CN1228234A - Method and system for transmitting rail road information - Google Patents
Method and system for transmitting rail road information Download PDFInfo
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- CN1228234A CN1228234A CN 96180427 CN96180427A CN1228234A CN 1228234 A CN1228234 A CN 1228234A CN 96180427 CN96180427 CN 96180427 CN 96180427 A CN96180427 A CN 96180427A CN 1228234 A CN1228234 A CN 1228234A
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Abstract
A method and a system for continuously transmitting railroad information between an on-board controller and a ground controller. A redundancy code which is updated according to a preset procedure at every transmission is added to the information to be transmitted, and the resultant is transmitted. On the receiving side, the redundancy code received together with the transmitting information is collated with a redundancy code which is prepared on the receiving side and updated according to a preset procedure. Therefore, the fault of the transmission route is detected easily, and the safety of train by means of the automatic train control is improved.
Description
Invention field
The present invention relates to railway information transmission method and system, it is convenient to detect the fault of transmission path in the railway information system, and wherein information is transmitted between ground installation and mobile unit with continuous transmission mode.
Background technology
The transmission mode of the railway system between onboard control device and GCU comprises continuous transmission mode and puts transmission mode.Under continuous transmission mode, same information repeated to transmit with the predetermined time interval, thereby guaranteed reliability of information transmission because can be from transmit message interrupts the checkout equipment fault.
Here the Train Control based on continuous transmission mode that is adopted for example is automatic train control system (an ATC system).In this system, the method that provides each several part speed limit on the track is based on the control method of analog information transmission, wherein comes the transfer rate restricted information by the frequency signal that sends and receive the corresponding speed restriction.
On the contrary, the example that discloses in Japanese Patent Application Publication No.128760/1991 adopts the digital information transfer approach, wherein the load mode of information is, the signal wave that obtains by the modulating speed restricted information sends from GCU as digital information, and receives the signal wave that also demodulation sent by onboard control device.
In addition, in sending the digital information process, the information errors detection method when adopting the information content to be destroyed by a bit mistake make information transmitter side equipment send to have added the redundant code that error detection is used (for example CRC (cyclic redundancy check) sign indicating number) thus information and make the unit check error detection code of reception transmission information and the content of information avoid using error message to handle.
Method for the additional redundancy sign indicating number, Japanese patent application No.1364725/1988 has disclosed a kind of redundant code processing method, wherein transmitting apparatus utilization information to be communicated by letter forms matrix and form redundant code on the row of matrix and column direction, it also sends synthetic information, receiving equipment forms the matrix of reception information equally and form redundant code on the row of matrix and column direction, it proofreads the redundant code that forms with the redundant code that receives, thereby detects and proofread and correct the mistake of reception information.
In Train Control, for example in the system that carries out security control (for example automatic train control system (ATC)), requirement ground installation when fault stops to train output information and makes train can judge ground installation fault or the information that breaks down to train, owing to repeat to send the same information of ground installation fault, so train safe is protected.In order to satisfy these requirements, ground installation adopts the equipment higher than whole system reliability.For this reason, the complex structure of ground installation and costing an arm and a leg.
As a kind of method of cutting down railway system's cost, consider in ground installation, to adopt the simple structure of handling.As if but when handling the information of the continual renovation that repeats to send in continuous sending mode, may cause fault, the state that resembles fresh information is handled in the transmission that the information via that sends before causing occurring is suitable.
Under so a kind of occasion, because the error correction device of CRC sign indicating number etc. is convenient to detect information bit mistake to be communicated by letter, so any method of inspection based on the CRC sign indicating number all can't the discovering device fault, unless the bit mistake takes place before the transmission information.
A target of the present invention is to realize the simple searching of transmit path fault and further improve the train service safe of driverless train control, in railway information sending method and system, information utilizes continuous sending mode to send between Train Control equipment and GCU.
Summary of the invention
In the present invention, information is travelled in the onboard control device on the train that travels and management with continuous sending mode and is transmitted between the ground installation of train, wherein the redundant code of upgrading with preset program when each transmission is handled is attached to and treats on the communication information, information is sent out subsequently, and the redundant code that is included in the reception information forms with receiver side and proofreads with the redundant code that preset program is upgraded.
If the collation of redundant code is inconsistent,, thereby perhaps this signal is sent to the device of handling the train emergency as signal output then to receiver side report collation.
Brief description of drawings
Fig. 1 is according to the block diagram relevant with transmission of the present invention.Fig. 2 is the block diagram of redundant code generating apparatus contents processing shown in Figure 1.Fig. 3,4 and 5 is the block diagram of information transmitting system, and each represents another embodiment of the present invention.Fig. 6 is the detailed maps of Fig. 5 redundant code table that embodiment comprises.
The preferred mode that carries out an invention
The example that the embodiment of the invention is applied to the transmitting system of automatic train control system (ATC system) is below described.Fig. 1 shows and sends the block diagram of handling, and wherein information sends to onboard control device from GCU.
The onboard control device 1 of control train is installed on the train that travels, and the travel GCU 2 of train of management is installed in ground.During information between two kinds of equipment sent, information was with continuous sending mode, by sending information with a plurality of ground transmitter/receiver 41～4n that GCU 2 is coupled to tracking circuit through network 3.
What link to each other with onboard control device 1 is speed detector 5, display unit 6 and the brake controller 7 that detects train speed.Onboard control device 1 comprises: produce the redundant code generating apparatus that receives redundant code, upgrade redundant code with preset program after the output that receives speed detector 5; And check and correction sign indicating number processing unit 12, being used for proofreading the redundant code that receives with the redundant code that is attached on the GCU 2 transmission information, the signal of device 12 exports display unit 6 or brake controller 7 to according to collation.
On the other hand, GCU 2 comprises: the redundant code generating apparatus 21 that produces the communication redundancy sign indicating number that upgrades with preset program; And thereby the communication redundancy sign indicating number that upgrades will at every turn send the information that is generated by redundant code generating apparatus 21 time is attached to and forms transmission information on the communication information, and transmission information is sent to a plurality of ground transmitters/receiver 41-4n that links to each other with network 3 by network.
Below by Fig. 2 the contents processing of redundant code generating apparatus 11,21 is described.Each device comprises per ten count cycle counter once, and its content is upgraded when number of processes is upgraded.Because redundant code is by by means of representing that with " getting 2 in 5 " sign indicating number (number that is included in 1 in 5 bits under this pattern can not lose efficacy) counter values 0～9 produces, thus every certain number of processes according to illustrated schema update.
By the way, the redundant code generating apparatus 11 on the train detects stop doing business (example is parked on the platform) of listing from the output of speed detector 5, and according to the counter in the redundant code generating apparatus on detected halted state initialization or renewal train and the ground.
The transmit operation of present embodiment is below described.In the present embodiment, the CRC sign indicating number that is used for producing according to process of transmitting the error correction of a bit mistake should be attached to the communication information to be sent.
During beginning and since the content of the first communication redundancy sign indicating number that sends from ground side be corresponding counter " 0 " 00110}, so transmission information becomes:
Transmission information={ communication information }+{ 00110}+{CRC coding }
By network emittor/receiver transmission earthward, ground transmitter/receiver sends to onboard control device by track circuit and transmits transmission information transmission information from GCU.
The onboard control device transmission information that at first code check receives according to CRC.Then, thus its check and correction redundant code confirms that information to be communicated by letter is correct data.In this manner, any bit mistake can be at first by finding the check of CRC sign indicating number in the transmission information during the transmission.
Because the communication redundancy sign indicating number that comprises in the transmission information is subsequently with being kept at the interior reception redundant code check and correction of onboard control device, so can confirm the transmission information information of GCU transmission just when each the transmission.
In example, the redundant code that onboard control device at first receives from ground side comprises the content { 00110} of the communication redundancy sign indicating number of GCU generation.
On the other hand, onboard control device in generate when receiving at every turn and receive redundant code, and its content is the { 00110} of corresponding counter " 0 ".
Therefore, the communication redundancy sign indicating number is with to receive redundant code consistent, and can to confirm to send be correct.
When next sent, the counter values in the GCU was updated to " 1 ", and the content update of communication redundancy sign indicating number is { 00011}.Therefore, the redundant code content in the transmission information becomes { 00011}.
In addition, the content of redundant code also is updated to { 00011} according to Counter Value in the onboard control device.Therefore, the communication redundancy sign indicating number is consistent with the reception redundant code, and it is correct therefore can to confirm as transmission.
Meanwhile, if ground transmitter/receiver and network break down, then sending information can't correctly transmit.There is a kind of method can find fault in ground transmitter/receiver and the network in this case.
Consider that at first ground transmitter/receiver or network break down and do not send the situation of information.In this case, information can't send, and can not receive the fact-finding fault of transmission information according to onboard control device at least in predetermined space.
Then consider ground transmitter/receiver break down and repeat to send before the situation of the information that sends.In this case, fault occurs in after the transmission information transmission of each counter content for " 1 ", and the content of communication redundancy sign indicating number still is { the 00110} of corresponding counter content " 1 ".On the other hand, the counter in the onboard control device upgrades receiving when handling, thereby makes the content of the redundant code that receives become { the 00101} of correspondence " 2 ".In the transmission information after breaking down, the item of information in the onboard control device becomes:
Transmission information={ communication information }+{ 00011}+{CRC coding }
Receive redundant code={ 00101}
Whether be used for only detecting in the transmission information wrong bit based on the detection of CRC sign indicating number, can't detection failure thereby make.But the redundant code of upgrading during owing to each the transmission is used for the check and correction process, can check so respectively send the update mode of item of information.In collation, the redundant code content of having grasped the content of redundant code in the transmission information and onboard control device is inconsistent.Therefore the transmission information that receives is not the correct information that sends of GCU, and can distinguishing fault, to occur in the network that constitutes transmission path still be in ground transmitter/receiver.
Described thus whether a kind of information of utilizing redundant code to distinguish transmission is the method for the correct information that sends.
In the occasion that transmission information does not correctly send, onboard control device is in the state that can't obtain the data of obtaining with the transmission message form from GCU.If train travels under above-mentioned state, then owing to do not know the distance of the last train that travels on equidirectional, so safety can not get guaranteeing.Therefore when at least one predetermined space of above-mentioned state continuance, onboard control device is carried out and is handled to keep relevant train to be in a safe condition, in the fault that shows on the display unit in compartment on the transmit path, thereby situation report is given the train operator or provided braking commands to the device that deals with an urgent situation (for example brake controller), allow train stop.
The situation of the information that sends to the onboard control device of more piece train from GCU is then described.
GCU generates the communication information item with for example train # 1 and #2, and sends redundant code and the CRC sign indicating number that has the transmission item of information of train number, corresponding communication information item to train #1 and #2 respectively.
The situation of having described is that information sends to onboard control device from GCU.Under the onboard control device situation that control appliance sends earthward, have only the sending direction of information shown in Figure 1 to change, and structure is substantially the same in information.
But in this case, in GCU, place coding correction process device.Ground side equipment operation device, when being in and continuing at least one predetermined space, carries out the inconsistent state that causes when the check and correction from the redundant code of onboard control device the processing that keeps the train safe state, on the display unit of GCU, show the transmit path fault, thereby the control appliance operator reports situation earthward, perhaps give an order (for example the signalling in being installed in the GCU control range provides the indication of stopping), stop train driving thus to the device of handling the train emergency.
The initialization of redundant code in onboard control device and the GCU is below described.For normal transmission information between locomotive and ground, onboard control device needs consistent with the interior counter content of preserving of the redundant code generating apparatus of GCU.Finish initialization procedure by before between control appliance, beginning to send the counter content one in two redundant code generating apparatus being shown.
Incidentally, during making counter content unanimity, can not carry out the coding correction process of transmission information, and the security performance of train is destroyed.Therefore make the condition of counter content unanimity as execution, must confirm that train is in a safe condition.For this reason, when confirming the train stagnation of movement consistent by the train speed detection, just carry out the consistent process of counter content with station parking indication, signalling etc.Under the situation of this external compulsive counting device content unanimity, by after signalling sends order stagnation of movement train, just carrying out this process from GCU.
Fig. 3 is the block diagram of the information transmitting system of another embodiment of the present invention.With the difference of Fig. 1 be when redundant code is attached to transmission information, GCU is added up the partial redundance sign indicating number that next transmission timing is attached on the transmission information as schedule information, and form the CRC sign indicating number of the information comprise schedule information, thereby send final information as transmission information to onboard control device.
The structure of this transmission information becomes:
Transmission information={ communication information }+{ redundant code }+{ schedule information }+{ CRC sign indicating number }
The counting of considering redundant code generating apparatus 21 in the GCU according to example is the situation of " 1 ".At this moment, the content of redundant code is { 00011}.Owing to be updated to " 2 " at next transmission timing hour counter, so redundant code content at that time becomes { 00101}.The content of supposing schedule information is the whole redundant code of next transmission timing, then the counter content for the schedule information of " 1 " become corresponding counter content for " 2 " 00101}, and transmission information becomes:
Transmission information={ communication information }+{ 00011}+{00101}+{CRC sign indicating number }
The schedule information that onboard control device is preserved in the transmission information that receives by schedule information save set 13.Therefore the content of schedule information save set is:
Schedule information save set={ 00101}
At next transmission timing, the content update of counter is " 2 ", and schedule information becomes the { 01001} of corresponding counter content " 3 ".Therefore transmission information becomes:
Transmission information={ communication information }+{ 00101}+{01001}+{CRC sign indicating number }
In onboard control device, the redundant code in the transmission information of reception is proofreaded with the content of schedule information save set.At this moment, the redundant code content is { 00101}, and the content of schedule information save set is { 00101}.So the two content unanimity, and can confirm that current transmission information is to send information last time through correct updated information.
Consider now the situation that network or ground transmitter/receiver break down, the transmission information that sent during transmission timing last time constantly is repeated to send here.When corresponding counter content repeated constantly for the transmission information of " 1 " that the transmitting counter value is not updated to the transmission information of " 2 ", the transmission information that onboard control device receives became:
Transmission information={ communication information }+{ 00011}+{00101}+{CRC sign indicating number }
This moment, the content of redundant code was { 00011}, and the content of schedule information is { 00101}.In this manner, the check and correction between the redundant code causes inconsistent in the content of schedule information save set and the transmission information.Therefore find that transmission information does not correctly send.
Fig. 4 is the information transmitting system of another embodiment of the present invention.With the difference of Fig. 1 be when redundant code being attached on the transmission information, GCU is additional as confirmation with the partial redundance sign indicating number that was attached to during transmission timing last time on the transmission information, and generate and to have the CRC sign indicating number of confirmation, thereby send final information as transmission information to onboard control device.
Therefore the structure that sends information becomes:
Transmission information={ communication information }+{ redundant code }+{ confirmation }+{ CRC sign indicating number }
Situation when considering that by example the rolling counters forward of redundant code generation device in the GCU is " 3 ".At this moment, the redundant code content is { 01001}.Because the counting of last transmission timing hour counter is " 2 ", so the redundant code content of this moment becomes { 00101}.Suppose that the confirmation signal content is the whole redundant code of last transmission timing, thus the counter content for the affirmation information of " 3 " become corresponding counter content " 2 " 00101}, and transmission information becomes:
Transmission information={ communication information }+{ 01001}+{00101}+{CRC sign indicating number }
The redundant code that onboard control device utilizes confirmation save set 14 to preserve in the transmission information that receives.Therefore the content of confirmation save set becomes:
Confirmation save set={ 01001}
At next transmission timing, the content update of counter is " 4 ", and confirmation becomes the { 01001} of corresponding counter content " 3 ".Therefore transmission information becomes:
Transmission information={ communication information }+{ 01010}+{01001}+{CRC sign indicating number }
Here the affirmation information that the transmission information that vehicle-mounted treatment facility check and correction is included in reception is interior and the content of confirmation save set.The content of confirmation is { 01001}, and the content of confirmation information assurance device is { 01001}.Therefore the two content unanimity, and can determine that last transmission information correctly upgraded by current transmission information.
Consider the situation when network and ground transmitter/receiver break down now, the transmission information that last here transmission timing sends is repeated to send.When the transmission information of corresponding counter content " 3 " is repeated and when transmitting counter numerical value was not updated to the transmission information of " 4 ", the transmission information that onboard control device receives was:
Transmission information={ communication information }+{ 01001}+{00101}+{CRC sign indicating number }
The affirmation information content of this moment is { 00101}, and the content of confirmation save set is { 01001}.In this manner, the check and correction of redundant code causes inconsistent in confirmation save set content and the transmission information.Therefore find that the update mode of transmission information is incorrect.
Fig. 5 is the information transmitting system block diagram of another embodiment of the present invention.This embodiment realize the target that Fig. 3 or Fig. 4 embodiment are identical and the transmission information being convenient to when each the reception, confirm to receive in the update mode of redundant code, thereby in Fig. 5, only show a vehicle-mounted side as receiving a side.With the difference of Fig. 3 or Fig. 4 be the redundant code string that on a plurality of continuous transmission timings, has formed based on sending redundant code in the item of information, thereby make the string of formation and the redundant code table 15 that forms previously carries out pattern matching.This method is below described.
Though be example with GCU to onboard control device transmission information in the embodiment of Fig. 5, opposite situation also is like this.At first in onboard control device, when handling beginning, form redundant code table shown in Figure 6 by redundant code generating apparatus 11 (shown in Figure 1).In table, the corresponding table number of the content of table, and table number and table content counter content and redundant code corresponding shown in Figure 2 respectively.
The operation of this embodiment is below described.When onboard control device sends control information, the CRC sign indicating number that GCU is used the communication redundancy sign indicating number and the control information of redundant code generation device generation in the GCU adds up.The content of supposing counter in the redundant code generation device is " 1 ", then Ci Shi communication redundancy sign indicating number is the { 00011} of Fig. 2.Therefore the component content that sends information is:
Transmission information={ communication information }+{ redundant code }+{ confirmation }+{ CRC sign indicating number }
Therefore whether onboard control device at first in the transmission information according to CRC code check reception the bit mistake takes place.Then, the sign indicating number adding redundant code string that extracts the communication redundancy sign indicating number and will extract, thus upgrade the redundant code string.The content of supposing the redundant code string sends the communication redundancy sign indicating number of handling by corresponding three times to be formed, next send handle neutralization again next communication redundancy sign indicating number that sends in processing enter in the redundant code string.Because the communication redundancy digital content of these number of times is the content of corresponding Counter Value " 2 " and " 3 " respectively, so they are respectively { 00101} and { 01001}.Therefore the redundant code string becomes:
Redundant code string={ 00011}+{00101}+{01001}
Whether this redundant code string exists consistent pattern with redundant code table content check and correction shown in Figure 6 thereby check.In this case, { 1}, { 2} is with { the table content of 3} is consistent with pattern, and can determine that the transmission item of information of the corresponding redundant code (as the content of redundant code string) that receives is correctly upgraded for corresponding table number.
Consider the situation that ground transmitter/receiver breaks down, the transmission information of corresponding here counter content " 2 " is sent to onboard control device and sends with will be corresponding to the transmission information sequential of counter content " 3 " time.In this case, the communication redundancy digital content in the transmission item of information of onboard control device reception is followed successively by { 00011}, { 00101} and { 00101}.Therefore the content of redundant code string becomes:
Redundant code string={ 00011}+{00101}+{00101}
In onboard control device, carry out matching treatment, thereby whether check exists the pattern consistent with the redundant code string in redundant code table shown in Figure 6 based on the redundant code string.Here consistent pattern does not exist, and confirms to send item of information incorrect renewal when each transmission timing thus.
Though what describe in the invention described above embodiment is to adopt track circuit to send as dispensing device, also can obtain same effect when the present invention is used for wireless transmission information.
Industrial applicibility
According to the invention described above, the redundant code of upgrading when at every turn sending is attached to continuous sending mode (vehicle-mounted Between control appliance and the GCU) under transmission information on, and extra-code obtained check and correction, thereby can With simple discovery transmit path fault, and by the locomobile control system or according to collation raising row The car security. Therefore the present invention is suitable for the railway territory the highest to security requirement.
Claims (10)
1. a railway information sending method sends information with continuous sending mode between the GCU of onboard control device on the train that wherein travels in orbit and management train operation;
Described method is characterised in that the redundant code of upgrading with preset program when each transmission is handled is attached to be treated on the communication information, sends information subsequently, and the redundant code that is included in the reception information forms with receiver side and proofreads with the redundant code of preset program renewal.
2. railway information transmitting system, wherein by between the GCU of a plurality of onboard control devices on the train that the emittor/receiver of network and GCU coupling travels in orbit and management train operation with continuous sending mode transmission information;
Described system is characterised in that, each GCU and onboard control device comprise the redundant code generation device of generation according to the redundant code of preset program renewal, thereby and send a side and be equipped with the redundant code that each information is upgraded when described redundant code generation device sends to be attached to form transmission information on the communication information, and receiver side is equipped with the device that upgrades the redundant code of described redundant code generation device when described receiver side receives transmission information at every turn, also is equipped with being attached to the device that described redundant code that described redundant code on the described transmission information and described receiver side upgrade is proofreaded.
3. railway information transmitting system as claimed in claim 2 is characterized in that the device of report collation causes transmitting described collation when the described device collation of check and correction redundant code is inconsistent.
4. railway information transmitting system as claimed in claim 2 is characterized in that comprising the output collation as signal and transmit the device of signal to the device of handling the train emergency according to the described check and correction of the described device of described check and correction redundant code inconsistent results.
5. railway information transmitting system as claimed in claim 2, it is characterized in that comprising comprising the device of carrying out initialization process, it begins to upgrade the redundant code in the described redundant code generation device when relevant train dwelling is consistent with the sign that stops of platform, signalling.
6. railway information transmitting system as claimed in claim 2, it is characterized in that comprising the device of control signal device, in order to carry out the initialization procedure that begins to upgrade redundant code in the described redundant code generation device, it is installed in the control range of described GCU so that the indication of stopping to be provided.
7. railway information transmitting system as claimed in claim 2, it is characterized in that comprising the partial redundance sign indicating number that produces subsequently as schedule information by each redundant code that described redundant code generation device produces, and each described GCU and onboard control device are included in the device of operation when receiving, thereby preserve the interior schedule information of the communication redundancy sign indicating number that received last time at least and proofread the schedule information of preserving with the new communication redundancy digital content that receives.
8. railway information transmitting system as claimed in claim 2, it is characterized in that comprising the last redundant code that produces of part as confirmation by each redundant code that described redundant code generation device produces, and the device of operation when each described GCU and onboard control device are included in reception, thereby preserve the interior confirmation of the communication redundancy sign indicating number that receives recently at least and proofread the affirmation information of preserving with the new communication redundancy digital content that receives.
9. railway information transmitting system as claimed in claim 2, it is characterized in that each described GCU and onboard control device are included in the device that begins to handle formation before and preserve the redundant code table of check and correction, this table comprises the redundant code of redundant code production process output, and is used for the device of content to proofreading based on the reception information change state that is included in the redundant code in a plurality of reception items of information at least with the redundant code table of check and correction.
10. railway information transmitting system as claimed in claim 2, it is characterized in that described onboard control device is included in the device that receives the redundant code table of check and correction and do to preserve from described GCU before beginning to handle, the redundant code that this table is exported based on redundant code production process in the described GCU, and be used for the device of redundant code table content to proofreading based on the reception bit string change state that is included in the redundant code in a plurality of reception items of information at least of proofreading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB961804270A CN1155289C (en) | 1996-09-04 | 1996-09-04 | Method and system for transmitting rail road information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB961804270A CN1155289C (en) | 1996-09-04 | 1996-09-04 | Method and system for transmitting rail road information |
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| CN1228234A true CN1228234A (en) | 1999-09-08 |
| CN1155289C CN1155289C (en) | 2004-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB961804270A Expired - Fee Related CN1155289C (en) | 1996-09-04 | 1996-09-04 | Method and system for transmitting rail road information |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100366020C (en) * | 2003-06-26 | 2008-01-30 | 株式会社东芝 | Transmission device of railway carriage |
| CN101094149B (en) * | 2003-06-26 | 2010-09-01 | 株式会社东芝 | Transmission device of railway carriage |
-
1996
- 1996-09-04 CN CNB961804270A patent/CN1155289C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100366020C (en) * | 2003-06-26 | 2008-01-30 | 株式会社东芝 | Transmission device of railway carriage |
| CN101094149B (en) * | 2003-06-26 | 2010-09-01 | 株式会社东芝 | Transmission device of railway carriage |
| CN101094156B (en) * | 2003-06-26 | 2011-03-23 | 株式会社东芝 | Transmission device of railway carriage |
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| CN1155289C (en) | 2004-06-23 |
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