CN208602495U - Train wheelbase detection system - Google Patents
Train wheelbase detection system Download PDFInfo
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- CN208602495U CN208602495U CN201821093373.8U CN201821093373U CN208602495U CN 208602495 U CN208602495 U CN 208602495U CN 201821093373 U CN201821093373 U CN 201821093373U CN 208602495 U CN208602495 U CN 208602495U
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Abstract
This disclosure relates to a kind of train wheelbase detection system, comprising: the outside of train rail is arranged at least two noncontacting proximity sensors, for sensing the train wheel operated on the train rail；And controller, it is connect at least two noncontacting proximity sensors signal, for determining the wheelbase of adjacent train wheel according to the sensing data of at least two noncontacting proximity sensor.The embodiment of the present disclosure can be improved the adaptability of train wheel wheelbase detection.
Description
Technical field
This disclosure relates to a kind of train wheelbase detection system.
Background technique
Railway territory DATA REASONING in the related technology, can pass through to the axletree by the train in some railway section
Away from measuring, and the information of the train is analyzed according to measurement data, to provide necessary train number to railway department it is believed that
Breath.
In the related art, the measurement method of train wheel wheelbase includes manually by the measurer of some customizations to train
The distance of two groups of wheels measures.This measurement method is primarily adapted for use in the train to remain static.And another kind of train
Axletree away from measurement method include sensor-based traveling train wheel-base measuring method.This method use is mounted on rail
On sensor measure signal when wheel passes through, and then calculate axletree away from.
Summary of the invention
Inventor it has been investigated that, in the related technology manual measurement method be difficult to be suitable for travelling the axletree of train away from
Measurement, and sensor-based measurement method needs install sensor on rail, are easy by wheel at a distance from sensor
And the influence of the factors such as speed, therefore there is certain adaptability problems.
In view of this, the embodiment of the present disclosure provides a kind of train wheelbase detection system, the inspection of train wheel wheelbase can be improved
The adaptability of survey.
In one aspect of the present disclosure, a kind of train wheelbase detection system is provided, comprising:
The outside of train rail is arranged at least two noncontacting proximity sensors, operates in the train rail for sensing
Train wheel on road；With
Controller is connect at least two noncontacting proximity sensors signal, for non-connecing according to described at least two
The sensing data of touch sensor determine the wheelbase of adjacent train wheel.
In some embodiments, the noncontacting proximity sensor includes photoelectric sensor.
In some embodiments, the photoelectric sensor includes laser range sensor, the laser range sensor
The intersection point of laser optical path perpendicular corresponding with the train rail is in the upper surface of the train rail to the train
Within the scope of the height of wheel.
In some embodiments, the laser optical path of the laser range sensor is vertical with the train rail.
In some embodiments, further includes:
The position of spacing is preset in installation pedestal, the outside that the train rail is arranged in；
Wherein, at least two noncontacting proximity sensor is spaced apart and arranged in institute along the extending direction of the train rail
It states in installation pedestal.
In some embodiments, the line of at least two noncontacting proximity sensor is parallel with the train rail.
In some embodiments, at least two noncontacting proximity sensor setting position and the train rail away from
It is different from all the same, or at a distance from the train rail, and correspond respectively to the different distance threshold ranges.
In some embodiments, the outer of at least two train rails is arranged at least two noncontacting proximity sensor
Side, the distance of the train wheel for operating at least two train rails of at least two noncontacting proximity sensors sensing
Value corresponds respectively to different distance threshold ranges.
In some embodiments, the controller includes:
Arithmetic element is configured as when determining currently has train wheel by least two noncontacting proximity sensor
The movement speed of the train wheel is calculated, and calculates the wheelbase of the adjacent train wheel based on the movement speed.
Therefore, according to the embodiment of the present disclosure, by being located at the noncontacting proximity sensor on the outside of train rail to train wheel
It is sensed, and carries out the calculating of movement speed according to sensing data, then calculated adjacent train wheel and pass through contactless biography
The time interval of sensor, and further calculate out according to movement speed and city's time interval the wheelbase of train wheel.This axis
It can not only realize that the axletree of traveling train can also reduce the influence of other factors away from measurement away from detection mode, therefore mention
The high adaptability of train wheelbase detection.
Detailed description of the invention
The attached drawing for constituting part of specification describes embodiment of the disclosure, and together with the description for solving
Release the principle of the disclosure.
The disclosure can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the block diagram according to some embodiments of disclosure train wheelbase detection system.
Fig. 2 is the detection schematic diagram of a scenario according to some embodiments of disclosure train wheelbase detection system；
Fig. 3 is the setting schematic diagram of laser range sensor in Fig. 2 embodiment.
Fig. 4 is the schematic diagram for judging wheel in Fig. 2 embodiment and passing through.
It should be understood that the size of various pieces shown in attached drawing is not to draw according to actual proportionate relationship.
In addition, same or similar reference label indicates same or similar component.
Specific embodiment
The various exemplary embodiments of the disclosure are described in detail now with reference to attached drawing.Description to exemplary embodiment
It is merely illustrative, never as to the disclosure and its application or any restrictions used.The disclosure can be with many differences
Form realize, be not limited to the embodiments described herein.These embodiments are provided so that the disclosure is thorough and complete, and
The scope of the present disclosure is given full expression to those skilled in the art.It should also be noted that unless specifically stated otherwise, otherwise in these implementations
Component and the positioned opposite of step, numerical expression and numerical value described in example should be construed as merely illustratively, without
It is as limitation.
" first ", " second " used in the disclosure and similar word are not offered as any sequence, quantity or again
The property wanted, and be used only to distinguish different parts.The similar word such as " comprising " or "comprising" means the element before the word
Cover the element enumerated after the word, it is not excluded that be also covered by the possibility of other element."upper", "lower", "left", "right" etc. are only used
In indicating relative positional relationship, after the absolute position for being described object changes, then the relative positional relationship may also be correspondingly
Change.
In the disclosure, when being described to certain device between the first device and the second device, in the certain device
There may be devices between two parties between the first device or the second device, and device between two parties can also be not present.When being described to specific device
When part connects other devices, which can be directly connected to without device between two parties with the other devices, can also be with
It is not directly connected to the other devices and there is device between two parties.
All terms (including technical term or scientific term) that the disclosure uses are common with disclosure fields
The meaning that technical staff understands is identical, unless otherwise specifically defined.It is also understood that in term such as defined in the general dictionary
The meaning consistent with their meanings in the context of the relevant technologies should be interpreted as having, without application idealization or
The meaning of extremely formalization explains, unless being clearly defined herein.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
Some in the related technology, signal when wheel passes through is measured using the sensor being mounted on rail, in turn
Calculate axletree away from.And there is abrasion due to train wheel itself or there is error during fabrication, it may result in train vehicle
Taking turns cannot persistently be consistent with the vertical range of the sensor on rail, to make sensor received signal, there is also differences
It is different, and then influence the testing result of train wheelbase.On the other hand, when train running speed is lower, sensor received signal
It is more faint, it is difficult to be detected, therefore also not be suitable for the wheelbase detection of low speed train.
In view of this, the embodiment of the present disclosure provides a kind of train wheelbase detection method and system, train wheel can be improved
The adaptability of wheelbase detection.
Fig. 1 is the block diagram according to some embodiments of disclosure train wheelbase detection system.With reference to Fig. 1, one
In a little embodiments, train wheelbase detection system includes: at least two noncontacting proximity sensor A, B, C and controller 10.At least two
The outside of train rail is arranged in a noncontacting proximity sensor A, B, C, for sensing the train operated on the train rail
Wheel.It in the present embodiment, can be each according to different noncontacting proximity sensors by using at least two noncontacting proximity sensors
The signal of self-inductance measurement carries out the judgement that wheel passes through and wheel passes through the calculating etc. of time interval.Noncontacting proximity sensor can be
It is not exposed to the sensing realized in the state of testee to testee, such as based on the principles such as light, sound, magnetic or ray reality
The measurement of existing testee special parameter.The train wheel operated on train rail is carried out using contactless sensor
Sensing can reduce wheel wear or manufacture in the related technology while realizing the detection to the train being kept in motion
Adverse effect of the factors such as error to measurement result；Also, it can also realize the wheelbase detection of low speed train, therefore in detecting field
It is more preferable in the adaptability of scape.
In some embodiments, sensor of the photoelectric cell as detecting element, i.e. photoelectric sensor can be used, by
The optical signal of sensing is converted into electric signal and exported by photoelectric cell.Further, can be used can be real for photoelectric sensor
The laser range sensor of existing distance measurement function can be provided only on the side of train rail as needed, and be based on its light
The characteristics of concentration, can be realized longer-distance measurement, and can exclude extraneous light environment to the adverse effect of measurement result.
In further embodiments, photoelectricity opposite type sensor etc. also can be used in photoelectric sensor.
In three or three or more noncontacting proximity sensors, the noncontacting proximity sensor of settable part is as redundancy
Noncontacting proximity sensor, can be switched in the event of a failure with the noncontacting proximity sensor of failure, with ensure detect
Duration.
In the present embodiment, controller 10 is connect at least two noncontacting proximity sensors signal, for according to institute
The sensing data for stating at least two noncontacting proximity sensors determine the wheelbase of adjacent train wheel.Specifically, controller 10
It may include arithmetic element, be used for the sensing data according at least two noncontacting proximity sensor, it is judged whether or not
Train wheel passes through at least two noncontacting proximity sensor.Based on the sensing data of at least two noncontacting proximity sensors come
It determines that train wheel passes through, mistake can be detected to avoid caused by some special circumstances.For example, when have other objects short time into
Enter sensing range or when itself error or fault occurs of some noncontacting proximity sensor of some noncontacting proximity sensor, it is more
The sensing data of a noncontacting proximity sensor are usually successively deposited by the regularity of each noncontacting proximity sensor with train wheel
It is not situation that train wheel passes through so as to effectively exclude in difference.
For can be for the noncontacting proximity sensor of ranging, arithmetic element when judging, non-can connect at least two
The distance value of the presently sensed train wheel of touch sensor is compared with preset distance threshold range respectively.When each non-
The distance value of touch sensor sensing is within the scope of distance threshold, then can determine currently has train wheel process described extremely
Few two noncontacting proximity sensors.Here distance threshold range can be according to noncontacting proximity sensor and entering contactless biography
The actual range of the train wheel of the sensing range of sensor carries out predetermined.
In some embodiments, for convenience of calculation, setting position and the institute of at least two noncontacting proximity sensors can be made
The distance for stating train rail is all the same, and the distance of each in this way noncontacting proximity sensor to train wheel is also identical, thus
Unified distance threshold range is set.And in further embodiments, at least two noncontacting proximity sensors can also be made
In some or all of noncontacting proximity sensor to train rail distance it is different, it is corresponding settable apart from different non-contact
Formula sensor corresponds to different distance threshold ranges.
In addition, at least two noncontacting proximity sensors are also not limited to by single train rail (including two rails)
Train wheel detection, be equally applicable to the detection of the train wheel by a plurality of train rail.When a plurality of train side by side
It, can be by least two noncontacting proximity sensors to this train rail when a certain train rail in track has train to pass through
The train wheel run on road is sensed.Correspondingly, for the train wheel run on different train rails, it is contactless
The distance value that sensor is sensed corresponds to different distance threshold ranges.For example, for close to noncontacting proximity sensor side
Train rail for, corresponding distance threshold range is relatively small, and far from noncontacting proximity sensor side train rail
The corresponding distance threshold range in road is relatively large.
When arithmetic element, which has determined, currently has train wheel by least two noncontacting proximity sensor, operation list
Member calculates the movement speed of the train wheel also according to the sensing data of at least two noncontacting proximity sensor.It is specific next
It says, each noncontacting proximity sensor at least two noncontacting proximity sensor first can be passed through according to the train wheel respectively
At the time of, calculate the second time interval that the train wheel passes through each noncontacting proximity sensor.
For example, if can determine what some train wheel passed through respectively according to the sensing data of noncontacting proximity sensor
It is T at the time of three noncontacting proximity sensors1、T2And T3, then it is contactless by the first two that train wheel can be further calculated out
The time interval of sensor is T12=T2-T1, the time interval by latter two noncontacting proximity sensor is T23=T3-T2.According to
It needs, train wheel can also be calculated by first and the time interval T of the last one noncontacting proximity sensor13=T3-T1。
Due to when noncontacting proximity sensor is arranged, it has been determined that the setting distance between each sensor.Then calculate
Unit can be according to the setting distance between calculated second time interval and each noncontacting proximity sensor, described in calculating
The movement speed of train wheel.
Calculate train wheel movement speed when, can choose train wheel by certain two noncontacting proximity sensor m,
The second time interval T of nmnWith corresponding setting distance LmnIt is calculated.Assuming that the line of two noncontacting proximity sensors with
Train rail is parallel, then can calculate the movement speed v=L of train wheelmn/Tmn。
In order to increase the reliability of movement speed calculating, may also include that when calculating the movement speed to according to
Train wheel carries out arithmetic by the calculated movement speed of second time interval of every two noncontacting proximity sensor and puts down
, and using the arithmetic mean of instantaneous value for the movement speed being calculated as the movement speed of the train wheel.For example,
It is being determined the second of every two noncontacting proximity sensor that some train wheel passes through respectively in three noncontacting proximity sensors
Time interval is respectively T12、T23And T13, and corresponding noncontacting proximity sensor setting distance is respectively L12、L23And L13.It is counting
When calculating movement speed, three movement speeds, respectively v can be calculated12、v23And v13.Then, the calculation of each movement speed is calculated
Art average value, and as the movement speed used when calculating wheelbase, i.e. v=(v12+v23+v13)/3。
Arithmetic element also calculates adjacent train wheel by same at least two noncontacting proximity sensor
The first time interval of noncontacting proximity sensor, and it is described adjacent according to the movement speed and first time interval calculating
Train wheel wheelbase.When calculating first time interval, it is two neighboring that some noncontacting proximity sensor sensing may be selected
Corresponding two moment T when train wheel passes throughaAnd Tb.Based on the two moment TaAnd Tb, can calculate two neighboring wheel according to
The secondary time interval T by the noncontacting proximity sensorab=Tb-Ta.According to the time interval T being calculatedabWith it is fixed
Movement speed v can find out the wheelbase W=v*T of two neighboring train wheelab。
In order to increase the reliability of wheelbase calculating, may also include that when calculating the first time interval to described adjacent
Train wheel carry out arithmetic average by the first time interval of each noncontacting proximity sensor respectively, and will be calculated
The arithmetic mean of instantaneous value of the first time interval is as the first time interval.For example, two neighboring train is being determined
First in wheel by respectively T at the time of three noncontacting proximity sensor A, B, CAa、TBaAnd TCa, second by being somebody's turn to do
Respectively T at the time of three noncontacting proximity sensor A, B, CAb、TBbAnd TCb.Two neighboring train can further be calculated separately out
Wheel is respectively respectively T by the first time interval of each noncontacting proximity sensor A, B, CA、TBAnd TC.Then, it calculates each
Arithmetic mean of instantaneous value T=(the T of first time intervalA+TB+TC)/3, and as between the first time used when calculating wheelbase
Every.
Fig. 2 is the detection schematic diagram of a scenario according to some embodiments of disclosure train wheelbase detection system.Fig. 3 is figure
The setting schematic diagram of laser range sensor in 2 embodiments.Fig. 4 is the schematic diagram for judging wheel in Fig. 2 embodiment and passing through.With reference to
Fig. 2-Fig. 4, in some embodiments, multiple noncontacting proximity sensor A, B, C are arranged on the outside of train rail 1, with train
Track 1 keeps preset distance.The noncontacting proximity sensor is laser range sensor.This noncontacting proximity sensor can pass through
Laser diode is directed at specific objective and emits laser pulse, and laser scatters after target reflects to all directions, part scattering
Light can be received by the receiver of laser range sensor.Target can be calculated to laser according to Laser emission and received time
The distance D of distance measuring sensorA、DB、DC.Laser range sensor can enter its sense when being applied to the present embodiment by measurement
The distance of the train wheel of range is surveyed whether in preset threshold range [Dmin, Dmax] in, to determine whether that train wheel is logical
Cross the laser range sensor.
When multiple laser range sensors are arranged, the Laser emission end of each laser range sensor can be directed toward respectively
Train rail.In order to effectively realize the detection of train wheel, then it can make transmitting laser optical path 4 and the institute of laser range sensor
The intersection point for stating the corresponding perpendicular of train rail 1 is in the upper surface of the train rail 1 to the height of the train wheel 3
Within the scope of.In other words, so that train wheel 3 can successively lead to when through the section of setting laser range sensor
Cross the sensing range of each laser range sensor.
Each axle of train is typically provided at least two train wheels.When two coaxial train wheels are in different moments
It is sensed by laser range sensor, the difficulty of detection and calculating may be will increase, therefore laser can be made in some embodiments
The laser optical path of distance measuring sensor transmitting is vertical with the train rail.Certainly, in further embodiments, may be based on other
The laser optical path and the train rail out of plumb that factor emits laser range sensor.
Referring to figs. 2 and 3, in some embodiments, train wheelbase detection system may also include installation pedestal 2.Base is installed
Preset the position of space D in the outside that train rail 1 is arranged in seat 2.At least two noncontacting proximity sensors can be along the train rail
The extending direction in road 1 is spaced apart and arranged in the installation pedestal 2.Such as noncontacting proximity sensor A, B, C in Fig. 3 are from a left side
To right septum it is arranged in installation pedestal 2.The respective spacing of noncontacting proximity sensor A, B, C after installation is respectively L12、L23
And L13.For convenience of calculation, the spacing L of adjacent noncontacting proximity sensor can be set12、L23It is equal.
In addition, in the fig. 3 embodiment, the line of also settable at least two noncontacting proximity sensor and the train rail
Road is parallel.In further embodiments, the line of noncontacting proximity sensor can be not parallel with train rail.Correspondingly, counting
When calculating the movement speed of train wheel, then projection according to the line of two noncontacting proximity sensors on train rail determines
Train wheel passes through moving distance when two noncontacting proximity sensors.
In some embodiments, at least two noncontacting proximity sensors can be set in the outer of at least two train rails
Side.For can for the noncontacting proximity sensor of ranging, at least two noncontacting proximity sensors may be implemented to operate in two with
On train rail train wheelbase detection.Correspondingly, noncontacting proximity sensor at a distance from different train rails
It is different.
By taking laser range sensor as an example, the train rail close to laser range sensor side, at least two is swashed
The corresponding distance threshold range of distance value of the train wheel of ligh-ranging sensor sensing is relatively small.And for far from Laser Measuring
Train rail away from sensor side, the corresponding distance of distance value of the train wheel of at least two laser range sensors sensing
Threshold range is relatively large.That is, the column for operating at least two train rails of laser range sensor sensing
The distance value of vehicle wheel corresponds respectively to different distance threshold ranges.
With reference to train wheelbase detection system above-mentioned, the embodiment of the present disclosure additionally provides corresponding detection process.It is detecting
In process, according to the sensing data of at least two noncontacting proximity sensors in the outside that train rail is arranged in, judgement is currently
It is no to have train wheel by least two noncontacting proximity sensor.It, can for can be for the noncontacting proximity sensor of ranging
By the distance value of the presently sensed train wheel of at least two noncontacting proximity sensor respectively with preset apart from threshold
Value range is compared.When the distance value is within the scope of the distance threshold, it is determined that currently there is train wheel process
At least two noncontacting proximity sensor.
When determining currently has train wheel by least two noncontacting proximity sensor, according to described at least two
The sensing data of noncontacting proximity sensor calculate the movement speed of the train wheel.It specifically, can be according to the train vehicle
Wheel is respectively by the time of each noncontacting proximity sensor, calculating the train vehicle at least two noncontacting proximity sensor
Wheel passes through the second time interval of each noncontacting proximity sensor.Then, according to second time interval and each non-contact
Setting distance between formula sensor, calculates the movement speed of the train wheel.
It, can also be to non-contact by any two according to the train wheel also, when calculating the movement speed
The calculated movement speed of second time interval of formula sensor carries out arithmetic average.Then, described in being calculated
Movement speed of the arithmetic mean of instantaneous value of movement speed as the train wheel.
Adjacent train wheel is calculated by the same contactless biography at least two noncontacting proximity sensor
The first time interval of sensor.Specifically, it non-can be connect by described at least two respectively according to the adjacent train wheel
At the time of the same noncontacting proximity sensor in touch sensor, the first time interval is calculated.Also, described in calculating
When first time interval, the first time of each noncontacting proximity sensor can also be passed through respectively to the adjacent train wheel
Interval carries out arithmetic average.When then, using the arithmetic mean of instantaneous value for the first time interval being calculated as described first
Between be spaced.
The wheelbase of the adjacent train wheel is calculated according to the movement speed and the first time interval.Above-mentioned step
Suddenly it can be executed by the local server or remote service platform that one or more is communicated with noncontacting proximity sensor.And distance
Threshold range can be stored in advance in local server or remote service platform.
Multiple embodiments are described in a progressive manner in this specification, and the emphasis of each embodiment is different, and each
The same or similar part cross-reference between embodiment.For embodiment of the method, due to its entirety and it is related to
The step of there are corresponding relationships with the content in system embodiment, therefore be described relatively simple, related place is referring to system reality
Apply the part explanation of example.
So far, the presently disclosed embodiments is described in detail.In order to avoid covering the design of the disclosure, do not describe
Some details known in the field.Those skilled in the art as described above, completely it can be appreciated how implement here
Disclosed technical solution.
Although being described in detail by some specific embodiments of the example to the disclosure, the skill of this field
Art personnel it should be understood that above example merely to be illustrated, rather than in order to limit the scope of the present disclosure.The skill of this field
Art personnel it should be understood that can not depart from the scope of the present disclosure and spirit in the case where, modify to above embodiments or
Some technical features can be equivalently replaced.The scope of the present disclosure is defined by the following claims.
Claims (9)
1. a kind of train wheelbase detection system, comprising:
The outside of train rail is arranged at least two noncontacting proximity sensors, operates in the train rail for sensing
Train wheel；With
Controller is connect at least two noncontacting proximity sensors signal, for contactless according to described at least two
The sensing data of sensor determine the wheelbase of adjacent train wheel.
2. train wheelbase detection system according to claim 1, wherein the noncontacting proximity sensor includes photoelectric sensing
Device.
3. train wheelbase detection system according to claim 2, wherein the photoelectric sensor includes laser ranging sensing
The intersection point of device, the laser optical path of laser range sensor perpendicular corresponding with the train rail is in the train
Within the scope of the upper surface of track to the height of the train wheel.
4. train wheelbase detection system according to claim 3, wherein the laser light of the laser range sensor transmitting
Road is vertical with the train rail.
5. train wheelbase detection system according to claim 1, further includes:
The position of spacing is preset in installation pedestal, the outside that the train rail is arranged in；
Wherein, at least two noncontacting proximity sensor is spaced apart and arranged in the peace along the extending direction of the train rail
It fills on pedestal.
6. train wheelbase detection system according to claim 5, wherein the company of at least two noncontacting proximity sensor
Line is parallel with the train rail.
7. train wheelbase detection system according to claim 3, wherein at least two noncontacting proximity sensor is set
Seated position is all the same at a distance from the train rail, or the difference at a distance from the train rail, and corresponds respectively to difference
The distance threshold range.
8. train wheelbase detection system according to claim 3, wherein at least two noncontacting proximity sensors setting
In the outside of at least two train rails, at least two noncontacting proximity sensors sensing operates at least two column
The distance value of the train wheel in track road corresponds respectively to different distance threshold ranges.
9. train wheelbase detection system according to claim 1, wherein the controller includes:
Arithmetic element is configured as the calculating when determining currently has train wheel by least two noncontacting proximity sensor
The movement speed of the train wheel, and calculate based on the movement speed wheelbase of the adjacent train wheel.
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| CN201821093373.8U CN208602495U (en) | 2018-07-11 | 2018-07-11 | Train wheelbase detection system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674442A (en) * | 2018-07-11 | 2018-10-19 | 同方威视技术股份有限公司 | Train wheelbase detection method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674442A (en) * | 2018-07-11 | 2018-10-19 | 同方威视技术股份有限公司 | Train wheelbase detection method and system |
| WO2020010962A1 (en) * | 2018-07-11 | 2020-01-16 | 同方威视技术股份有限公司 | Train wheelbase detection method and system |
| CN108674442B (en) * | 2018-07-11 | 2023-11-10 | 同方威视技术股份有限公司 | Train wheelbase detection method and system |
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