CN209560310U - Output device and system applied to automatic train operation system - Google Patents
Output device and system applied to automatic train operation system Download PDFInfo
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Abstract
The utility model discloses an output device and system applied to train automatic operation system, the output device includes this series of output device and butt system output device, this series of output device and butt system output device are redundant each other, wherein, this series of output device and butt system output device all include digital quantity output module for digital quantity signal's output and recovery; the analog quantity output module is used for outputting and extracting a voltage analog quantity signal or a current loop analog quantity signal; the PWM output module is used for outputting and extracting PWM signals; the CPU module is used for logically controlling the digital quantity output module, the analog quantity output module and the PWM output module through an I/O control line; the digital quantity signal, the voltage analog quantity signal, the current loop analog quantity signal and the PWM signal can be output in one or more combinations. The output device covers four output control modes, meets the control requirements of various types of vehicles, adopts redundant cross control and improves the reliability of the system.
Description
Technical Field
The utility model belongs to the rail transit field, in particular to be applied to output device and system of train automatic operation system.
Background
The Automatic Train Operation (ATO) system takes over the traction and braking functions of the train under the protection of an Automatic Train Protection (ATP) system, realizes the functions of automatic departure of a station, automatic interval operation, automatic stop in the station, automatic door opening of a vehicle door, linkage control of the vehicle door/platform door and the like, and the automatic train operation hardware platform is used as a safety computer platform of the ATO system, and realizes the functions of logic processing, external communication, input acquisition, output control and the like. The output control function mainly realizes the functions of output control of train traction and braking, output control of opening and closing a train door and the like, the signal type of the output mode of the existing system is not complete and can not meet the requirements of trains of certain models, and when the output device of the main system of the existing automatic train operation system fails, the system is completely switched to the standby system, including a logic device, an input device and the like which do not fail, so that the reliability of the system is reduced.
The output functions of the existing redundant input and output implementation system of vehicle-mounted signal equipment comprise a 24V or 110V digital quantity driving signal, a 0-20mA analog quantity interlocking switching output function, a 0-10V analog voltage output function, a PWM output function and the like.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem of incomplete and redundant switching control of control signal among the prior art, the utility model provides an output device and system for train automatic operation system.
An output device applied to an automatic train operation system comprises a main output device and a butt output device, wherein the main output device and the butt output device are redundant, the main output device and the butt output device both comprise,
the digital quantity output module is used for outputting and extracting digital quantity signals;
the analog quantity output module is used for outputting and extracting a voltage analog quantity signal or a current loop analog quantity signal;
the PWM output module is used for outputting and extracting PWM signals; and the number of the first and second groups,
the CPU module is used for logically controlling the digital quantity output module, the analog quantity output module and the PWM output module through an I/O control line;
the digital quantity signal, the voltage analog quantity signal, the current loop analog quantity signal and the PWM signal can be output in one or more combinations.
Further, the digital quantity output module comprises a power supply, a first isolation module, a switch module, one or more first relay control modules and an extraction module;
the CPU module is connected with the switch module, the one or more first relay control modules and the recovery module through an I/O control line, a first isolation module is arranged between the CPU module and the switch module, between the CPU module and the one or more first relay control modules and between the CPU module and the recovery module, the power supply is connected with the one or more first relay control modules through the switch module, and the one or more first relay control modules are connected with the recovery module.
Further, the analog quantity output module comprises a second isolation module, a DAC module, an ADC module and a second relay control module;
the CPU module is connected with the second relay control module through an I/O control line, the CPU module is further connected with the input end of the DAC module and the output end of the ADC module through communication buses respectively, a second isolation module is arranged between the CPU module and the DAC module and between the CPU module and the ADC module, and the output end of the DAC module and the input end of the ADC module are connected with the second relay control module.
Further, the PWM output module comprises a third isolation module, a driving circuit, a recovery circuit and a third relay control module;
the CPU module is connected with the third relay control module through an I/O control line, the CPU module is respectively connected with the input end of the driving circuit and the output end of the extraction circuit, the third isolation module is arranged between the CPU module and the driving circuit as well as between the CPU module and the extraction circuit, and the output end of the driving circuit and the input end of the extraction circuit are connected with the third relay control module.
Further, the first relay control module adopts a solid-state relay module.
Further, the CPU module is also used for comparing the output with the recovered digital quantity signal, the voltage analog quantity signal, the current loop analog quantity signal or the PWM signal.
An automatic train operation system includes a local logic device, a peer-to-peer logic device, a local output device, and a peer-to-peer output device, wherein the local logic device, the peer-to-peer logic device, and the output device are mutually crossed and redundant,
the local system and the logic device and the output device of the opposite system are networked through 2 paths of mutually redundant first communication buses and are used for communicating the local system logic device or the opposite system logic device with the local system and/or the output device of the opposite system;
the local logic device and the opposite logic device are also connected through a second communication bus and are used for the main and standby competition of the local logic device and the opposite logic device;
the main logic device or the opposite logic device is used for determining the main-standby system relation between the main system and the opposite output device when the main logic device or the opposite logic device is used as the main system, and is also used for switching the output device to the output device of the opposite system corresponding to the output device with the fault when the output device as the main system has the fault.
Further, in the present invention,
the system output device and the system output device comprise a CPU module, and a digital quantity output module, an analog quantity output module and a PWM output module which are connected with the CPU module;
the local logic device and the opposite logic device control the output device of the local or opposite system to output and recover one or more control commands of a digital quantity signal, a voltage analog quantity signal, a current loop analog quantity signal and a PWM signal through 2 paths of first communication buses which are mutually redundant.
Further, when the local logic device or the peer-to-peer logic device is used as the master system, the local logic device or the peer-to-peer logic device is further used for judging whether the output device used as the master system has a fault:
if the logic device as the master system does not receive the response information indicating whether the output of the output device matches the retrieved control command via the first communication bus, it determines that the output device is malfunctioning, and stops communicating with the output device.
Furthermore, the logic device as the master system defaults the output device corresponding to the master system as the master system.
The utility model discloses following profitable technological effect has:
1. the hot standby redundant output structure without an inverse cutting (management) device or a similar inverse cutting (management) device in function is adopted, and in the redundant vehicle control output implementation mode, output control can be realized only by one logic device with normal function and one output device with normal function, so that the reliability of the system is improved.
2. The redundant vehicle control output covers four modes of digital quantity output, voltage analog quantity output, current loop analog quantity output and PWM output, and covers the control requirements of high-speed trains, intercity trains and urban rail trains.
3. The digital output adopts a solid-state relay module to replace a mechanical relay, so that the reliability reduction caused by frequent output of the relay is avoided, and the redundancy output reliability is improved.
4. And carrying out real-time extraction on digital quantity output, voltage analog quantity output, current loop analog quantity output and PWM output, and carrying out real-time monitoring on vehicle control output.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 shows a schematic structural diagram of an automatic train operation system in an embodiment of the present invention;
fig. 2 is a schematic diagram of an output device applied to an automatic train operation system according to an embodiment of the present invention;
fig. 3 shows a schematic diagram of an output control flow of an automatic train operation system in an embodiment of the present invention;
fig. 4 shows a schematic structural diagram of a digital quantity output module in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an analog output module according to an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of a PWM output module according to an embodiment of the present invention;
fig. 7 shows a schematic view of an operation flow of an output device in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, in the embodiment of the present invention, an automatic train operation system is introduced, which comprises an interface device, a local power device, a local input device, a local output device, a local communication device, a local logic device, a local communication device, a local output device, a local input device, a local power device, a local recording device, wherein the local and local power devices, the input device, the output device, the communication device, and the logic device and the local recording device are all connected to the interface device,
the local logic device and the opposite logic device are also communicated through 2 paths of second communication buses which are mutually redundant, and the master-slave system state monitoring is carried out through master-slave system state signals, so that the local logic device and the opposite logic device can compete for master-slave system, and when the local logic device or the opposite logic device compete for master system, the local logic device and the opposite logic device are used for controlling the communication of other devices and outputting master system state signals. The present logic device and the mate logic device can output and collect master system state signals output by the mate logic device, and preferably, the master system state signals are PWM life dynamic signals. Further, the logic device as the master system collects the master system state signal of the logic device as the slave system in real time, and if the frequency of the collected master system state signal is consistent with the preset frequency, the logic device as the slave system is indicated as the master system.
The interface device comprises 2 paths of power buses, 2 paths of first communication buses which are redundant with each other and a board card identifier, and is used for power interconnection, internal communication interconnection and local and systematic logic devices to acquire board card identifiers of the devices through the board card identifiers. The 2 paths of power buses are respectively 24V and 5V, and the 2 paths of first communication buses which are redundant mutually are CAN0 and CAN1 communication buses. Further, the output device, the input device, and the communication device are connected as a backup logic device via a CAN0 or CAN1 communication bus, and only the communication information of the devices is received, but data is not transmitted.
The local logic device and the opposite logic device are also used for performing competition of one or more main and standby systems as follows:
the local logic device and the opposite logic device are both main systems, and the local logic device and the opposite logic device are in failure modes, and both the local logic device and the opposite logic device execute downtime.
When the local logic device and the opposite logic device are both standby systems, the local logic device and the opposite logic device compete for the standby systems through the board card identification, namely the own board card identification number; wherein, the default local logic device has a card ID corresponding to the master system, and the local logic device is the master system. Preferably, the board identification number corresponding to the master system is 0001, and the board identification number corresponding to the slave system is 0010, if the board identification number of the local logic device is 0001, the system defaults that the local logic device is the master system.
The local logic device is a standby system, when the local logic device cannot judge the main/standby system state of the logic device, the local logic device judges whether the communication with the logic device is interrupted, if the communication between the local logic device and the logic device is not interrupted, the local logic device executes the main/standby system competition again. Specifically, the local logic device acquires communication information with the local logic device; if the communication between the local logic device and the logic device is interrupted, the local logic device detects whether the logic device outputs a master state signal, if the local logic device detects the master state signal output by the logic device, the logic device is a master, and the local logic device is a backup; if the master status signal outputted from the master logic device is not detected, the master logic device is upgraded to the master.
Before the main and standby system competition, the system logic device and the counterpart logic device are further configured to respectively obtain one or more types of operation information of the system, first, the system logic device and the counterpart logic device respectively obtain board identifiers of the system, second, the system logic device and the counterpart logic device respectively obtain communication information of the counterpart, and then, the system logic device and the counterpart logic device perform self-checking on the system, wherein if the self-checking of the system logic device and/or the counterpart logic device on the system fails, the system logic device and/or the counterpart logic device cut off output and communication, and perform downtime.
The initialization states of the local logic device and the logic device are standby.
Furthermore, the main system and the power supply device, the input device, the output device, the communication device and the logic device of the opposite system are mutually cross-redundant, when any device as the main system fails, the logic device as the main system switches the failed device to the standby system and the corresponding device to continue to work.
In the present embodiment, the present logic device, the present output device, the counterpart logic device, and the counterpart output device are cross-redundant to each other as an exemplary description, but the present invention is not limited to the logic device and the output device, and the other devices are also applicable.
As shown in fig. 2, the local logic device and the peer logic device are connected to the local output device and the peer output device simultaneously through two first communication buses CAN0 and CAN1, which are redundant with each other. The system logic device and the system-matching logic device are also used for respectively controlling the output and the recovery of the system output device and the system-matching output device; the system output device and the system output device can output and recover one or more control instructions in the digital quantity signal, the voltage analog quantity signal, the current loop analog quantity signal and the PWM signal, so that the system logic device and the system logic device can realize control of a vehicle system through 2 paths of first communication buses which are mutually redundant, and can output four signals in any combination according to vehicles of different models. Preferably, the digital quantity signal is a 24V or 110V digital quantity signal; the voltage analog quantity signal is a 0-10V voltage analog quantity signal; the current loop analog quantity signal is a 0-20mA current loop analog quantity signal.
In this embodiment, as shown in fig. 3, the local logic device and the peer logic device are configured to first obtain board identifiers of the local logic device and the output device, then, the local logic device competes with the peer logic device for the main and backup systems, and then, after confirming the main and backup logic devices, the output device of the local system corresponding to the local logic device is defaulted as the main system output device and the output device of the peer system is the backup system output device, and then, whether the output device of the main system fails is determined, if the output device of the main system fails, the logic device of the main system cuts off communication with the main system output device, and upgrades the backup system output device to the main system output device; if no fault exists, the main system output device continues to operate. The main-backup system competition between the local system logic device and the opposite system logic device is consistent with the main-backup system competition process, and is not repeated.
When the local logic device or the peer-to-peer logic device is used as the master system, the local logic device or the peer-to-peer logic device is further used for judging whether the output device used as the master system has a fault: if the logic device as the master does not receive the output device response information via the first communication bus, it determines that the output device is malfunctioning, and stops communicating with the output device. And the response information is whether the output of the output device is consistent with the control instruction of the extraction.
When the local system logic device or the opposite system logic device is used as the main system, the local system logic device or the opposite system logic device is also used for informing the board card identification number of the main system output device to the standby system logic device through the second communication bus, so that when the standby system logic device is upgraded to the main system, the main system output device is directly taken over and controlled, and meanwhile, the standby system logic device carries out periodic state communication (non-control output communication). The second communication bus is an SBP communication bus.
The system output device and the system output device comprise a CPU module, and a digital quantity output module, an analog quantity output module and a PWM output module which are connected with the CPU module; wherein,
as shown in fig. 4, the digital output modules of the present system output device and the counterpart system output device include a power supply (not shown), an isolation module, a MOSFET switch module, one or more solid state relay modules, and an extraction module; the CPU module is connected with the switch module, the one or more solid-state relay modules and the recovery module through an I/O control line, and isolation modules are arranged among the CPU module, the MOSFET switch module, the one or more solid-state relay modules and the recovery module and are used for isolating electric signals among the CPU module, the MOSFET switch module, the one or more solid-state relay modules and the recovery module; the power supply module is connected with one or more solid-state relay modules through the switch module and is used for providing a 110V/24V power supply; and the one or more solid-state relay modules are connected with a recovery module. The CPU module of the main system output device drives the MOSFET switch module to be closed, a 110V/24V power supply is provided for the solid-state relay module, and the power supply is disconnected when the system is used as a standby system, so that the power supply for digital quantity output is cut off, and no digital quantity signal is output; the solid state relay module receives an IO control instruction of the CPU module, when the output is available, the solid state relay module is closed, and when the MOSFET switch module provides power, the solid state relay module outputs a digital quantity signal, if the power is connected, the digital quantity signal output by 110V is 110V, and if the power is connected, the digital quantity signal output by 24V is 24V; the recovery module is used for collecting the output condition of the solid-state relay module, when output is available, the recovery module performs output quantity recovery, the CPU module reads the collection quantity of the recovery module, when the output digital quantity signal is inconsistent with the recovered digital quantity signal, the output device reports the master logic device, fault data is recorded, and logic control is performed by the logic device. The output of the main and standby system determines whether to output digital quantity through the MOSFET switch module.
As shown in fig. 5, the analog output modules of the present system output device and the counterpart system output device include an isolation module, a DAC module, an ADC module, and a relay control module; the CPU module is connected with the relay control module through an I/O control line, the CPU module is further connected with the input end of the DAC module and the output end of the ADC module through an SPI communication bus respectively, an isolation module is arranged between the CPU module and the DAC module and between the CPU module and the ADC module, and the output end of the DAC module and the input end of the ADC module are connected with the relay control module. The isolation module realizes the SPI signal isolation function between the CPU module and the DAC and ADC modules; the DAC module receives configuration data and a control instruction of the CPU module through the SPI communication bus and outputs a voltage analog quantity signal in a range of 0-10V and a current loop analog quantity signal in a range of 0-20 mA; the relay control module receives an IO control instruction of the CPU module, controls voltage analog quantity and current loop analog quantity output in a clamping mode and serves as an output device of a main system, the CPU module of the main system output device drives the relay control module to be closed and outputs a voltage analog quantity signal or a current loop analog quantity signal, and when the output device serves as a standby system, the relay control module is in an open state and does not output the voltage analog quantity signal or the current loop analog quantity signal; the ADC module mainly has the functions of extracting voltage analog quantity signals and current loop analog quantity signals, the CPU module reads extraction values through the SPI communication bus, and when the output analog quantity signals are inconsistent with the extracted analog quantity signals, the output device reports to the logic device, fault data are recorded, and the logic device performs logic control. The analog quantity output of the main output device and the analog quantity output of the opposite output device are independent and redundant, and the output devices of the main and standby systems determine whether to output a voltage analog quantity signal and a current loop analog quantity signal or not by controlling the relay control module.
As shown in fig. 6, the PWM output modules of the present system output device and the counterpart system output device include an isolation module, a driving circuit, a recovery circuit, and a relay control module; the CPU module is connected with the relay control module through an I/O control line, the CPU module is respectively connected with the input end of the driving circuit and the output end of the extraction circuit, the isolation module is arranged between the CPU module and the driving circuit as well as between the CPU module and the extraction circuit, and the output end of the driving circuit and the input end of the extraction circuit are connected with the relay control module. The isolation module realizes the isolation function of the PWM signals among the CPU module, the driving circuit and the extraction circuit; the driving circuit amplifies the PWM signal and outputs a 24V PWM signal with adjustable frequency and duty ratio; and the relay control module receives an IO control instruction of the CPU module and carries out card control on the PWM signal output. The relay control module is used as an output device of a main system, a CPU module of the main system output device drives the relay control module to be closed and outputs PWM signals, and when the output device is used as a standby system, the relay control module is disconnected and no PWM signal is output; the recovery circuit mainly has the functions of recovering the output PWM signals, the CPU module collects the frequency and the duty ratio of the PWM signals, and when the frequency and the duty ratio of the output PWM signals are inconsistent with those of the recovered PWM signals, the output device reports the logic device, records fault data and is logically controlled by the logic device. The PWM output of the main output device and the PWM output of the auxiliary output device are mutually independent and have a redundant relation, and the main output device and the auxiliary output device determine whether to output PWM signals or not through the relay control module.
The CPU modules in fig. 4, 5 and 6 are all the same multiplexed CPU module.
As shown in fig. 7, the present system output device or the counterpart system output device, when executing the operation, is further configured to: firstly, acquiring a board card identification number of the system, secondly, receiving communication data of a logic device, then responding a control instruction of the logic device by the output device of the system or the opposite system, then judging whether the output device of the system or the opposite system has a fault, cutting off the output of a digital quantity signal, an analog quantity signal and a PWM signal if the output device of the system or the opposite system has the fault, and continuously cutting off the control of a MOSFET switch module in the digital quantity output module, a second relay control module in the analog quantity output module and a third relay control module in the PWM output module. The second relay control module and the third relay control module are both the relay control modules.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. An output device applied to an automatic train operation system comprises a main output device and a butt output device, and is characterized in that the main output device and the butt output device are redundant, wherein the main output device and the butt output device both comprise,
the digital quantity output module is used for outputting and extracting digital quantity signals;
the analog quantity output module is used for outputting and extracting a voltage analog quantity signal or a current loop analog quantity signal;
the PWM output module is used for outputting and extracting PWM signals; and the number of the first and second groups,
the CPU module is used for logically controlling the digital quantity output module, the analog quantity output module and the PWM output module through an I/O control line;
the digital quantity signal, the voltage analog quantity signal, the current loop analog quantity signal and the PWM signal can be output in one or more combinations.
2. The output device of claim 1, wherein the digital output module comprises a power source, a first isolation module, a switching module, one or more first relay control modules, and an extraction module;
the CPU module is connected with the switch module, the one or more first relay control modules and the recovery module through an I/O control line, a first isolation module is arranged between the CPU module and the switch module, between the CPU module and the one or more first relay control modules and between the CPU module and the recovery module, the power supply is connected with the one or more first relay control modules through the switch module, and the one or more first relay control modules are connected with the recovery module.
3. The output device of claim 1, wherein the analog output module comprises a second isolation module, a DAC module, an ADC module, and a second relay control module;
the CPU module is connected with the second relay control module through an I/O control line, the CPU module is further connected with the input end of the DAC module and the output end of the ADC module through communication buses respectively, a second isolation module is arranged between the CPU module and the DAC module and between the CPU module and the ADC module, and the output end of the DAC module and the input end of the ADC module are connected with the second relay control module.
4. The output device of claim 1, wherein the PWM output module comprises a third isolation module, a drive circuit, a recovery circuit, and a third relay control module;
the CPU module is connected with the third relay control module through an I/O control line, the CPU module is respectively connected with the input end of the driving circuit and the output end of the extraction circuit, the third isolation module is arranged between the CPU module and the driving circuit as well as between the CPU module and the extraction circuit, and the output end of the driving circuit and the input end of the extraction circuit are connected with the third relay control module.
5. The output device of claim 2, wherein the first relay control module is a solid state relay module.
6. The output device of claim 1, wherein the CPU module is further configured to compare the output with a retrieved digital quantity signal, a voltage analog quantity signal, a current loop analog quantity signal, or a PWM signal.
7. An automatic train operation system comprises a local logic device, a butt logic device, a local output device and a butt output device, wherein the local logic device, the butt logic device and the output device are cross-redundant,
the local system and the logic device and the output device of the opposite system are networked through 2 paths of mutually redundant first communication buses and are used for communicating the local system logic device or the opposite system logic device with the local system and/or the output device of the opposite system;
the local logic device and the opposite logic device are also connected through a second communication bus and are used for the main and standby competition of the local logic device and the opposite logic device;
the main logic device or the opposite logic device is used for determining the main-standby system relation between the main system and the opposite output device when the main logic device or the opposite logic device is used as the main system, and is also used for switching the output device to the output device of the opposite system corresponding to the output device with the fault when the output device as the main system has the fault.
8. The automatic train operation system according to claim 7,
the system output device and the system output device comprise a CPU module, and a digital quantity output module, an analog quantity output module and a PWM output module which are connected with the CPU module;
the local logic device and the opposite logic device control the output device of the local or opposite system to output and recover one or more control commands of a digital quantity signal, a voltage analog quantity signal, a current loop analog quantity signal and a PWM signal through 2 paths of first communication buses which are mutually redundant.
9. The automatic train operation system according to claim 7 or 8, wherein the local train logic device or the peer train logic device is further configured to determine whether an output device serving as the master train has a failure when the local train logic device or the peer train logic device serves as the master train:
if the logic device as the master system does not receive the response information indicating whether the output of the output device matches the retrieved control command via the first communication bus, it determines that the output device is malfunctioning, and stops communicating with the output device.
10. The automatic train operation system according to claim 7, wherein the logic device as the master system defaults the output device corresponding to the master system as the master system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110968019A (en) * | 2019-12-06 | 2020-04-07 | 北京和利时智能技术有限公司 | Current signal transmission system and method |
| CN113949317A (en) * | 2021-10-25 | 2022-01-18 | 中国航空工业集团公司西安航空计算技术研究所 | PWM signal composite reasoning heterogeneous BIT method of motor controller |
| CN114528242A (en) * | 2022-02-21 | 2022-05-24 | 新誉轨道交通科技有限公司 | Computer platform dual-system synchronization method, device, equipment and medium |
| CN114821952A (en) * | 2021-01-19 | 2022-07-29 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Protection alarm method and system for vacuum pipeline control system |
| US11427227B2 (en) * | 2019-01-25 | 2022-08-30 | Robert Bosch Gmbh | Safety device for use in a vehicle, vehicle, and method for operating a vehicle |
-
2019
- 2019-01-07 CN CN201920022905.7U patent/CN209560310U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11427227B2 (en) * | 2019-01-25 | 2022-08-30 | Robert Bosch Gmbh | Safety device for use in a vehicle, vehicle, and method for operating a vehicle |
| CN110968019A (en) * | 2019-12-06 | 2020-04-07 | 北京和利时智能技术有限公司 | Current signal transmission system and method |
| CN114821952A (en) * | 2021-01-19 | 2022-07-29 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Protection alarm method and system for vacuum pipeline control system |
| CN113949317A (en) * | 2021-10-25 | 2022-01-18 | 中国航空工业集团公司西安航空计算技术研究所 | PWM signal composite reasoning heterogeneous BIT method of motor controller |
| CN114528242A (en) * | 2022-02-21 | 2022-05-24 | 新誉轨道交通科技有限公司 | Computer platform dual-system synchronization method, device, equipment and medium |
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