CN201794010U - Photoelectric measuring system for tamping car - Google Patents
Photoelectric measuring system for tamping car Download PDFInfo
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- CN201794010U CN201794010U CN2010205347294U CN201020534729U CN201794010U CN 201794010 U CN201794010 U CN 201794010U CN 2010205347294 U CN2010205347294 U CN 2010205347294U CN 201020534729 U CN201020534729 U CN 201020534729U CN 201794010 U CN201794010 U CN 201794010U
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- lighting source
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- dolly
- tamping car
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Abstract
The utility model relates to a photoelectric measuring system for a tamping car, which comprises a front measuring car, a middle measuring car, a rear measuring car, an optical imaging lens, CCD (charge-coupled device) cameras and a lighting light source, as well as an embedded processing platform and signal cables, wherein the CCD cameras are connected with the embedded processing platform through the signal cables, the signal cables contain synchronization signal wires for ensuring that the four CCD cameras can start to shoot images simultaneously, the embedded processing platform is used for emitting synchronization image capture signals for the four CCD cameras through the signal cables, the four CCD cameras can send all image data after being imaged by the optical imaging lens, which corresponds to the lighting light source for synchronous shooting into the embedding processing platform for carrying out coupling analysis, and the geometric position of a track line is further calculated. The photoelectric measuring system for the tamping car can be better applicable to field requirements of the tamping car and improve the measurement precision.
Description
Technical field
The utility model relates to a kind of railway maintenance middle orbit parameter measuring apparatus, particularly a kind of tamping car photoeletric measuring system.
Background technology
Behind six speed raisings of railway, the requirement of rail track quality improves greatly, and is impossible by manual detection and maintenance line quality.Must adopt large-scale maintenance machinery one tamping car that circuit is detected automatically and safeguard, tamping car is the special-purpose vehicle that can detect and repair the rail line parameter circuit value simultaneously, its core is the measurement to the rail line parameter circuit value, and the precision of its measurement is directly connected to the performance and the tamping operation quality of tamping car.Tamping car normally adopts traditional steel wire string to survey method to the measuring method of orbit parameter, this method is to set gradually from front to back at tamping car to detect dolly D, C, B and A, steel wire of tensioning is as the string of a musical instrument between forward and backward detection dolly D and A, on B, C detection dolly, displacement transducer is housed, be used for the distance of measuring steel wire to rail, the string of a musical instrument is positioned on the track centerline, so tamping car on circular curve the time, just can be measured the arrow distance that C, B two detect dollies point-to-point transmission on circular curve.But such steel wire string is surveyed the restriction of method owing to factors such as quality that is subjected to steel wire itself and tension force, exists certainty of measurement low, and steel wire is easy to wear, and the anti-vibration environment is poor, safeguards than shortcomings such as difficulties, can not adapt to the demand for development of high-speed railway.
In order to solve the problem that traditional steel wire string survey method exists; have at present the method that opto-electronic testing apparatus detects the rail line parameter circuit value is set on tamping car; as application number is 200810052352.6; the application people is Tianjin Kaixi Machine Vision Technology Co., Ltd.; name is called the rail track parameter photoelectric testing device that is used for tamping car and the application for a patent for invention of detection method thereof; a kind of opto-electronic testing apparatus is disclosed; form by solid-state photoelectric receiving arrangement and lighting source; before the operation area is provided with; in; after; four measurement dollies of terminal point; the middle part is measured dolly solid-state photoelectric receiving arrangement is installed; the anterior dolly middle part of measuring; the dolly left and right sides is measured at the rear portion and lighting source is all installed as the four measuring position in terminal point measurement dolly middle part; solid-state photoelectric receiving arrangement is by four optical imaging lens groups; four CCD charge-coupled image sensors and corresponding treatment circuit plate are formed; and per two optical lens group and two CCD devices form independently electro-optical system; preceding electro-optical system receives the light that the anterior lighting source of measuring the position sends; back electro-optical system receives the rear portion and measures the light that two lighting sources (and terminal point is measured the position lighting source) send about the position; two electro-optical systems change imaging into the signal of telecommunication respectively delivers to Computer Processing, finally calculates the direction of circuit; the parameters such as superelevation of circuit after the vertical gentle operation of circuit.But vibration always takes place and causes solid-state photoelectric receiving arrangement to vibrate thereupon in tamping car in the course of the work, since solid-state photoelectric receiving arrangement be former and later two independently electro-optical system receive the signal of the lighting source that front and rear is provided with respectively, and the view data that will obtain is separately respectively delivered to Computer Processing, when occurrence positions is offset as measuring the position when certain because with the tamping car vibration, promptly lighting source current location is herein compared original position and is had deviation (as left-right deviation or go up lower deviation), the electro-optical system image space of taking the lighting source obtain can change like this, after view data is delivered to Computer Processing, the direction that causes the circuit that calculates, all can there be very mistake in the parameters such as superelevation of circuit after the vertical gentle operation of circuit, so reduced certainty of measurement, can't satisfy the tamping car field requirement.
The utility model content
The utility model adopts traditional steel wire string survey method to exist certainty of measurement low at tamping car when detecting with reparation rail line parameter circuit value, steel wire is easy to wear, the anti-vibration environment is poor, safeguard difficulty, and existing the method that opto-electronic testing apparatus detects the rail line parameter circuit value is set on tamping car, thereby, vibration cause measurement parameter to have error to reduce the certainty of measurement problem owing to causing biased the moving of measurement, a kind of novel tamping car photoeletric measuring system is provided, can adapt to the tamping car field requirement better, improve certainty of measurement.
The technical solution of the utility model is as follows:
A kind of tamping car photoeletric measuring system, three measurement dollies before, during and after comprising, also comprise optical imaging lens, CCD camera and lighting source, described optical imaging lens and CCD camera all are arranged at the middle part and measure in the dolly, described lighting source is three remote point light sources, is arranged at the anterior the place ahead of dolly and the left and right sides that the dolly rear is measured at the rear portion measured respectively; Described CCD camera is arranged side by side before and after being 2*2, every CCD camera front end is provided with an optical imaging lens, the signal of the lighting source in the place ahead of the anterior measurement of front-seat CCD camera collection dolly, the signal of the lighting source of the left and right sides at row CCD camera collection rear portion measurement dolly rear, back, it is characterized in that, also comprise embedded processing platform and signal cable, described CCD camera all links to each other with the embedded processing platform by signal cable, contain guaranteed four CCD cameras begin photographic images at synchronization synchronous signal line in the described signal cable, described embedded processing platform sends four CCD camera synchronization by signal cable and adopts the figure signal, view data after the optical imaging lens imaging of the lighting source correspondence that described four CCD cameras will be taken synchronously sends to together carries out coupling analysis in the embedded processing platform, calculate the geometric position of rail circuit.
The geometric position of described calculating rail circuit comprises calculates each lighting source position of middle part measurement dolly relatively, the relative position that makes up between each lighting source changes, the lighting source position that calculates is compensated and corrected, thereby calculate the curvature of track and difference in height obtaining the rail line parameter circuit value, described rail line parameter circuit value comprises the superelevation of circuit after the vertical gentle operation of direction, circuit of circuit.
Also comprise terminal part measurement dolly, described lighting source also comprises the 4th the remote point light source at the rear that is arranged at terminal part measurement dolly, and back row CCD camera is also gathered the signal of the 4th remote point light source synchronously.
Described lighting source is a LASER Light Source.
Described CCD camera adopts digital output type linear array CCD camera.
Described CCD camera has and can take external trigger pattern constantly according to external command control.
Described optical imaging lens comprises standard imaging lens and post lens, and described post lens pool a line with the light cone face of the lighting source that receives earlier, the standard imaging lens again with line focus to be arranged side by side and the target surface of the CCD cameras of 45 degree that tilt mutually on.
Also comprise and independently be used to realize to isolate and the secondary power supply module of filtering with the train main power source.
Electronic pendulum before and after also comprising, the lighting source in the place ahead of preceding electronic pendulum and anterior measurement dolly is at same position, the centre of the lighting source of the left and right sides at back electronic pendulum and measurement dolly rear, rear portion, when the embedded processing platform sends four CCD camera synchronization and adopts the figure signal by signal cable, the data of electronic pendulum and measurement dolly displacement data before and after gathering synchronously, make up the orbit parameter of all data computation lighting source positions, and send result of calculation to the tamping car master control system by network interface too.
Technique effect of the present utility model is as follows:
The tamping car photoeletric measuring system that the utility model relates to, comprise optical imaging lens, the CCD camera, lighting source, embedded processing platform and signal cable, the embedded processing platform sends four CCD camera synchronization by signal cable and adopts the figure signal, four CCD camera synchronization are taken the image of each self-corresponding lighting source after the optical imaging lens imaging, and the image result unification sent to the analysis that is coupled in the embedded processing platform, promptly when calculating certain relative position of measuring the position, also can be subjected to the participation of all other measurement positions that collected, so when calculating, can offset because biased the moving of measurement that vibration causes, reduce the error of measurement parameter, can adapt to railway tamping car field requirement better, since this system be not with former and later two independently the view data that sends of electro-optical system analyze separately, so even tamping car can vibrate in the course of the work, the direction of the circuit that this system can accurate Calculation draws, the parameters such as superelevation of circuit after the vertical gentle operation of circuit.Adopt photovoltaic principals to measure the vertical gentle horizontal flat parameter of track, the orbital-elements measurement device of alternative raw steel silk string line, avoided traditional steel wire string survey method to exist certainty of measurement low, steel wire is easy to wear, the anti-vibration environment is poor, safeguards the problem of difficulty, has avoided adopting per two optical lens group and two CCD devices to form the low problem of certainty of measurement that independently electro-optical system measurement causes again, this system of the present utility model has improved certainty of measurement, can satisfy the tamping car field requirement.
The 4th remote point light source is set, makes this system can carry out four-point method and measure, can also realize the conversion of line-of-sight course and four-point method simultaneously.
Independently secondary power supply module is set, realizes isolating and filtering with the train main power source.Reduce main power source because engine condition changes power-supply fluctuation and the electromagnetic interference that causes, can protect each electrical module in the measuring system.
Description of drawings
Fig. 1 is the utility model tamping car photoeletric measuring system embodiment one plan structure schematic diagram.
Fig. 2 is the structural representation of the utility model tamping car photoeletric measuring system embodiment two.
Fig. 3 is the workflow diagram of tamping car photoeletric measuring system shown in Figure 2.
Fig. 4 is a BD lengths of rail versed sine r schematic diagram calculation.
Fig. 5 measures dolly superelevation h schematic diagram calculation for the middle part.
Each label lists as follows among the figure:
The 1-rail; The 2-terminal part is measured dolly; Dolly is measured at the 3-rear portion; 4-measures dolly in the middle part; The anterior dolly of measuring of 5-; 6-measures module; The 7-CCD camera; The 8-CCD camera; The 9-CCD camera; The 10-CCD camera; The 11-camera lens; The 12-camera lens; The 13-camera lens; The 14-camera lens; 15-embedded processing platform; The 16-signal cable; The 17-Ethernet interface; Electronic pendulum before the 18-; Electronic pendulum behind the 19-.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described.
Fig. 1 is the utility model tamping car photoeletric measuring system embodiment one plan structure schematic diagram, comprise the four measuring dolly that on rail 1, moves with tamping car, be that terminal part is measured dolly 2, dolly 3 is measured at the rear portion, dolly 4 and the anterior dolly 5 of measuring are measured in the middle part, measuring dolly 2,3, set gradually four measuring point A on 5, B1, B2, D, be respectively arranged with lighting source in measurement point, this light source is the remote spots light source, the high brightness controllable light source that lighting source is provided for measuring, it is the reference point of measuring, can adopt luminous point little, the LASER Light Source that brightness is high, wherein lighting source A and D are positioned on the center line of rail section, lighting source B1 and B2 be with rail center line bilateral symmetry, 600 millimeters placements at interval.A, B1 and B2 are positioned at tamping car and measure the dolly rear, and D is positioned at tamping car and measures dolly the place ahead.In addition, lighting source can be realized line-of-sight course (B1, B2, D) and four-point method (A, B1, B2, D) conversion by embedded processing platform 15 Long-distance Control.
Fig. 2 is the structural representation of the utility model tamping car photoeletric measuring system embodiment two, this measuring system comprises four remote point lighting source A, B1, B2, D, being arranged on the measurement module of measuring on the dolly 4 at the middle part 6 can move with tamping car, also tamping car moves forward and backward relatively, the CCD camera that comprises four band camera lenses, embedded processing platform 15, signal cable 16, Ethernet interface 17, wherein, the CCD camera of four band camera lenses is CCD camera 7-10 and each self-corresponding camera lens 11-14, this CCD camera preferably adopts digital output type linear array CCD camera, view data is by high-speed channel input embedded processing platform processes, the CCD camera has the external trigger pattern, can take constantly according to external command control.The CCD camera 7,8 that uses 45 degree that tilt mutually to place is taken lighting source D, two CCD cameras 9,10 also are that the 45 degree placements of inclination mutually are used to take lighting source A, B1, B2 in addition, gather the image that generates by lighting source D, B and A in real time by four linear array CCD cameras, calculate A, B1, B2, D measure the exact position at dolly (or C place) with respect to the middle part, and then calculate the important parameters such as curvature, difference in height of C place position track.When calculating certain relative position of measuring the position, also can be subjected to the participation of all other measurement positions that collected: suppose because the vibration D point of tamping car is offset, when having downward deviation as short transverse, this moment A, B1, corresponding the raising of B2 point short transverse, then can be when calculating by the alternate position spike of A, B1, B2 short transverse being revised the deviation of D point short transverse, so when calculating, can offset because biased the moving of measurement that vibration causes, reduce the error of measurement parameter, can adapt to railway tamping car field requirement better.For realizing the data high-speed collection, lighting source can be by optical imaging lens such as the sampling of post lens line of engagement array CCD camera, with tilt 45 ° cylindrical mirror of horizontal plane lighting source is imaged as 45 ° the striations of tilting respectively by two, and two linear array CCD cameras and cylindrical mirror direction (striations direction) are arranged vertically, imaging lens again with line focus to be arranged side by side and the target surface of the CCD cameras of 45 degree that tilt mutually on.According to the striations of both direction and the intersection point of corresponding line array CCD,, can calculate the position that is observed lighting source in conjunction with the vision system parameter.
Relative position is constant between A shown in Fig. 1, C, the D, and AB is from 12.615～11.415 meters variations, and BC is from 5.88～7.08 meters variations, and wherein B is the mid point of B1 and B2 line; Measurement category ± 450mm * ± 450mm; Certainty of measurement D, B point is 0.2mm.Embodiment shown in Fig. 2 also is provided with independently secondary power supply module in this measuring system, realize isolating and filtering with the train main power source.Reduce main power source because engine condition changes power-supply fluctuation and the electromagnetic interference that causes, can protect each electrical module in the measuring system.Electronic pendulum before and after also comprising, preceding electronic pendulum 18 and D point be at same position, back electronic pendulum 19 and being arranged in the middle of B1 and the B2.Embedded processing platform 15 is control cores of measuring system, it sends four CCD camera synchronization by signal cable 16 and adopts the figure signal, gather the data of front and back electronic pendulum 18,19 simultaneously synchronously and respectively measure the dolly displacement data, make up the orbit parameter of all data computation measurement mechanism positions, and send result of calculation to the tamping car master control system by network interface 17 too.
The workflow diagram of the tamping car photoeletric measuring system shown in the embodiment two as shown in Figure 3, concrete steps are as follows:
(1) receive the instruction that the tamping car master control system is sent by Ethernet interface, finish CCD camera, lighting source, secondary power supply block configuration, and work such as orbit parameter initialization, be ready for IMAQ and processing.
(2) the embedded processing platform sends the synchronous working order, and four CCD camera synchronization are gathered each lighting source image; Electronic pendulum and each measurement dolly position data before and after gathering simultaneously.
(3) dolly 4 positions are measured at the image of combination CCD camera 7 and CCD camera 8, compute illumination light source D relative middle part on the rail section; Combination CCD camera 9 and CCD camera 10 images, compute illumination light source B1, B2, and dolly 4 positions are measured at A (during four-point method) relative middle part on the rail section; The relative position that makes up between four lighting sources changes, and calculates the attitude of measuring dolly in the middle part and changes, and the lighting source position that calculates is compensated and corrected.
(4) by the data acquisition rail profile of front and back electronic pendulum and the angle of local vertical.
(5) owing to relative position between light source is fixed, the position according to middle part measurement dolly 4 can calculate the distance that dolly 4 and each lighting source are measured in the middle part.Make up four light sources relative middle part on the rail section and measure the position of dolly 4, can calculate the middle part and measure the versed sine that rail is located in dolly 4 positions.
(6) according to the angle of electronic pendulum indication, combination lighting light source B1 and B2 difference in height, and middle measurement dolly 4 and lighting source B1, B2 dolly distance can calculate the middle superelevation of measuring both sides, dolly 4 position rail.
The positive resultant superelevation that (7) will calculate sends to the tamping car master control system by Ethernet.
Fig. 4 is a BD lengths of rail versed sine r schematic diagram calculation.The images of taking by CCD camera 9 and 10 calculate position projection on level of the relative C with B2 of the lighting source B1 CCD of place camera 9 and 10 respectively, ask average back to obtain the rear portion and measure dolly rail center and middle part measurement dolly rail center alternate position spike Rb in the horizontal direction; By the position projection in the horizontal direction that CCD camera 7 and 8 image calculation of taking the relative C of the lighting source D CCD of place camera 7 and 8, obtain anterior measurement dolly rail center and middle part and measure dolly rail center alternate position spike Rd in the horizontal direction;
C place versed sine (vowing distance) r=(Rb-Rd) the * Ldc/ (Ldc+Lbc)+Rd of dolly is measured at the middle part
Fig. 5 measures dolly superelevation h schematic diagram calculation for the middle part.Suppose that the back measurement dolly angle of slope that electronic pendulum is measured is θ, L12 is the installing space of lighting source B1 and B2, and Lr is the rail gauge, and H12 is that the difference in height that dolly C place measures is measured at the relative middle part with B2 of B1.
The middle part measurement dolly C superelevation h=Lr* of place (tg θ+H12/L12)
Photoeletric measuring system of the present utility model can overcome the shortcoming that produces systematic measurement error behind the steel wire wear, and high accuracy, high-speed rail parameter measurements are provided.Because measuring speed is fast, provide final measured value again after can utilizing repeatedly measurement result to analyze and handle, improve the antijamming capability of measurement result to ambient vibration.
Preferably, in unified enclosed package to a casing such as CCD camera, embedded processing platform, signal cable, Ethernet interface with four band camera lenses, can satisfy the outside installation requirement of train body.The all independent enclosed package of each lighting source can satisfy the outside installation requirement of train body.
Should be pointed out that the above specific embodiment can make those skilled in the art more fully understand the invention, but do not limit the present invention in any way creation.Therefore; although this manual has been described in detail the invention with reference to drawings and Examples; but; those skilled in the art are to be understood that; still can make amendment or be equal to replacement the invention; in a word, all do not break away from the technical scheme and the improvement thereof of the spirit and scope of the invention, and it all should be encompassed in the middle of the protection domain of the invention patent.
Claims (9)
1. tamping car photoeletric measuring system, three measurement dollies before, during and after comprising, also comprise optical imaging lens, CCD camera and lighting source, described optical imaging lens and CCD camera all are arranged at the middle part and measure in the dolly, described lighting source is three remote point light sources, is arranged at the anterior the place ahead of dolly and the left and right sides that the dolly rear is measured at the rear portion measured respectively; Described CCD camera is arranged side by side before and after being 2*2, every CCD camera front end is provided with an optical imaging lens, the signal of the lighting source in the place ahead of the anterior measurement of front-seat CCD camera collection dolly, the signal of the lighting source of the left and right sides at row CCD camera collection rear portion measurement dolly rear, back, it is characterized in that, also comprise embedded processing platform and signal cable, described CCD camera all links to each other with the embedded processing platform by signal cable, contain guaranteed four CCD cameras begin photographic images at synchronization synchronous signal line in the described signal cable, described embedded processing platform sends four CCD camera synchronization by signal cable and adopts the figure signal, view data after the optical imaging lens imaging of the lighting source correspondence that described four CCD cameras will be taken synchronously sends to together carries out coupling analysis in the embedded processing platform, calculate the geometric position of rail circuit.
2. tamping car photoeletric measuring system according to claim 1, it is characterized in that, the geometric position of described calculating rail circuit comprises calculates each lighting source position of middle part measurement dolly relatively, the relative position that makes up between each lighting source changes, the lighting source position that calculates is compensated and corrected, thereby calculate the curvature of track and difference in height obtaining the rail line parameter circuit value, described rail line parameter circuit value comprises the superelevation of circuit after the vertical gentle operation of direction, circuit of circuit.
3. tamping car photoeletric measuring system according to claim 1 and 2, it is characterized in that, also comprise terminal part measurement dolly, described lighting source also comprises the 4th the remote point light source at the rear that is arranged at terminal part measurement dolly, and back row CCD camera is also gathered the signal of the 4th remote point light source synchronously.
4. tamping car photoeletric measuring system according to claim 3 is characterized in that, described lighting source is a LASER Light Source.
5. tamping car photoeletric measuring system according to claim 1 and 2 is characterized in that, described CCD camera adopts digital output type linear array CCD camera.
6. tamping car photoeletric measuring system according to claim 5 is characterized in that, described CCD camera has and can take external trigger pattern constantly according to external command control.
7. tamping car photoeletric measuring system according to claim 1, it is characterized in that, described optical imaging lens comprises standard imaging lens and post lens, described post lens pool a line with the light cone face of the lighting source that receives earlier, the standard imaging lens again with line focus to be arranged side by side and the target surface of the CCD cameras of 45 degree that tilt mutually on.
8. tamping car photoeletric measuring system according to claim 1 is characterized in that, also comprises independently being used to realize to isolate with the train main power source and the secondary power supply module of filtering.
9. tamping car photoeletric measuring system according to claim 1, it is characterized in that, electronic pendulum before and after also comprising, the lighting source in the place ahead of preceding electronic pendulum and anterior measurement dolly is at same position, the centre of the lighting source of the left and right sides at back electronic pendulum and measurement dolly rear, rear portion, when the embedded processing platform sends four CCD camera synchronization and adopts the figure signal by signal cable, the data of electronic pendulum and measurement dolly displacement data before and after gathering synchronously, make up the orbit parameter of all data computation lighting source positions, and send result of calculation to the tamping car master control system by network interface too.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205347294U CN201794010U (en) | 2010-09-19 | 2010-09-19 | Photoelectric measuring system for tamping car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205347294U CN201794010U (en) | 2010-09-19 | 2010-09-19 | Photoelectric measuring system for tamping car |
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| CN201794010U true CN201794010U (en) | 2011-04-13 |
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| CN2010205347294U Expired - Lifetime CN201794010U (en) | 2010-09-19 | 2010-09-19 | Photoelectric measuring system for tamping car |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982609A (en) * | 2010-09-19 | 2011-03-02 | 北京凌云光视数字图像技术有限公司 | Tamping wagon photoelectric measurement system and method |
| CN113853462A (en) * | 2019-05-23 | 2021-12-28 | 普拉塞-陶伊尔铁路机械出口股份有限公司 | Track maintenance machine and method for tamping a track |
| CN115877408A (en) * | 2023-03-02 | 2023-03-31 | 中国铁路设计集团有限公司 | Tamping car digital operation system and operation method based on Beidou positioning technology |
| CN116561913A (en) * | 2023-04-26 | 2023-08-08 | 中国铁道科学研究院集团有限公司 | Operation common speed railway precision tamping scheme evaluation method based on multi-factor constraint |
| CN113853462B (en) * | 2019-05-23 | 2024-07-12 | 普拉塞-陶伊尔铁路机械出口股份有限公司 | Track maintenance machine and method for tamping a track |
-
2010
- 2010-09-19 CN CN2010205347294U patent/CN201794010U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982609A (en) * | 2010-09-19 | 2011-03-02 | 北京凌云光视数字图像技术有限公司 | Tamping wagon photoelectric measurement system and method |
| CN101982609B (en) * | 2010-09-19 | 2013-03-20 | 北京凌云光视数字图像技术有限公司 | Tamping wagon photoelectric measurement system and method |
| CN113853462A (en) * | 2019-05-23 | 2021-12-28 | 普拉塞-陶伊尔铁路机械出口股份有限公司 | Track maintenance machine and method for tamping a track |
| CN113853462B (en) * | 2019-05-23 | 2024-07-12 | 普拉塞-陶伊尔铁路机械出口股份有限公司 | Track maintenance machine and method for tamping a track |
| CN115877408A (en) * | 2023-03-02 | 2023-03-31 | 中国铁路设计集团有限公司 | Tamping car digital operation system and operation method based on Beidou positioning technology |
| CN115877408B (en) * | 2023-03-02 | 2023-05-23 | 中国铁路设计集团有限公司 | Tamping car digital operation system and method based on Beidou positioning technology |
| CN116561913A (en) * | 2023-04-26 | 2023-08-08 | 中国铁道科学研究院集团有限公司 | Operation common speed railway precision tamping scheme evaluation method based on multi-factor constraint |
| CN116561913B (en) * | 2023-04-26 | 2023-11-28 | 中国铁道科学研究院集团有限公司 | Operation common speed railway precision tamping scheme evaluation method based on multi-factor constraint |
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