CN201304933Y - Dynamic detection alarm system of unbalanced load of freight car - Google Patents
Dynamic detection alarm system of unbalanced load of freight car Download PDFInfo
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- CN201304933Y CN201304933Y CNU2008201224423U CN200820122442U CN201304933Y CN 201304933 Y CN201304933 Y CN 201304933Y CN U2008201224423 U CNU2008201224423 U CN U2008201224423U CN 200820122442 U CN200820122442 U CN 200820122442U CN 201304933 Y CN201304933 Y CN 201304933Y
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 49
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- 230000008447 perception Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 239000003990 capacitor Substances 0.000 description 12
- 238000012360 testing method Methods 0.000 description 6
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Abstract
The utility model relates to a dynamic detection alarm system of unbalanced load of a freight car, which is characterized by comprising a signal sensing unit, an alarm prompt unit and an information acquisition control unit. The signal sensing unit comprises two acceleration sensors which are arranged at the left side and the right side of the connection position between the left and right suspension frames of the rear shaft of a freight car and the carriage of the freight car; the alarm prompt unit is arranged on a middle console in the cab; the information acquisition control unit comprises a single chip; and the single chip is provided with a dynamic detection algorithm module for the unbalanced load. The utility model has the advantages of high reliability and wide scope of application, and can actively, accurately and promptly provide the alarm information on the unbalanced load of the freight car during the transportation process of the freight car.
Description
Technical field
The utility model relates to a kind of automotive safety watch-dog, particularly about a kind of lorry unbalance loading detection of dynamic warning.
Background technology
Automobile because the cargo loading state is bad, causes producing in the transportation unbalance loading in transportation, the driver and conductor fails in time to discover, thereby brings out traffic accident.The lorry unbalance loading is the major reason that causes traffic accident at present, for this reason, administers overload, prevents that unbalance loading from being the important measures of prevention traffic accident.Existing support technology mainly is to utilize weighing instrument to measure the load of the mode of wheel load with measuring vehicle, also can understand the vehicle unbalance-loading situation in view of the above, but this technology is used for rolling stock more.For example, the main sensor that is installed on two rail next doors that utilizes of patent CN2443899Y " the super unbalance loading dynamic test set of rolling stock " is realized not stopping of rolling stock weighed, and judges the unbalance loading degree of rolling stock according to the difference of two sensor output numerical value.Yet, the technology of existing detection road vehicle unbalance loading is quite few, and the technology of in-vehicle detection of dynamic unbalance loading quite lacks especially, even if indivedual correlation techniques are arranged, but owing to existing installation inconvenience, many shortcomings such as vehicle remoulding is big, cost is high, reliability is low being difficult to apply.
Summary of the invention
At the problems referred to above, a kind of cost is low, reliability is high, widespread use easy for installation but the purpose of this utility model provides, and the lorry unbalance loading detection of dynamic warning of alarm message can initiatively, accurately, in time be provided.
For achieving the above object, the utility model is taked following technical scheme: a kind of lorry unbalance loading detection of dynamic warning, it is characterized in that: it comprises a signal perception unit, it comprises two acceleration pick-ups, and described two acceleration pick-ups are installed in the left and right side of the junction in the and arranged on left and right sides suspension of lorry rear axle and compartment; One alarm unit, it is arranged on the console of operator's compartment; One information acquisition control unit includes micro controller system in it, be provided with the unbalance loading dynamic detection algorithm module in the described micro controller system.
Described information acquisition control unit also comprises two filtering noise reducing circuits, and an end of described two filtering noise reducing circuits connects described left acceleration respectively, and the other end connects described micro controller system; Described filtering noise reducing circuit is the low-pass first order filter that is made of two electric capacity and a resistance.
Described alarm unit comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road multiple unit tubes of described integrated circuit drive.
The utility model is owing to take above technical scheme, it has the following advantages: 1, because the left and right acceleration pick-up that the utility model adopts is fixedly installed on the and arranged on left and right sides suspension of lorry rear axle and the junction in compartment respectively, therefore acceleration pick-up can carry out measurement of inductance to the lorry acceleration/accel in real time in the Freight Transport process.2, owing to adopted performance-oriented 8-bit microcontroller chip in the information acquisition control unit of the present utility model, therefore the acceleration signal that can degree of will speed up sensor records carries out quick computing, calculate lorry unbalance loading coefficient and initiatively send lorry unbalance loading information in real time to the alarm unit, thereby improved the degree of safety of Freight Transport, the generation of prevention traffic accident.3, because left acceleration of the present utility model is fixedly installed on the and arranged on left and right sides suspension of lorry rear axle and the junction in compartment respectively, its simple installation, applied range, and when driving, left acceleration itself is not subjected to the influence of any extraneous mechanicals efforts, reliability height, long service life.4, because the utility model mainly is a unbalance loading situation of judging lorry according to the difference degree of both sides, boxcar vertical acceleration, and need not to obtain the exact value of both sides vertical acceleration, only require the characteristic unanimity of the acceleration pick-up of and arranged on left and right sides, but need not to select for use too high, the expensive acceleration pick-up of precision, therefore reduced the cost of acceleration pick-up.5, therefore the utility model has filtered the high frequency noise in the acceleration signal owing to adopted low-pass first order filter, has prevented from the follow-up A/D sampling process signal aliasing to take place, and has improved the accuracy of testing result.6, alarm of the present utility model unit is light-emitting diode and the buzzer phone by integrated circuit control, integral control circuit drives cooresponding light-emitting diode according to the unlike signal of the input of the singlechip chip in the information acquisition control unit, reminds chaufeur at a glance.The utility model reliability height, easy for installation, the alarm message that is widely used and can be in the Freight Transport process initiatively, accurately, in time provides the lorry unbalance loading.
Description of drawings
Fig. 1 is a structured flowchart of the present utility model
Fig. 2 is a compartment of the present utility model left acceleration mounting structure scheme drawing
Fig. 3 is the schematic circuit diagram of information acquisition control unit of the present utility model
Fig. 4 is an information acquisition control unit workflow diagram of the present utility model
Fig. 5 is the schematic circuit diagram of alarm of the present utility model unit
Fig. 6 is that carriage trucks mass center unbalance loading amount is ± the time dependent curve of 0.15m
Fig. 7 is the time dependent curve of unbalance loading coefficient that the utility model detects Fig. 5
Fig. 8 is that carriage trucks mass center unbalance loading amount is ± the time dependent curve of 0.30m
Fig. 9 is the time dependent curve of unbalance loading coefficient that the utility model detects Fig. 7
Figure 10 is that carriage trucks mass center unbalance loading amount is ± the time dependent curve of 0.45m
Figure 11 is the time dependent curve of unbalance loading coefficient that the utility model detects Fig. 9
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
As shown in Figure 1, the utility model comprises signal perception unit 1, information acquisition control unit 2, alarm unit 3.
As depicted in figs. 1 and 2, signal perception unit 1 comprises that compartment left acceleration 11,12 is fixedly installed on the junction in lorry rear axle 4 and arranged on left and right sides suspensions 5 and compartment 6 respectively, the vertical acceleration signal that is used for real-time perception lorry left and right side, and convert the acceleration signal that perceives to voltage signal and be delivered to information acquisition control unit 2.Because the utility model mainly is a unbalance loading situation of judging lorry according to the difference degree of boxcar 6 both sides vertical accelerations, and need not to obtain the exact value of both sides vertical acceleration, therefore only require the characteristic unanimity of the acceleration pick-up of and arranged on left and right sides, but need not to select for use too high, the expensive sensor of precision.In the present embodiment, two left acceleration 11,12 all adopt the LC0106 type acceleration pick-up of Lance, and its range is 5g, and sensitivity is 1V/g, working temperature range is-40～+ 120 ℃, and power supply voltage is 18～30VDC (the general vehicle-mounted voltage of lorry is 24VDC).
As shown in Figure 3, information acquisition control unit 2 comprises a micro controller system U1, its acceleration signal with 11,12 outputs of compartment left acceleration is a voltage signal, convert digital signal to, and utilize lorry unbalance loading dynamic testing method, detected lorry unbalance loading state is carried out real-time identification, and the result with identification is delivered to alarm unit 3 then.In the present embodiment, it is the 8-bit microcontroller of MC9S08DZ60 that micro controller system U1 adopts Motorola Inc.'s production, model, also can adopt other similar 8-bit microcontrollers, does not limit at this.
As shown in Figure 3, information acquisition control unit 2 also comprises the two filtering noise reducing circuits that connect compartment left acceleration 11,12 respectively, and the mouth of two filtering noise reducing circuits connects the input end ADIN0 and the ADIN1 of two A/D change-over circuits among the micro controller system U1 respectively.The first filtering noise reducing circuit is made up of two capacitor C 1, C2 and resistance R 1, and capacitor C 2 is with after resistance R 1 is connected, and the series arm that obtains is in parallel with capacitor C 1; One termination ground wire of this circuit parallel, the other end connect the input end ADIN0 of the A/D change-over circuit among the micro controller system U1 and the anode of a diode D1 simultaneously, and the negative electrode of diode D1 connects power line voltage VCC; The acceleration signal of left side acceleration pick-up 11 outputs is from the contact input of capacitor C 2 with resistance R 1.The second filtering noise reducing circuit is made up of two capacitor C 3, C4 and resistance R 2, and capacitor C 4 is with after resistance R 2 is connected, and the series arm that obtains is in parallel with capacitor C 3; One termination ground wire of this circuit parallel, the other end connect the input end ADIN1 of the A/D change-over circuit among the micro controller system U1 and the anode of a diode D2 simultaneously, and the negative electrode of diode D2 connects power line voltage VCC; The acceleration signal of right side acceleration pick-up 12 outputs is from the contact input of capacitor C 4 with resistance R 2.This two filtering noise reducing circuit is used for filtering the high frequency noise of acceleration signal, to prevent in follow-up A/D sampling process signal aliasing taking place.The filtering noise reducing circuit can also adopt other condenser filter circuit except that above-mentioned capacitive filter circuit, do not limit at this.If when adopting the filtering noise reducing circuit in the present embodiment, capacitor C 1, C2, C3 and C4 are 1uF, capacitor C 2 and C4 can be electrolyte capacitance, also can be the electric capacity of other type, when being electrolyte capacitance, the negative earth of capacitor C 2 and C4, and capacitor C 1 and C3 are the capacity type except that electrolyte capacitance.Resistance R 1, R2 are 50 kilo-ohms.Two diode D1 and D2 are used for the input end ADIN0 of A/D change-over circuit of guarantee information acquisition controlling unit 2 and the input voltage of ADIN1 is no more than power line voltage VCC.A left side, compartment acceleration signal x
ML(t) and right acceleration signal x
MR(t), obtain filtered left and right acceleration signal and be respectively x through behind the two filtering noise reducing circuits
L(t) and x
R(t), x
L(t) and x
R(t) be voltage signal.
Two filtering noise reducing circuits are essentially low-pass first order filter, and its transfer function is:
Wherein, T is a filter time constant, and s is a Laplace operator, in the present embodiment, and T=R1C1=R2C3.
Analog signal x
L(t) and x
R(t) the two A/D change-over circuits that enter respectively among the micro controller system U1 are converted into digital signal, micro controller system U1 is according to lorry unbalance loading dynamic detection algorithm then, detected lorry unbalance loading state is carried out real-time identification, and the result with identification is delivered to alarm unit 3 then.
As shown in Figure 4, left and right acceleration signal flows to micro controller system U1 by the filtering noise reducing circuit, and the work of micro controller system U1 is as follows:
(1) A/D sampling: two A/D change-over circuits among the micro controller system U1 are with inversion frequency T
sRespectively to filtered left and right acceleration signal x
L(t) and x
R(t) carry out digital conversion, the left and right acceleration signal after the conversion is designated as x respectively
L(k) and x
R(k), its expression formula is as follows:
x
L(k)＝x
L(k·T
s)
x
R(k)＝x
R(k·T
s)
Wherein, T
sBe sampling frequency, general desirable 0.01～0.05s gets T in the present embodiment
s=0.01s.
(2) making the initial value of loop variable m is P, and P is that unbalance loading detects step-length, and P gets 20～200.If current A/D sampling instant k=m and k 〉=N are to the left and right acceleration signal x after the conversion
L(i) and x
R(i) (i=1,2 ..., k) constantly intercept the N point data forward respectively from k, obtain x
L(i) and x
R(i) (i=k-N+1, k-N+ 2 ..., k); If current conversion is k ≠ m or k＜N constantly, make k=k+1, return step (1).
(3) signal windowing: the signal to intercepting carries out windowing, and the left and right acceleration signal that records after the windowing is respectively x
WL(i) and x
WR(i):
x
wL(i)＝x
L(i)·w(i)
x
wR(i)＝x
R(i)·w(i)
Wherein, i=k-N+1, k-N+2 ..., k, w (i) is a window signal.Selecting window is hamming window or Hanning window, and N gets 1024 or 2048.In the present embodiment, the selection window is a Hanning window, and N gets 1024.
(4) fast Fourier transform: to the left and right acceleration signal x after the windowing
WL(i) and x
WR(i) (i=k-N+1, k-N+2 ..., k) carry out fast Fourier transform respectively, obtain the left and right acceleration signal X after the conversion
WL(j) and X
WR(j), j=1,2 ..., N.
(5) calculate signal power: according to X
WL(j) and X
WR(j) preceding Q point, according to the power of the vertical left and right acceleration signal in following formula estimation lorry rear axle 4 left and right suspension 5 (as shown in Figure 2) tops:
Wherein, Q is the length parameter of power estimate, and subscript * represents the signal conjugation, and Q gets 0.2N～0.4N, and in the present embodiment, Q gets 0.4N=256.
(6) calculate unbalance loading coefficient E:, calculate lorry unbalance loading coefficient E according to following formula according to the power of the vertical left and right acceleration/accel in rear axle 4 left and right suspension 5 (as shown in Figure 2) tops:
(7), preset and put suitable lorry unbalance loading warning minimum value K according to lorry vehicle and cargo weight
MinWith unbalance loading warning maxim K
Max, require K
Max0 and K
Min＜0, and generally get K
Min=-K
Max
In the present embodiment, N is a fast Fourier transform (FFT) length.
During E=0, lorry does not have unbalance loading in theory.At this,, then think and work as K for avoiding the interference of noise that compartment left acceleration 11,12 measures to lorry unbalance loading coefficient E
Min≤ E≤K
MaxThe time, information acquisition control unit 2 driving alarm unit 3 send lorry is not had the unbalance loading signal; As E＜K
MinThe time, information acquisition control unit 2 driving alarm unit 3 send the lorry left avertence and carry signal; Work as E〉K
MaxThe time, information acquisition control unit 2 driving alarm unit 3 send lorry right avertence and carry signal.
In the above-described embodiments, the physical significance of each parameter in the above-mentioned steps and be provided with as shown in table 1:
Table 1
| Parameter name | Parameter value | Parameter name | Parameter value | Parameter name | Parameter value |
| T s | 0.01s | T | 0.05s | P | 128 |
| N | 1024 | Q | 256 | ||
| K max | 0.75 | K min | -0.75 |
The essential characteristic parameter of used lorry is as shown in table 2:
Table 2
| Parameter name | Parameter value | Parameter name | Parameter value | Parameter name | Parameter value |
| Complete vehicle quality | 25000kg | The one-sided rigidity of front suspension | 500353 N/m | The one-sided damping of front suspension | 23855 Ns/m |
| Wheelbase | 4.50m | The one-sided rigidity of rear suspension | 1456549 N/m | The one-sided damping of rear suspension | 31418 Ns/m |
| Wheelspan | 2.02m |
As shown in Figure 5, comprise integrated circuit U2 control ground light, auditory tone cues device in the alarm unit 3.Integrated circuit U2 can direct drive light, the auditory tone cues device, its input end 1 pin (IN1), 2 pin (IN2), 3 pin (IN3) and 4 pin (IN4), and promptly 43 pin, 45 pin, 47 pin link to each other with 52 pin with 4 mouths of micro controller system U1 respectively.Wherein 1 pin is imported unbalance loading detection of dynamic work indicator signal, 2 pin input lorry left avertence is carried signal, and 3 pin input lorry right avertence is carried signal, and 4 a pin input lorry left side or right avertence are carried signal, and 9 pin (K) the power connection voltage VCC of integrated circuit U2,8 pin (GND) grounding jumper.Be connected a green LED LED (Light Emitting Diode) 1, one current-limiting resistance R3 and power line voltage VCC in regular turn with cooresponding mouth 16 pin of 1 pin (OUT1); Be connected a red light emitting diodes LED2, a current-limiting resistance R4 and power line voltage VCC in regular turn with cooresponding mouth 15 pin of 2 pin (OUT2), LED2 is the left side red light emitting diodes of human-computer interaction interface, as alarm lamp; Be connected a red light emitting diodes LED3, a current-limiting resistance R5 and power line voltage VCC in regular turn with cooresponding mouth 14 pin of 3 pin (OUT3), LED3 is the right side red light emitting diodes of human-computer interaction interface, as alarm lamp; Be connected a buzzer phone LS1 and power line voltage VCC in regular turn with cooresponding mouth 13 pin of 4 pin (OUT4).In addition, a current-limiting resistance R6 and LED4 series connection are connected between power line voltage VCC and the ground wire, and LED4 is a power light, and whether be used for the indicating system power supply normal.In the present embodiment, integrated circuit U2 is that model is that MC1412, integrated 7 tunnel multiple unit tube drive special IC, also can adopt other at least integrated 4 tunnel multiple unit tube drive special IC.R3, R4, R5, R6 are 1.2 kilo-ohms, as the current-limiting resistance of protection LED.
When 3 work of alarm unit, 1 pin of integrated circuit U2 is a high level, 16 pin closures, and indicator lamp LED1 place circuit closed, this moment, LED1 was bright, showed that alarm unit 3 is in normal working.When information acquisition control unit 2 drives alarm unit 3 and sends the lorry left avertence and carry signal, 1 pin of integrated circuit U2,2 pin and 4 pin are high level, 3 pin are low level, this moment integrated circuit U2 16 pin, 13 pin and 15 pin closures, 14 pin disconnect, cooresponding LED1, LED2 and the loop conducting of LS1 place, and loop, LED3 place can't be communicated with, then relay indicating light LED1, left side unbalance loading alarm lamp LED2 lamp are bright, and buzzer phone LS1 rings; When information acquisition control unit 2 drives alarm unit 3 and sends lorry right avertence and carry signal, 1 pin of integrated circuit U2,3 pin and 4 pin are high level, 2 pin are low level, this moment integrated circuit U2 16 pin, 13 pin and 14 pin closures, 15 pin disconnect, cooresponding LED3 and the loop conducting of LS1 place, and loop, cooresponding LED2 place can't be communicated with, then relay indicating light LED1, right side unbalance loading alarm lamp LED3 lamp are bright, and buzzer phone LS1 rings.
As Fig. 6, Fig. 8 and shown in Figure 10, comprehensive above embodiment, the lorry unbalance loading detection of dynamic that the utility model proposes for checking and the correctness of alarm algorithm are provided with three kinds of barycenter unbalance loading amounts respectively, promptly ± 0.15m, ± 0.30m and ± 0.45m.Utilize above three kinds of barycenter unbalance loading amounts of system test that the utility model provides respectively at 0～40 second, the unbalance loading situation of lorry in 40～80 seconds and 80～120 seconds.As Fig. 7, Fig. 9 and shown in Figure 11, be respectively the utility model test carriage trucks mass center unbalance loading amount for ± 0.15m, ± 0.30m and ± the checking result of 0.45m.
As Fig. 6, shown in Figure 7, when the unbalance loading amount be ± during 0.15m, the unbalance loading coefficient E that information acquisition control unit 2 calculates is positioned at [K
Min, K
Max] in the scope, alarm unit 3 does not send alerting signal; As Fig. 8, shown in Figure 9, when the unbalance loading amount be ± during 0.30m, the unbalance loading coefficient E that information acquisition control unit 2 calculates begins to enter [K
Min, K
Max] border, alarm unit 3 may send interrupted alerting signal; As Figure 10, shown in Figure 11, when the unbalance loading amount be ± during 0.40m, the unbalance loading coefficient E that information acquisition control unit 2 calculates exceeds [K
Min, K
Max] the border, alarm unit 3 sends interrupted alerting signal, reminds chaufeur to note unbalance loading danger.
Shown in Fig. 6～11, in the foregoing description, when lorry unbalance loading amount generation step, the lorry unbalance loading dynamic testing method of employing can be finished unbalance loading and detect in 10 seconds, thereby had satisfied the needs of Real-time and Dynamic Detection.
In the various embodiments described above; the structure of each parts, the position is set and connects and all can change to some extent; on the basis of technical solutions of the utility model,, should not get rid of outside protection domain of the present utility model improvement and the equivalents that individual component is carried out.
Claims (3)
1, a kind of lorry unbalance loading detection of dynamic warning, it is characterized in that: it comprises a signal perception unit, it comprises two acceleration pick-ups, and described two acceleration pick-ups are installed in the left and right side of the junction in the and arranged on left and right sides suspension of lorry rear axle and compartment; One alarm unit, it is arranged on the console of operator's compartment; One information acquisition control unit includes micro controller system in it, be provided with the unbalance loading dynamic detection algorithm module in the described micro controller system.
2, lorry unbalance loading detection of dynamic warning as claimed in claim 1, it is characterized in that: described information acquisition control unit also comprises two filtering noise reducing circuits, one end of described two filtering noise reducing circuits connects described left acceleration respectively, and the other end connects described micro controller system; Described filtering noise reducing circuit is the low-pass first order filter that is made of two electric capacity and a resistance.
3, lorry unbalance loading detection of dynamic warning as claimed in claim 1 or 2, it is characterized in that: described alarm unit comprises an integrated circuit and light, the auditory tone cues device controlled by described integrated circuit, the integrated circuit that integrated at least four road multiple unit tubes of described integrated circuit drive.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201224423U CN201304933Y (en) | 2008-09-04 | 2008-09-04 | Dynamic detection alarm system of unbalanced load of freight car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201224423U CN201304933Y (en) | 2008-09-04 | 2008-09-04 | Dynamic detection alarm system of unbalanced load of freight car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173286A (en) * | 2011-03-08 | 2011-09-07 | 吉林大学 | High-precision overloading-protecting automobile super-unbalanced overloading detector |
| CN111581735A (en) * | 2020-06-03 | 2020-08-25 | 哈尔滨工业大学 | Single-box multi-chamber wide box girder unbalance loading increase coefficient rapid estimation method |
| CN113884170A (en) * | 2021-09-29 | 2022-01-04 | 深圳市汉德网络科技有限公司 | Truck unbalance loading identification method and device and computer readable storage medium |
| CN117152930A (en) * | 2023-08-04 | 2023-12-01 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Railway cargo transportation state early warning method and device and electronic equipment |
-
2008
- 2008-09-04 CN CNU2008201224423U patent/CN201304933Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173286A (en) * | 2011-03-08 | 2011-09-07 | 吉林大学 | High-precision overloading-protecting automobile super-unbalanced overloading detector |
| CN102173286B (en) * | 2011-03-08 | 2013-03-13 | 吉林大学 | High-precision overloading-protecting automobile super-unbalanced overloading detector |
| CN111581735A (en) * | 2020-06-03 | 2020-08-25 | 哈尔滨工业大学 | Single-box multi-chamber wide box girder unbalance loading increase coefficient rapid estimation method |
| CN111581735B (en) * | 2020-06-03 | 2021-03-12 | 哈尔滨工业大学 | Single-box multi-chamber wide box girder unbalance loading increase coefficient rapid estimation method |
| CN113884170A (en) * | 2021-09-29 | 2022-01-04 | 深圳市汉德网络科技有限公司 | Truck unbalance loading identification method and device and computer readable storage medium |
| CN113884170B (en) * | 2021-09-29 | 2024-04-12 | 深圳市汉德网络科技有限公司 | Truck unbalanced load identification method and device and computer readable storage medium |
| CN117152930A (en) * | 2023-08-04 | 2023-12-01 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Railway cargo transportation state early warning method and device and electronic equipment |
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