a detection signal receiving sensor, the communication signal receiving end and the detection signal receiving end of each communication base station are mutually independent, and the optical detection signal transmitters are arranged on one side of each carriage of a train and are matched with the reflection targets of the communication base stations;
The communication base station comprises a vertical rod, a communication signal receiver, a reflection target, a signal processor and a signal transmitter, wherein the vertical rod is a cylinder vertically arranged on one side of a rail, the communication signal receiver and the reflection target are arranged on the vertical rod, the height of the reflection target is smaller than the lowest height of a traction locomotive, the signal processor is arranged on the vertical rod and is connected with the reflection target and the communication signal receiver in a signal mode, the reflection target receives an optical signal transmitted by the optical detection signal transmitter on the traction locomotive and transmits the optical signal to the signal processor, the communication signal receiver receives a communication signal of the traction locomotive and transmits the communication signal to the signal processor, and the signal processor carries out rough prediction and calibration prediction on the length of a vehicle based on the optical signal and the communication signal respectively and obtains an adjustment vehicle length according to a rough prediction structure and a calibration prediction structure, and then the signal transmitter transmits a vehicle length signal to the traction locomotive and a server.
The invention relates to a tractor length ranging system based on a communication base station, which is characterized in that a server comprises a rough prediction module, a calibration module and a car length monitoring module as an optimal mode, wherein the rough prediction module receives communication signals of the communication base station and carries out rough prediction on the car length according to the received communication signals, the calibration prediction module receives optical signals and generates adjustment signals according to the received optical signals to be transmitted into the calibration module, and the calibration module is used for calibrating a prediction result of the rough prediction module through information output by the calibration prediction module, outputting a final result to the car length monitoring module and giving a time stamp.
According to the tractor length ranging system based on the communication base station, as an optimal mode, the optical detection signal transmitter is an infrared scanner, the reflection target is an infrared receiver, and the infrared target is further provided with an optical scanning pattern.
The invention relates to a tractor length ranging system based on a communication base station, which is characterized in that the tractor length ranging process of the tractor length ranging system based on the communication base station is as follows:
s1, sending communication signals to a most remote communication base station and a most recent communication base station by carriages at two ends of a train in real time;
S2, the server identifies the running direction of the train, and the result of the speed detector of the train is transmitted to the server as a communication signal;
the server predicts the ideal train length according to the communication signal and the train speed received by the train;
S3, according to the advancing direction, performing dichotomy processing on a communication base station which receives the communication signal at the furthest end and a communication base station which receives the communication signal at the nearest end of the carriage at the front end of the current time sequence train according to the position, selecting the communication base station which is closest to the midpoint of the dichotomy as a communication base station for calibration adjustment detection, and taking the communication base station which receives the communication signal at the nearest end of the carriage at the rear end of the current time sequence train as a communication base station for calibration reference detection;
S4, acquiring a continuous speed of the train passing through the furthest end position of the back running direction of the carriage at the rear end of the train when the train enters the current position, and linearizing the speed based on a time sequence;
S5, predicting the vehicle speed of the vehicle head in the process of calibrating and adjusting the detected communication base station according to the linear relation, and further predicting the time when the vehicle head transmits an optical signal to the communication base station detected by the calibration standard and the time when the vehicle head transmits the optical signal to the communication base station detected by the calibration and adjustment;
S6, detecting the time when the tail transmits an optical signal to the communication base station detected by the calibration standard and the head transmits the optical signal to the communication base station detected by the calibration adjustment under the actual condition;
And S7, adjusting the actual vehicle length according to the difference between the actual optical signal time and the predicted time received by the communication base station detected by the calibration standard.
The invention has the following beneficial effects:
according to the technical scheme, the solution of the actual vehicle length and the vehicle is provided based on the steady state measurement of the vehicle in the actual vehicle mechanical state, the real vehicle length and the vehicle are supplemented through the optical and communication signal two measuring ranges, the timeliness and accuracy of the vehicle length measurement are met, the vehicle speed in the communication signal measuring range is regarded as a linear relation in the technical scheme, the actual vehicle length value is adjusted through the optical signal, the current actual vehicle length is relatively accurately obtained, and the method is used for adjusting the power supply proportion based on the overall vehicle mechanical state in a follow-up power supply system to provide a data base.
Drawings
FIG. 1 is a schematic diagram of a tractor length ranging system based on a communication base station;
FIG. 2 is a schematic diagram of a communication base station of a tractor length ranging system based on the communication base station;
Fig. 3 is a schematic diagram of a tractor length ranging system server based on a communication base station.
Reference numerals:
1. A communication base station; 11. a vertical rod; 12. a communication signal receiver; 13. a reflective target; 14. a signal processor; 15. a signal transmitter; 2. an optical detection signal emitter; 3. a server; 31. a coarse prediction module; 32. calibrating a prediction module; 33. a calibration module; 34. and the vehicle length monitoring module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
As shown in fig. 1, a tractor length ranging system based on communication base stations comprises a plurality of communication base stations 1, optical detection signal transmitters 2 and a server 3, wherein the communication base stations 1 are uniformly arranged along the longitudinal direction of a rail, the communication base stations 1 are of columnar structures, the communication base stations 1 are provided with communication signal receiving devices, the communication base stations 1 are connected with the server 3 through the communication signal receiving devices, communication signal receivers 12 of the communication base stations 1 are provided with unique digital position marks, the communication base stations 1 are provided with reflection targets 13 with detection signal receiving sensors, the communication signal receiving ends and the detection signal receiving ends of the communication base stations 1 are mutually independent, and the optical detection signal transmitters 2 are arranged on one side of each carriage of a train and are matched with the reflection targets of the communication base stations 1;
As shown in fig. 2, the communication base station 1 includes a pole 11, a communication signal receiver 12, a reflection target 13, a signal processor 14 and a signal transmitter 15, the pole 11 is a column vertically disposed on one side of a rail, the communication signal receiver 12 and the reflection target 13 are disposed on the pole 11, the reflection target 13 is lower than the lowest height of a traction locomotive, the signal processor 14 is disposed on the pole 11 and is in signal connection with the reflection target 13 and the communication signal receiver 12, the reflection target 13 receives an optical signal transmitted by the optical detection signal transmitter 2 on the traction locomotive and transmits the optical signal to the signal processor 14, the communication signal receiver 12 receives a communication signal of the traction locomotive and transmits the communication signal to the signal processor 14, the signal processor 14 performs rough prediction and calibration prediction on the length of the vehicle based on the optical signal and the communication signal, obtains an adjusted length according to the rough prediction structure and the calibration prediction structure, and transmits a length signal to the traction locomotive and the server 3 through the signal transmitter 15.
As shown in fig. 3, the server 3 includes a rough prediction module 31, a calibration prediction module 32, a calibration module 33 and a vehicle length monitoring module 34, wherein the rough prediction module 31 receives a communication signal of the communication base station 1 and performs rough prediction on the vehicle length according to the received communication signal, the calibration prediction module 32 receives an optical signal and generates an adjustment signal according to the received optical signal to transmit the adjustment signal to the calibration module 33, and the calibration module 33 is used for calibrating a prediction result of the rough prediction module 31 through information output by the calibration prediction module 32, and outputting a final result to the vehicle length monitoring module 34 and giving a time stamp.
The optical detection signal emitter 2 is an infrared scanner, the reflection target 13 is an infrared receiver, and an optical scanning pattern is further arranged on the infrared target.
The tractor length ranging system based on the communication base station comprises the following steps:
S1, sending communication signals to the most remote communication base station 1 and the most recent communication base station 1 by carriages at two ends of a train in real time;
s2, the server 3 recognizes the travelling direction of the train, and the result of the speed detector of the train is transmitted to the server 3 as a communication signal;
the server 3 predicts the ideal train length according to the communication signal and the train speed received by the train;
s3, according to the travelling direction, performing dichotomy processing on a communication base station 1 which receives a communication signal at the furthest end and a communication base station 1 which receives the communication signal at the nearest end of the carriage at the front end of the current time sequence train according to the position, selecting the communication base station 1 which is closest to the midpoint of the dichotomy as a communication base station 1 for calibration adjustment detection, and taking the communication base station 1 which receives the communication signal at the nearest end of the carriage at the rear end of the current time sequence train as a communication base station 1 for calibration reference detection;
S4, acquiring a continuous speed of the train passing through the furthest end position of the back running direction of the carriage at the rear end of the train when the train enters the current position, and linearizing the speed based on a time sequence;
S5, predicting the vehicle speed of the vehicle head when the communication base station 1 is calibrated and adjusted according to the linear relation, and further predicting the time when the vehicle head transmits an optical signal to the communication base station 1 which is calibrated and adjusted and detected by the vehicle tail under the ideal vehicle length and transmits the optical signal to the communication base station 1 which is calibrated and adjusted and detected by the vehicle head;
S6, detecting the time when the tail transmits an optical signal to the communication base station 1 detected by the calibration standard and the head transmits the optical signal to the communication base station 1 detected by the calibration adjustment under the actual condition;
and S7, adjusting the actual vehicle length according to the difference between the actual optical signal time and the predicted time received by the communication base station 1 detected by the calibration standard.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. Tractor length ranging system based on communication base station, its characterized in that: the railway track detection system comprises a plurality of communication base stations (1), optical detection signal transmitters (2) and a server (3), wherein the communication base stations (1) are uniformly arranged along the railway track, the communication base stations (1) are of columnar structures, the communication base stations (1) are provided with communication signal receiving devices, the communication base stations (1) are connected with the server (3) through the communication signal receiving devices, a unique digital position mark is arranged on a communication signal receiver (12) of each communication base station (1), the communication base stations (1) are provided with reflection targets (13) with detection signal receiving sensors, a communication signal receiving end and a detection signal receiving end of each communication base station (1) are mutually independent, and the optical detection signal transmitters (2) are arranged on one side of each carriage of a train and are matched with the reflection targets of the communication base stations (1);
The communication base station (1) comprises a vertical rod (11), a communication signal receiver (12), a reflection target (13), a signal processor (14) and a signal transmitter (15), wherein the vertical rod (11) is a cylinder vertically arranged on one side of a rail, the communication signal receiver (12) and the reflection target (13) are arranged on the vertical rod (11), the height of the reflection target (13) is smaller than the lowest height of a traction locomotive, the signal processor (14) is arranged on the vertical rod (11) and is in signal connection with the reflection target (13) and the communication signal receiver (12), the reflection target (13) receives an optical signal emitted by the optical detection signal transmitter (2) on the traction locomotive and transmits the optical signal to the signal processor (14), the communication signal receiver (12) receives the communication signal of the traction locomotive and transmits the communication signal to the signal processor (14), and the signal processor (14) respectively predicts and calibrates the length of the vehicle based on the optical signal and the communication signal, and the calibration prediction structure is obtained by the rough signal and the calibration prediction structure, and the transmission structure of the communication signal is adjusted to the length of the traction locomotive (3) through the rough signal transmitter and the prediction structure.
2. A tractor length ranging system based on a communication base station as claimed in claim 1, wherein: the server (3) comprises a rough prediction module (31), a calibration prediction module (32), a calibration module (33) and a vehicle length monitoring module (34), wherein the rough prediction module (31) receives a communication signal of the communication base station (1) and carries out rough prediction on the vehicle length according to the received communication signal, the calibration prediction module (32) receives an optical signal and generates an adjustment signal according to the received optical signal to be transmitted into the calibration module (33), and the calibration module (33) is used for calibrating a prediction result of the rough prediction module (31) through information output by the calibration prediction module (32) and outputting a final result to the vehicle length monitoring module (34) and giving a time stamp.
3. A tractor length ranging system based on a communication base station as claimed in claim 2, wherein:
the optical detection signal emitter (2) is an infrared scanner, the reflection target (13) is an infrared receiver, and an optical scanning pattern is further arranged on the infrared target.
4. A tractor length ranging system based on a communication base station as claimed in claim 1, wherein: the tractor length ranging system based on the communication base station comprises the following steps:
s1, sending communication signals to a most remote communication base station (1) and a most recent communication base station (1) by carriages at two ends of a train in real time;
S2, the server (3) recognizes the travelling direction of the train, and the result of the speed detector of the train is transmitted to the server (3) as a communication signal;
The server (3) predicts the ideal train length according to the communication signal and the train speed received by the train;
S3, according to the advancing direction, performing dichotomy processing on a communication base station (1) which receives the communication signal at the farthest end and a communication base station (1) which receives the communication signal at the nearest end of the carriage at the front end of the current time sequence train according to the position, selecting the communication base station (1) which is closest to the midpoint of the dichotomy as a communication base station (1) for calibration adjustment detection, and taking the communication base station (1) which receives the communication signal at the nearest end of the carriage at the rear end of the current time sequence train as a communication base station (1) for calibration reference detection;
S4, acquiring a continuous speed of the train passing through the furthest end position of the back running direction of the carriage at the rear end of the train when the train enters the current position, and linearizing the speed based on a time sequence;
s5, predicting the vehicle speed of the vehicle head in the process of calibrating and adjusting the detected communication base station (1) according to the linear relation, and further predicting the time when the ideal vehicle length is taken down, the vehicle tail transmits an optical signal to the communication base station (1) detected by the calibration standard, and the vehicle head transmits the optical signal to the communication base station (1) detected by the calibration and adjustment;
S6, detecting the time when the tail transmits an optical signal to the communication base station (1) for calibration reference detection and the head transmits an optical signal to the communication base station (1) for calibration adjustment detection under the actual condition;
S7, adjusting the actual vehicle length according to the difference between the actual optical signal time and the predicted time received by the communication base station (1) detected by the calibration standard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410850973.8A CN118393479B (en) | 2024-06-28 | 2024-06-28 | Tractor length ranging system based on communication base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410850973.8A CN118393479B (en) | 2024-06-28 | 2024-06-28 | Tractor length ranging system based on communication base station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118393479A true CN118393479A (en) | 2024-07-26 |
| CN118393479B CN118393479B (en) | 2024-09-03 |
Family
ID=91996123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410850973.8A Active CN118393479B (en) | 2024-06-28 | 2024-06-28 | Tractor length ranging system based on communication base station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118393479B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10260017A (en) * | 1997-03-19 | 1998-09-29 | Nissin Electric Co Ltd | Measuring device for traveling vehicle |
| WO2011054358A2 (en) * | 2009-11-04 | 2011-05-12 | Gamesontrack A/S | Positioning system and method |
| CN105403187A (en) * | 2015-12-14 | 2016-03-16 | 长春轨道客车股份有限公司 | High-speed motor train unit body three-dimensional dimension detection method |
| CN108667481A (en) * | 2018-07-23 | 2018-10-16 | 成都吉纬科技有限公司 | A kind of millimeter wave transceiver of rail vehicle ground wireless communication ground base station |
| CN111398894A (en) * | 2020-04-03 | 2020-07-10 | 中国电子科技集团公司第二十八研究所 | Low-slow small target detection tracking system and method based on mobile communication network |
| CN112009507A (en) * | 2020-09-07 | 2020-12-01 | 合肥工大高科信息科技股份有限公司 | Unmanned driving system of mine locomotive and control method |
-
2024
- 2024-06-28 CN CN202410850973.8A patent/CN118393479B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10260017A (en) * | 1997-03-19 | 1998-09-29 | Nissin Electric Co Ltd | Measuring device for traveling vehicle |
| WO2011054358A2 (en) * | 2009-11-04 | 2011-05-12 | Gamesontrack A/S | Positioning system and method |
| CN105403187A (en) * | 2015-12-14 | 2016-03-16 | 长春轨道客车股份有限公司 | High-speed motor train unit body three-dimensional dimension detection method |
| CN108667481A (en) * | 2018-07-23 | 2018-10-16 | 成都吉纬科技有限公司 | A kind of millimeter wave transceiver of rail vehicle ground wireless communication ground base station |
| CN111398894A (en) * | 2020-04-03 | 2020-07-10 | 中国电子科技集团公司第二十八研究所 | Low-slow small target detection tracking system and method based on mobile communication network |
| CN112009507A (en) * | 2020-09-07 | 2020-12-01 | 合肥工大高科信息科技股份有限公司 | Unmanned driving system of mine locomotive and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118393479B (en) | 2024-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101513888B (en) | Location method and system | |
| CN110371164B (en) | System and method for detecting running direction of rail train at turnout | |
| JP2019508996A (en) | Heavy freight train grouping device and grouping method, and electronically controlled pneumatic brake system | |
| KR950005670A (en) | Virtual Block Control System for Railway Vehicles | |
| CN112009522B (en) | Train control system and method for mountain track | |
| CN106515790B (en) | A kind of auxiliary anti-collision early warning method based on bilateral round trip ranging | |
| US11835422B2 (en) | Vehicle body contour-based derailment detection method for rail vehicle | |
| CN111332338A (en) | Track disease detection system | |
| CN201566514U (en) | High speed rail contact system-pantograph system current collection performance test apparatus | |
| CN102736084A (en) | System and apparatus for object detection tracking system using two modulated light sources | |
| CN113276911A (en) | Suspension type monorail vehicle section train position detection method and system | |
| CN118393479B (en) | Tractor length ranging system based on communication base station | |
| WO2020253199A1 (en) | Data acquisition system for space structure member of suspension magnetic levitation track, and determination method | |
| CN111605580A (en) | Method for car-to-car communication, method for controlling train integrity and train car | |
| CN111891185B (en) | Rail transit train parking method and system | |
| CN114735049A (en) | Laser radar-based speed measurement and positioning method and system for magnetic-levitation train | |
| CN113031606A (en) | Wireless virtual guide rail system and vehicle positioning and control method | |
| CN117163110A (en) | Railway cargo detection speed measuring method, speed measuring system, device and computer equipment | |
| US20060259211A1 (en) | Track-guided transport system | |
| CN112991797B (en) | Wireless guide rail system based on narrow beams and method for controlling vehicle to run | |
| CN212245794U (en) | Construction elevator floor positioner based on ultrasonic wave and laser combination | |
| CN211252601U (en) | Intelligent comprehensive management and control system for metro vehicle base | |
| CN210083231U (en) | Train axle temperature detection device and train monitoring system | |
| CN112429033B (en) | Online measuring device and method for wheel cake parameters of railway vehicle | |
| CN110203410B (en) | System and method for detecting rail error by unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |