CN2783345Y - Digital cameback speed test radar - Google Patents
Digital cameback speed test radar Download PDFInfo
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- CN2783345Y CN2783345Y CN 200420063990 CN200420063990U CN2783345Y CN 2783345 Y CN2783345 Y CN 2783345Y CN 200420063990 CN200420063990 CN 200420063990 CN 200420063990 U CN200420063990 U CN 200420063990U CN 2783345 Y CN2783345 Y CN 2783345Y
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Abstract
The utility model relates to a digital hump speed test radar which can carry out real-time processing to radar Doppler signals via a DSP32 bits high-speed digital signal processor. The Doppler signals output from a high frequency component mixer are firstly connected to an IN+ end of an input amplifier of an analog channel module via a capacitor, and the signals are connected to the digital signal processor via the output end of the analog channel module. The utility model accomplishes speed testing digital intellectualization of hump radars and has high interference rejection, and the utility model extracts and tracks the actual speed of controlled automobile groups via spectroscopic analysis technique to discriminate various spectral components. Therefore, the utility model thoroughly solves problems of speed testing value jump caused by serious radar interference, such as rainy and snowy weather, yard environment, self wheel rotation of the automobiles, wind pipe swing, interference from neighboring line, etc.
Description
Affiliated field: the utility model is that the number radar is surveyed with the novel digital hump in a kind of marshaling yard hump field.
Background technology: present domestic hump measure speed radar mainly is 8mm and 3cm wavelength velocity radar, technology that adopts and device fall behind, its radar return Doppler signal processing mode is the analog quantity treatment technology of traditional original backwardness, interference protection measure is the bandpass filter that the electron device of employing is formed, the analog quantity voltage comparator type.Interference spectrum and signal spectrum are with overlap of strips, the analog signals processing mode can't filtering, can't resolve the interference of the magnitude of voltage amplitude that is higher than the comparer thresholding in the passband, lack the modern signal processing technology, exist the field adjustable difficulty big, the job insecurity poor anti jamming capability, testing the speed is subject to disturb the saltus step of frequent generation radar velocity measurement signal, particularly the sleet sky is even more serious to radar jamming, makes the radar distortion.Because the anti-interference method taked is unreasonable, make the real-time followability of the speed indication flatness of radar and speed, acceleration be difficult to take into account.Have a strong impact on robotization control the utility model to the normal control of skating vehicle and the raising of the utility model control accuracy.And function singleness can only test the speed, and output is the frequency simulating signal of corresponding speed value, and system is bigger to its intractability, influences system reliability, security.
Summary of the invention
The purpose of this utility model provides the digitizing hump measure speed radar that a kind of stability is high, antijamming capability is strong, the input processing power is strong.The purpose of this utility model realizes by following structure: the utility model is a kind of digitizing hump measure speed radar, mainly comprise: 8mm wave band higher-frequency radar assembly (model is TCL) and Doppler's low frequency signal digital processing circuit, Doppler's low frequency signal digital processing circuit is mainly by DSP digital signal processor (model is TMS320F2812), analog channel module (forming) by TLC4501 amplifier and TLV320AIC10 converter, input/output module is (by 6N137, TIL117 isolator and MAX485E communication interface are formed), information display module (being made up of 74HC595 device and nixie display) etc. is formed, adopt DSP32 position high speed digital signal processor, the RADOP signal is handled in real time, at first be connected to the IN+ end of the input end TLC4501 amplifier of analog channel module through electric capacity by the Doppler signal of high frequency assembly frequency mixer output, DOUT by analog channel module output terminal converter TLV320AIC10, DIN, SCLK, FS, XF is connected to the DRA of DSP digital signal processor MS320F2812, DXA, CLKXA, CLKRA, FSXA, FSRA, the XF end, RXI by DSP, TXI, the I/O end, be connected to the OC end of input/output module U1-6N137, the IN-end of U2-6N137, the IN-end of U3-6N137, the base terminal of triode, 5 ends of U5-TIL117, the SOMI of DSP, CLK, STEA, the I/OD5 end is connected to the DATA of display module 74HC595, CLOCK, the LOAD end, 5 ends of U6.
The utility model mainly adopts Digital Signal Processing, uses the DSP digital signal processor, realizes the digitized processing to the RADOP signal.Advantage of the present utility model:
1 realizes the hump radar digital intellectualization that tests the speed, has higher antijamming capability, adopt spectrum analysis technique to screen various spectrum components, extract and follow the tracks of, the value of the testing the speed saltus step problem that the wheel, airduct swing, adjacent line interference etc. that thoroughly solve sleet sky or parking lot environment and vehicle self cause the serious interference of radar by the true velocity of car controlling group.
2 pairs of tachometer signals have well followability in real time.Can be correctly and real time reaction by the true velocity of car controlling group and acceleration, improve the stability and the precision of hump measure speed radar speed, acceleration indication.
3 have the function of digital quantity and output of compatible analog quantity and range finding.The digital quantity output of radar speed, acceleration also utilizes higher rate accuracy to go out the distance measurement function of radar in operating distance by certain calculated with mathematical model.Can utilize 485 digital transmission interfaces such as grade to transmit data and networking.
4 have metrical information storage, Presentation Function.
Description of drawings:
Fig. 1 is the utility model composition frame chart
Fig. 2 is the utility model high-frequency device part theory diagram
Fig. 3 is the utility model radar signal digitized processing circuit structure diagram
Fig. 4 is the utility model analog channel schematic diagram
Fig. 5 is the utility model information input and output schematic diagrams
Fig. 6 is the utility model display circuit schematic diagram
Fig. 7 is the utility model Radar Signal Processing circuit working schematic diagram
Embodiment:
The utility model is a digitizing hump measure speed radar, mainly comprise: 8mm wave band higher-frequency radar transmitting-receiving subassembly, model is TCL, with Doppler's low frequency signal digital processing circuit, information display module is formed, as shown in Figure 1, Doppler's low frequency signal digital processing circuit is mainly by the DSP digital signal processor, model is TMS320F2812, the analog channel module, form by TLC4501 amplifier and TLV320AIC10 converter as Fig. 4, as Fig. 5 input/output module by 6N137, TIL117 isolator and MAX485E communication interface are formed, form by 74HC595 device and nixie display as Fig. 6 information display module, as shown in Figure 3, adopt DSP32 position high speed digital signal processor, the RADOP signal is handled in real time, at first be connected to the IN+ end of the input end TLC4501 amplifier of analog channel module through electric capacity by the Doppler signal of high frequency assembly frequency mixer output, DOUT by analog channel module output terminal converter TLV320AIC10, DIN, SCLK, FS, XF is connected to the DRA of DSP digital signal processor MS320F2812, DXA, CLKXA, CLKRA, FSXA, FSRA, the XF end, RXI by DSP, TXI, the I/O end, be connected to the OC end of input/output module U1-6N137, the IN-end of U2-6N137, the IN-end of U3-6N137, the base terminal of triode, 5 ends of U5-TIL117, the SOMI of DSP, CLK, STEA, the I/OD5 end is connected to the DATA of display module 74HC595, CLOCK, the LOAD end, 5 ends of U6.
The analog channel module is by amplifier, and model is TLC4501, analog/digital A/D, digital-to-analog D/A converter, and model is TLVV320AIC10, forms:
As shown in Figure 2, Doppler signal by the output of TCL high frequency assembly frequency mixer end is connected to in-phase end IN+, the backward end IN-of amplifier through resistance-capacitance network ground connection through electric capacity, resistance, constitute the bandpass filtering input, amplifier output OUT end is connected to the input INM end of A/D converter through electric capacity, resistance;
Simulating signal is connected to the DRA end of DSP, the DXA end that reception DIN end is connected to DSP by A/D converter output DOUT end after A/D is converted to digital quantity, the SCLK end is connected to CLKXA, the CLKRA end of DSP, the FS end is connected to FSXA, the FSRA end of DSP, and data are changed in the buffer memory multi-channel serial oral sex that constitutes A/D and DSP;
Mainly by 3 groups of U1, U2, U3 isolated amplifier ISO (model is 6N137), 2 groups of U4, U5 optocoupler isolator, model is TIL117 and RS485 communication interface to input/output module, and model is MAX485E, forms:
Receive OC end, the GND that the RXI end connects U1 (6N137) by the serial port of DSP and hold ground connection, the RD end, the IN+ that connect MAX485E by the IN-end of U1 hold and connect the VCC+ power supply through resistance, constitute 485 communications reception circuit; The IN-end, the IN+ end that are connected U2 (6N137) by the TX1 end (serial port transmission) of DSP connect the VCC+ power supply through resistance, and the OC end of U2 connects DI end, the GND ground connection of MAX485E, constitutes 485 communication transtation mission circuits; The IN-end, the IN+ end that are connected U3 by the switching value output I/O end (CON1 end) of DSP connect the VCC+ power supply through resistance, RE, DE end, GND that the OC end of U3 connects MAX485E hold ground connection, constitute 485 serial communication controlling circuit, the A of MAX485E, B end communication port and the other side communicate output speed, acceleration, range finding digital quantity signal;
Switching value output I/O port by DSP connects the base stage B of triode, is connected to 2 ends of U4 optocoupler isolator by collector C output through resistance, 1 termination+VCC power supply, the emission of optocoupler isolator and collector i.e. 4 and 5 ends are exported the analog quantity frequency signal that tests the speed;
Self check control command signal connects 1,2 input ends of U5 by controlling party circuit output, and i.e. 4,5 ends output is connected opening into I/O-IOD1 of DSP and holds with collector by the emission of U5 to isolate the back.
(model is 74HC595 to display module by display circuit, the LED digital indicator) and U6 optocoupler isolator (model is TIL117) circuit form: the SOMI of DSP, CLK, the STEA end is connected respectively to the DUTU of 74HC595-A, CLOCK, the LOUD end, the a of 74HC595-A, b, c, d, e, f, g, the h end is connected with the corresponding stroke end of light-emitting diode display, the a of 74HC595-B, b, c, d, e, f, g, the h end is connected with the corresponding figure place control end of light-emitting diode display CON, function select signal is connected to 1 of U6 by the output of controlling party circuit, 2 input ends, emission and collector by U6 after isolating are 4, the output of 5 ends is connected to opening into I/O-IOD5 of DSP and holds.
Digitized Doppler signal is through digital filtering, the amplification of TMS320F2812 digital signal processor DSP, spectrum analysis (setting up hundreds of bank of filters) FFT computing, output doppler velocity frequency signal and speed, acceleration and range finding digital information after the target evaluation.
The key technical indexes of the present utility model:
EFFECTIVE RANGE: 〉=50m (flat-bed trailer)
Velocity survey scope 1-30km;
Doppler signal frequency band: 195Hz-1950Hz
Measuring speed relative error ± 1% ± 0.1Km/h;
Operating frequency of antenna: 35.1 ± 0.1GHz
Doppler signal output: 〉=8V (peak-to-peak value), electric current loop output 〉=10mA
Go into dynamic range of signals: 〉=60db
Self-test signal frequency: 2048Hz ± 0.01%
Every 10ms output one-shot measurement value;
Principle of work
The microwave transmitting and receiving assembly
The microwave transmitting and receiving assembly as shown in Figure 2, produce uhf electromagnetic wave by the gunn bulk-effect oscillator, by the conducting of circulator transmitting-receiving isolated forward, be formed with the Low Sidelobe narrow beam of determining sensing through conical di-lens electromagnetic horn and be radiated the place ahead target emanation to the measured target object of the place ahead, electromagnetic sub-fraction power enters frequency mixer as local frequency through circulator.When the electromagnetic wave of emission runs into moving target, according to Doppler effect, new frequency signal of reflected back, after the antenna reception, forward conduction to frequency mixer and local frequency through circulator carries out mixing, its difference frequency signal is the Doppler signal frequency, this Doppler frequency fd is directly proportional with the target object movement velocity, be inversely proportional to the wavelength of launching electromagnetic wave, this Doppler signal is delivered to signal processing module amplify and digitized processing, can draw the movement velocity of moving target object by low noise Doppler signal amplifier.
Signal processing circuit
Adopt high speed digital signal processor (DSP32 position) that the RADOP signal is handled in real time, send into DSP by the Doppler signal of high frequency transmitting-receiving subassembly output through analog channel output and carry out digitized processing.Concrete annexation is seen shown in Figure 3.
By the Doppler signal of frequency mixer output, send into the channel simulation circuit, after low noise amplification, bandpass filtering, sampling maintenance, analog to digital conversion, send into the DSP digital signal processor.
Because analog band-pass filter is difficult to do very desirablely, Doppler signal is behind analog filter, high and low section in frequency still has bigger residual interference signal and noise noise signal, therefore digital band-pass filter is set in digital signal processor, allow the frequency content in the scope of testing the speed to pass through, at utmost suppress outer interference of unwanted band and noise.Simultaneously, because target is far and near different apart from radar, the different distortion that may also can cause target spectrum of radar signal amplitude, the AGC that for this reason utilizes software to gain controls (automatic gain control) signal through bandpass filter, the outer interference of band is inhibited, but echo signal and undesired signal in the passband are superimposed, for the correct target that detects, suppress the influence of interference, effective bandwidth is divided into hundreds of sub-bandwidth, and each subband is wide to be provided with a narrow band filter, promptly parallel hundreds of Doppler's narrow band filters is set, undesired signal and echo signal are made a distinction on frequency domain, so that correctly extract echo signal.The Doppler filter group utilizes spectrum analysis technique to realize.Obtain the signal amplitude information of the different Doppler filter outputs of synchronization by detection, the regularity of distribution and feature according to target, interference and noise, amplitude information to the output of the Doppler filter group after the detection detects target, further take simultaneously interference protection measure, to reduce the false-alarm probability of target, guarantee the correct discovery of echo signal.To detected target, according to the amplitude information relevant, the Doppler signal frequency of target is carried out the speed valuation handle, simultaneously to improve rate accuracy with target.Effectively solve radar signal moment saltus step, i.e. multiple-pulse or lose pulse phenomenon.Specifically see Fig. 7.According to the target Doppler frequency signal that above processing obtains, signal generator produces the corresponding frequency signal that tests the speed and send indoor computer control the utility model through the output isolating interface.Calculate corresponding speed digital quantity according to the target Doppler frequency signal in real time by certain mathematical model simultaneously.
Online self check
Self check principle to the radar microwave high frequency assembly is to utilize its local oscillation power that one direct current bias voltage is arranged after detection, this bias voltage is sent into the ADCB end of DSP, digital quantity with this bias voltage after the A/D analog to digital conversion carries out the software detection differentiation, realize software self check control, the output of control self-test signal is if high frequency assembly its operating bias voltage working properly, then has self-test signal output in normal range, if bias voltage value exceeds normal range, then there is not self-test signal output.Adopt whether overrun of drift that this mode can judge the high frequency assembly working point, realize super-limit prewarning.
The high frequency assembly signal generator of then controlling DSP working properly produces 2000HZ square wave self-test signal and sends into Doppler signal analog channel amplifier, inspection analog channel, each link of dsp software and signal are exported each link, all normal as radar hardware and each link of software, the RADOP signal output part will be exported to the other side and send 2000HZ radar self check normal signal; If the wherein a certain link fault of radar hardware and software, radar will stop to export transmission 2000HZ self-test signal to the other side, the utility model radar will be reported to the police, and realize online self check.Display module
Radar display window in working order shows its relevant test data; Show self-test signal frequency and self check situation at the self check state; By function selecting key, can select information inquiry, show the information that tests the speed in the recent period of being stored when testing the speed duty.
The utility model main feature
1 solves hump radar poor anti jamming capability, the particularly interference spectrum overlapping with signal spectrum Interference can't solve and the problems such as the radar signal that causes is rocked, saltus step, improve the hump measure speed thunder Reach the stability of speed, acceleration indication. 2 solve the sleet sky to the severe jamming of radar, cause The problem of radar cisco unity malfunction. 3 adopt spectrum analysis technique to screen various spectrum components, carry Get and follow the tracks of by the true velocity of car controlling group. 4 increase digital quantity and the thunder of output speed, acceleration Reach range finding digital output function. 5 solve the analog quantity information processing complexity that tests the speed, restriction and shadow Ring the problem of bar speed system real-time control.
Claims (4)
1, a kind of digitizing hump measure speed radar, mainly comprise: model is a TCL8mm wave band higher-frequency radar assembly, with Doppler's low frequency signal digital processing circuit, Doppler's low frequency signal digital processing circuit is mainly by the DSP digital signal processor, model is TMS320F2812, the analog channel module is made up of TLC4501 amplifier and TLV320AIC10 converter, input/output module is by 6N137, TIL117 isolator and MAX485E communication interface are formed, information display module is made up of 74HC595 device and nixie display, it is characterized in that: adopt DSP32 position high speed digital signal processor, the RADOP signal is handled in real time, at first be connected to the IN+ end of the input end TLC4501 amplifier of analog channel module through electric capacity by the Doppler signal of high frequency assembly frequency mixer output, DOUT by analog channel module output terminal converter hole V320AIC10, DIN, SCLK, FS, XF is connected to the DRA of DSP digital signal processor MS320F2812, DXA, CLKXA, CLKRA, FSXA, FSRA, the XF end, RXI by DSP, TXI, the I/O end, be connected to the OC end of input/output module U1-6N137, the IN-end of U2-6N137, the IN-end of U3-6N137, the base terminal of triode, 5 ends of U5-TIL117, the SOMI of DSP, CLK, STEA, the IOD5 end is connected to the DATA of display module 74HC595, CLOCK, the LOAD end, 5 ends of U6.
2, according to the described hump digitizing of claim 1 velocity radar, it is characterized in that: model is that the analog channel module of TLC4501 is by amplifier, analog/digital A/D, numeral/model are that analog D/A converter of TLV320AIC10 is formed: the Doppler signal by the output of TCL high frequency assembly frequency mixer end is connected to in-phase end IN+, the backward end IN-of amplifier through resistance-capacitance network ground connection through electric capacity, resistance, constitute the bandpass filtering input, amplifier output OUT end is connected to the input INM end of A/D converter through electric capacity, resistance; Simulating signal is connected to the DRA end of DSP, the DXA end that reception DIN end is connected to DSP by A/D converter output DOUT end after A/D is converted to digital quantity, the SCLK end is connected to CLKXA, the CLKRA end of DSP, the FS end is connected to FSXA, the FSRA end of DSP, and data are changed in the buffer memory multi-channel serial oral sex that constitutes A/D and DSP.
3, according to the described hump digitizing of claim 1 velocity radar, it is characterized in that: input/output module is that the model of 6N137,2 groups of U4, U5 optocoupler isolator is that TIL117 and its model of RS485 communication interface are that MAX485E forms by 3 groups of U1, U2, its model of U3 isolated amplifier ISO mainly: receive OC end, the GND that the RXI end connects U1 by the serial port of DSP and hold ground connection, the RD end, the IN+ end that are connected MAX485E by the IN-end of U1 connect the VCC+ power supply through resistance, constitute 485 communications reception circuit; The IN-end, the IN+ end that are sent connection U2 by the TX1 end serial port of DSP connect the VCC+ power supply through resistance, and the DI that the OC end of U2 connects MAX485E holds, GND ground connection, constitutes 485 communication transtation mission circuits; Switching value output I/O-IOB14 by DSP holds the IN-end, the IN+ end that connect U3 to connect the VCC+ power supply through resistance, RE, DE end, GND that the OC end of U3 connects MAX485E hold ground connection, constitute 485 serial communication controlling circuit, the A of MAX485E, B end communication port and the other side communicate output speed, acceleration, range finding digital quantity signal; Switching value output I/O-IOB15 port by DSP connects the base stage B of triode, is connected to 2 ends of U4 optocoupler isolator by collector C output through resistance, 1 termination+VCC power supply, the emission of optocoupler isolator and collector i.e. 4 and 5 ends are exported the analog quantity frequency signal that tests the speed; Self check control command signal connects 1,2 input ends of U5 by controlling party circuit output, and i.e. 4,5 ends output is connected opening into I/O-IOD1 of DSP and holds with collector by the emission of U5 to isolate the back.
4, according to the described hump digitizing of claim 1 velocity radar, it is characterized in that: display module is 74HC595 by model, the display circuit of LED digital indicator and U6 optocoupler isolator model are formed for the TIL117 circuit: the SOMI of DSP, CLK, the STEA end is connected respectively to the DATA of 74HC595-A, CLOCK, the LOAD end, the a of 74HC595-A, b, c, d, e, f, g, the h end is connected with the corresponding stroke end of light-emitting diode display, the a of 74HC595-B, b, c, d, e, f, g, the h end is connected with the corresponding figure place control end of light-emitting diode display CON, function select signal is connected to 1 of U6 by the output of controlling party circuit, 2 input ends, emission and collector by U6 after isolating are 4, the output of 5 ends is connected to opening into I/O-IOD5 of DSP and holds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 200420063990 CN2783345Y (en) | 2004-12-15 | 2004-12-15 | Digital cameback speed test radar |
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| CN 200420063990 CN2783345Y (en) | 2004-12-15 | 2004-12-15 | Digital cameback speed test radar |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101738601B (en) * | 2009-11-27 | 2012-06-20 | 西安电子科技大学 | System and method for measuring speed of locomotive based on radar near field echo power spectrum characteristics |
| CN104251983A (en) * | 2013-06-27 | 2014-12-31 | 成都中远信电子科技有限公司 | Portable ground surveillance radar signal processor |
| CN104290775A (en) * | 2014-09-26 | 2015-01-21 | 哈尔滨市特多佳调速技术开发中心 | Coupling area vehicle speed unit type automatic control system and control method thereof |
| CN106597426A (en) * | 2017-01-24 | 2017-04-26 | 桂林师范高等专科学校 | Vehicle-mounted speed measurement and range finding apparatus |
| CN107064924A (en) * | 2017-05-04 | 2017-08-18 | 安徽超远信息技术有限公司 | A kind of hump measure speed radar and its self checking method |
| CN107167797A (en) * | 2017-05-04 | 2017-09-15 | 安徽超远信息技术有限公司 | A kind of Digital railway hump measure speed radar and its anti-disturbance method |
| CN108801660A (en) * | 2017-04-27 | 2018-11-13 | 南京理工大学 | A kind of test in laboratory device and method of bullet train emergency braking performance |
| CN110146863A (en) * | 2019-06-19 | 2019-08-20 | 河南辉煌科技股份有限公司 | A kind of hump radar equipment on-line monitoring system and method |
| CN110337759A (en) * | 2017-10-13 | 2019-10-15 | 株式会社友华 | High-frequency model |
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2004
- 2004-12-15 CN CN 200420063990 patent/CN2783345Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101738601B (en) * | 2009-11-27 | 2012-06-20 | 西安电子科技大学 | System and method for measuring speed of locomotive based on radar near field echo power spectrum characteristics |
| CN104251983A (en) * | 2013-06-27 | 2014-12-31 | 成都中远信电子科技有限公司 | Portable ground surveillance radar signal processor |
| CN104290775A (en) * | 2014-09-26 | 2015-01-21 | 哈尔滨市特多佳调速技术开发中心 | Coupling area vehicle speed unit type automatic control system and control method thereof |
| CN106597426A (en) * | 2017-01-24 | 2017-04-26 | 桂林师范高等专科学校 | Vehicle-mounted speed measurement and range finding apparatus |
| CN108801660A (en) * | 2017-04-27 | 2018-11-13 | 南京理工大学 | A kind of test in laboratory device and method of bullet train emergency braking performance |
| CN108801660B (en) * | 2017-04-27 | 2020-06-19 | 南京理工大学 | Laboratory detection device and method for emergency braking performance of high-speed train |
| CN107167797A (en) * | 2017-05-04 | 2017-09-15 | 安徽超远信息技术有限公司 | A kind of Digital railway hump measure speed radar and its anti-disturbance method |
| CN107064924A (en) * | 2017-05-04 | 2017-08-18 | 安徽超远信息技术有限公司 | A kind of hump measure speed radar and its self checking method |
| CN107167797B (en) * | 2017-05-04 | 2020-01-03 | 安徽超远信息技术有限公司 | Digital railway hump speed measuring radar and anti-interference method thereof |
| CN107064924B (en) * | 2017-05-04 | 2020-02-18 | 安徽超远信息技术有限公司 | Self-checking method of hump speed measuring radar |
| CN110337759A (en) * | 2017-10-13 | 2019-10-15 | 株式会社友华 | High-frequency model |
| CN110337759B (en) * | 2017-10-13 | 2022-05-13 | 株式会社友华 | High frequency module |
| CN110146863A (en) * | 2019-06-19 | 2019-08-20 | 河南辉煌科技股份有限公司 | A kind of hump radar equipment on-line monitoring system and method |
| CN110146863B (en) * | 2019-06-19 | 2024-02-20 | 河南辉煌科技股份有限公司 | Hump radar equipment online monitoring system and hump radar equipment online monitoring method |
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