EP3300987A1 - Überwachungssystem für die erfassung, das management und die übertragung der betriebsdaten eines drehgestells und drehgestelle mit solchem system - Google Patents

Überwachungssystem für die erfassung, das management und die übertragung der betriebsdaten eines drehgestells und drehgestelle mit solchem system Download PDF

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Publication number
EP3300987A1
EP3300987A1 EP17191681.0A EP17191681A EP3300987A1 EP 3300987 A1 EP3300987 A1 EP 3300987A1 EP 17191681 A EP17191681 A EP 17191681A EP 3300987 A1 EP3300987 A1 EP 3300987A1
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EP
European Patent Office
Prior art keywords
bogie
monitoring system
node
axle
concentrator
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Granted
Application number
EP17191681.0A
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English (en)
French (fr)
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EP3300987B1 (de
Inventor
Leonardo Fabbri
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ECM SpA
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ECM SpA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/04—Detectors for indicating the overheating of axle bearings and the like, e.g. associated with the brake system for applying the brakes in case of a fault
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F15/00—Axle-boxes
    • B61F15/20—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/50—Other details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0081—On-board diagnosis or maintenance

Definitions

  • the present invention relates to the technical field of diagnostic systems of railway trains, and in particular concerns a monitoring system for acquiring, processing and transmitting operating data of a bogie and a bogie comprising said monitoring system.
  • Condition-based maintenance on railway train vehicles is undoubtedly more effective and economical with respect to scheduled maintenance.
  • the latter is notoriously based on periodically replacing elements according to probabilistic life expectancies, which are inaccurate and therefore require large safety margins; among other things, this type of approach sufficiently protects from normal wear but not from traumatic breakdowns or manufacturing defects, which are the causes of the most serious accidents.
  • condition-based maintenance results in the installation of also significantly complex monitoring apparatuses on board vehicles, often in prohibitive environments with contained spaces.
  • axles and wheels are important safety elements: indeed the most significant causes of risk for the safety of things and people result therefrom (obviously in addition to the braking system).
  • the breakdown of an axle or a wheel is a highly traumatic event and systematically causes a derailment, which then, when other circumstances concur, may result in serious accidents.
  • Low-frequency conventional monitoring is not capable of detecting a crack of the axle unless it is obvious, but at that point it evolves quickly and breaks and there is no guarantee whatsoever of succeeding in stopping the train before the risky event.
  • each train wagon has two bogies with two axles each.
  • More complex configurations - vehicles with more than two bogies or bogies with more than two axles - are limited to locomotives and particular applications for transporting goods.
  • the most significant diagnostics values - that is the operating data involved for a bogie - are the axle vibrations and the temperature of the bearing in which the axle rotates, which axle is contained in the so-called axle box.
  • the positioning of the sensors therefore is a factor that significantly affects the performance of diagnostics systems.
  • the positioning of the on-board monitoring apparatuses requires considering severe environmental stresses to which such apparatuses are subjected, as well as small spaces. Moreover, it generally is problematic to bring external power also in the case (locomotives, passenger cars) in which it is available on the vehicle.
  • Figure 1 shows a non-limiting embodiment of a bogie 1.
  • bogie 1 is one of two bogies of a railway freight wagon.
  • the teachings herein proposed are also applicable to other types of bogies, hence the scope of protection should not be limited to bogies of railway freight wagons.
  • bogie 1 comprises two axles 3, each provided with two wheels 4.
  • Bogie 1 comprises a bogie frame 2 which supports the two axles 3, and there is provided, between frame 2 and the axles 3, a suspension system 7, which in itself is generally known to those skilled in the art and for this reason not described in greater detail.
  • the bogie frame 2 comprises a lower face 8, facing the ground in a normal use condition and namely, facing a track and/or the ballast, and an opposite upper face 9, facing the frame of the railway vehicle, such as for example a wagon or car, in a normal use condition of bogie 2.
  • Bogie 1 comprises at least one axle box 5 arranged at one end portion of the railway axle 3 and at least one covering device 6 for covering the axle box 5, attached to the axle box 5.
  • the covering device 6 is adapted to define a respective inner compartment 26 between the axle box 5 and the covering device 6.
  • an axle box 5 generally comprises a bearing in which axle 3 rotates.
  • a bogie 1 comprises, for each axle 3, two axle boxes 5 arranged at opposite ends of axle 3. Since bogie 1 comprises two axles 3 in the embodiment in figure 1 , it is apparent that in such an embodiment, bogie 1 will comprise four axle boxes 5 and four respective covering devices 6.
  • a monitoring system for acquiring, processing and transmitting operating data of bogie 1 is applied to bogie 1.
  • the monitoring system comprises at least one sensor node 20a, 20b associated with the axle box 5 and comprising at least one sensor 21, 22 positioned in the inner compartment 26 adapted and configured to acquire diagnostic data of the axle box 5.
  • the monitoring system further comprises a concentrator node 50 attached to the bogie frame 2 outside the covering device 6 of the axle box 5.
  • the concentrator node 50 is operatively connected to at least the sensor node 20 by means of a wired connection line 40 to receive the diagnostic data acquired by sensor 21, 22.
  • the concentrator node 50 comprises at least one local processing unit 51 adapted to process the operating data acquired and to obtain processed data, and a radio communication interface 55 to transmit said processed data outside the concentrator node 50, for example to a land control station or to a diagnostic system on board a railway train installed for example in a locomotive.
  • the monitoring system comprises four sensor nodes 20a, 20b, each associated with a respective box 5.
  • the wired connection lines 40 are for example, multipolar conductors preferably provided with an outer protective casing, for example a metal braiding.
  • the concentrator node 50 is housed in a container attached to the lower face 8 of the bogie frame.
  • a container is installed on the bogie frame 2 so that the elastic suspension system 7 is operatively interposed between axle 3 (or the axles 3) and the container itself in order to reduce the vibrations to which the concentrator node 50 is subjected.
  • each of the sensor nodes 20, 20b comprises a temperature sensor 21 and an acceleration sensor 22, for example a MEMS triaxial accelerometer.
  • the number and type of sensors in each sensor node 20a, 20b may be varied according to the specific design needs.
  • At least one sensor node 20a, 20b comprises an electric generator 23 adapted to produce electrical power by converting part of the rotational kinetic energy of axle 3.
  • the electrical power produced by the electric generator 23 is used to feed the processing unit 51 and the radio communication interface 55 of the concentrator node 50.
  • such electrical power is transferred by the sensor node 20a, 20b to the concentrator node 50 by means of the wired connection line 40.
  • the electric generator 23 is designed and sized so as to provide 1 Watt when axle 3 rotates at a speed equal to one revolution per second. With the standard dimensions of the wheels, this corresponds to a speed of bogie 1 equal to 10 km/hour.
  • the power generated increases with almost quadratic trend as the rotation speed of the axle increases. This allows the concentrator node 50 to be continuously fed, even if it is provided with a processing unit with increased processing power and large data flows to be transmitted outside.
  • the electric generator 23 comprises a rotor attached to an end portion of axle 3 adapted to integrally rotate with axle 3 along the rotation axis of axle 3, and at least one stator external to box 5 (and therefore are also external to the bearing therein housed) and attached to the latter, for example attached to the covering device 6.
  • the electric generator 23 is a synchronous polyphase alternator, e.g. a three-phase alternator.
  • the electric generator 23 comprises a stator winding wound on metal plate rather than in the air. This advantageously allows to minimize the air gaps and optimize the production of energy at low revolutions.
  • two sensor nodes 20a out of four comprise an electric generator 23, this both to increase the electrical power produced and to ensure a given redundancy, for example when one of the two generators breaks down. It is apparent that a different number of electric generators 23, or one electric generator 23 alone, may be provided.
  • the concentrator node 50 comprises a storage device for the power produced by the electric generator 23.
  • the aforesaid storage device comprises a supercapacitor 52.
  • This type of capacitor is a device similar to a normal capacitor, but it is particularly advantageous because it is made with techniques which allow capacities of hundreds or thousands of farads to be reached.
  • Such a supercapacitor 52 serves the function of tank for momentarily overcoming absorptions of energy by the monitoring system which are greater than the electrical power generated and, unlike a rechargeable battery, does not require any periodic maintenance given that it has an operating life at least of a greater order of magnitude with respect to a rechargeable battery.
  • the radio communication interface 55 comprises a pair of directional Wi-Fi antennas 56 reciprocally oriented in opposite directions along, or parallel to, a driving axis of the bogie 1.
  • the radio communication interface 55 comprises at least one Wi-Fi transceiver 55 operatively connected to the two antennas 56. If the concentrator node 50 is installed on the lower face of the frame 2 of bogie 1 and includes two opposed Wi-Fi antennas 56, the positioning of the Wi-Fi antennas is optimal because the ballast, the tracks and the frame itself of bogie 1 form a waveguide for the frequencies involved. This allows reliable communications to be carried out and the energy output to be reduced.
  • bogies 1 of a railway train 100 may be put into communication with one another to create a train network by putting several concentrator nodes 50 into communication with one another, each associated with the respective bogie 1.
  • all bogies 1 of all train wagons 101 are provided with the concentrator node 50 (with which there are associated one or more respective sensor nodes, not shown in figure 3 ).
  • the plurality of bogies 1 of the railway train 100 defines as a whole a linear array of two-by-two adjacent boogies, and in the linear array, the concentrator node 50 of a bogie 1 is adapted and configured to communicate by means of the radio communication interface 55 with the concentrator nodes 50 of the bogies of the railway train 100 which are adjacent thereto along the linear array.
  • the above-described monitoring system also may be associated with the axles 3 of locomotive 110 of the railway train 100, for example by associating a concentrator node 50 of the type described above with each of the two bogies of locomotive 110.
  • An on-board diagnostic unit 111 operatively connected to all the concentrator nodes 50 may also be provided on board the locomotive 110, which nodes practically serve as signal repeaters for the adjacent concentrator nodes 50.
  • the on-board diagnostic unit 111 is a hardware and software system which allows the operating or maintenance personnel on board the train to be informed, for example by means of a graphic interface, of possible breakdowns or the risk of breakdowns. The same information may alternatively or additionally be sent to a ground control station.
  • the configuration of the diagnostic system in figure 3 from now on will be called "full train equipment".
  • the concentrator nodes 50 process the data (or the signals) acquired by the sensor nodes 20a, 20b.
  • Processing means any analog and/or digital processing, including filtering, sampling, executing algorithms adapted to identify if the components of the bogie satisfy a condition of regularity or anomaly, generating alarms, coding and compressing data.
  • the container of the concentrator node 50 preferably is made of metal material, e.g. steel. If there are provided Wi-Fi antennas on board the concentrator node 50, they may be installed outside the container or alternatively inside, by providing dielectric material windows in the container which allow to transmit and receive the radiofrequency signals.
  • Figure 4 shows a general block diagram of an alternative embodiment of the diagnostic system in figure 3 , in a configuration which here will also be called "vehicle equipment”.
  • the concentrator node 50 may be provided without the Wi-Fi transceiver 55 and the Wi-Fi antennas 56, or at least it may be provided for such elements not to be used, when present.
  • the concentrator node 50 may be provided to have a radio communication interface 54 which is a GSM and/or GPRS modem or generally a digital mobile radio communication interface.
  • At least one of the sensor nodes (here, one of the two sensor nodes 20b) to comprise a GSM and/or GPRS antenna 24 or generally an antenna adapted and configured to establish a radio connection with a digital mobile radio network.
  • antenna 24 housed in the sensor node 20b is connected to the mobile radio communication interface 54 of the concentrator node 50 by means of the wired connection line 40.
  • at least one of the sensor nodes 21a, 21b of bogie 1 also comprises a GPS antenna 25.
  • the concentrator node 50 further comprises a satellite tracking unit (not shown in the drawings) operatively connected to said GPS antenna 25, for example by means of the wired connection line 40.
  • the presence of the GPS antenna and of the satellite tracking unit advantageously allows the position of bogie 1 to be detected, or the position to be identified of a stretch of track at which the monitoring system detects anomalous vibrations.
  • one same sensor node 21b comprises both the mobile radio antenna 24 and the GPS antenna 25, but a different distribution of such antennas may clearly be provided.
  • the covering device 6 may be made of metal material, as long as there is provided one or more dielectric windows which are transparent to the electromagnetic radiations in the band involved.
  • the processing unit 50 may be provided with two channels, for example two separate processors, and have two radio communication interfaces.
  • the processing unit 51 in the concentrator node 50 may be split into two separate processing units (also called channels), there may be provided two radio communication interfaces 55 and four antennas 56 arranged so as to form two pairs of directional antennas directed in opposite directions to each other, in which two antennas oriented in opposite direction are operatively connected to one of the two radio communication interfaces and the remaining to the other radio communication interface. There is no need instead to duplicate supercapacitor 52 or generally an electrical power storage device.
  • the processing unit 51 in the concentrator node 50 may be split into two separate processing units (or channels), there may be provided two mobile radio communication interfaces 54, one mobile radio antenna 24 in each sensor 20b and possibly two GPS antennas in each sensor 20b. Also in this case, there is no need instead to duplicate supercapacitor 52 or generally an electrical power storage device.
  • each channel is connected to the four triaxial accelerometers, i.e. the ones as a whole existing in the four sensor nodes 20a, 20b of bogie 1.
  • the four inlets are considered primary and two secondary.
  • the triaxial accelerometers connected to the primary inlets of one channel are connected to the secondary inlets of the other channel, and vice versa.
  • each channel is connected to the four temperature sensors, that is the ones as a whole existing in the four sensor nodes of bogie 1.
  • two inlets are considered primary and two secondary.
  • the temperature sensors connected to the primary inlets of one channel are connected to the secondary inlets of the other channel, and vice versa.
  • each channel is connected to four antennas.
  • they are the existing two GPS antennas and the two GSM antennas in two sensor nodes 2b of a bogie.
  • the full train equipment In the "full train equipment” system configuration, they are the four directional Wi-Fi antennas comprised in the concentrator node 50.
  • two antennas are considered primary and two secondary.
  • each of the 2 GSM antennas contained in the two sensor nodes 20b connected to the primary interface of one channel is connected to the secondary interface of the other channel.
  • each of the two GPS antennas contained in the two sensor nodes 20b connected to the primary interface of one channel is connected to the secondary interface of the other channel.
  • two directional antennas oriented in opposite direction to each other are connected to the primary interfaces of one channel.
  • the other two are connected to the secondary interfaces.
  • the connections are inverted on the other channel.
  • the two channels preferably are designed to create a hybrid mechanism of cooperation based both on the sharing of memory and on the exchange of messages.
  • the first mechanism is more effective when significant quantities of data are to be transferred between the channels.
  • the second mechanism is more effective for sharing events with short latency periods.
  • the concentrator node 50 includes a memory bank shared between the two channels, and furthermore the channels are connected to each other by means of fast serial lines.
  • each channel In the rated operation, in the absence of breakdowns, each channel processes the information from the triaxial accelerometers and from the temperature sensors connected to its primary inlets. In the rated operation, in the absence of breakdowns, in the "vehicle equipment" system configuration, each channel of the data concentrator (50) geo-references its processed data by means of its GPS control electronics and the GPS antenna connected to the primary interface thereof, and sends its processed data by means of its GSM control electronics and the GSM antenna connected to the primary interface thereof.
  • each channel of the data concentrator participates in creating the wireless train network by means of its Wi-Fi communication apparatus and the directional Wi-Fi antennas connected to its primary interfaces.
  • Each channel sends its processed data on the wireless train network to the diagnostic unit 111, which collects the data of all the concentrator nodes on the train and executes the predictive diagnostic analysis.
  • the diagnostic unit 111 preferably includes a GSM apparatus and a GPS apparatus and is responsible for all communications with the ground subsystem and for data localization.
  • each channel is capable of diagnosing the breakdown condition for each of the connected elements, sensors and antennas, and for its communication electronics, GPS, GSM, Wi-Fi.
  • each channel is capable of informing the other channel of the breakdown of its elements, the other channel accordingly is responsible for some of the actions which the first channel may no longer execute.
  • the other channel in the case of the breakdown of the GPS control electronics of one channel or of the GPS antenna connected to its primary interface, the other channel provides its GPS localization on the shared memory bank.
  • the channel in the case of the breakdown of the GSM control electronics of one channel or of the GSM antenna connected to its primary interface, the channel provides its messages to be transmitted on the shared memory bank and the other channel transmits them.
  • the channel in the case of the breakdown of the Wi-Fi communication apparatus of one channel or of both the directional Wi-Fi antennas connected to its primary interface, the channel provides its messages to be transmitted on the shared memory bank and the other channel transmits them on the wireless train network.
  • the integral channel also provides the incoming messages from the wireless train network on the shared memory bank.
  • Each channel preferably is capable of diagnosing the condition of complete breakdown of the other channel using periodic vitality messages exchanged on the serial lines.
  • the other channel also processes the data of the triaxial accelerometers and of the temperature sensors connected to its secondary inlets and sends the processing results to the ground subsystem or to the on-board diagnostic unit, according to the system configuration.
  • the surviving channel in the case of the breakdown of one of the antennas thereof, uses the corresponding antenna of the malfunctioning channel connected to its secondary interface.
  • no redundancy for the triaxial accelerometers and the temperature sensors is provided in a sensor node.
  • the data are no longer available.
  • the axle has a sensor at both ends and the data thereof are not unrelated.
  • all the breakdowns identified are reported to the ground subsystem for planning maintenance actions.
  • the minimum degraded configuration in which all the functionalities are still active is the one in which one channel survives with all the GPS and GSM communication electronics thereof, either one of the two GPS antennas, either one of the two GSM antennas, either one of the two electric generators 23.
  • the minimum degraded configuration in which all the functionalities are still active is the one in which one channel survives with all the Wi-Fi communication electronics thereof, either one of the two directional Wi-Fi antennas and either one of the two directional Wi-Fi antennas facing in the opposite direction, either one of the two electric generators 23.
  • the monitoring system of the type described above allows the preset objects to be completely achieved in terms of overcoming the drawbacks of the known art.
  • the aforesaid system is particularly simple to install.
  • the concentrator node may be attached to the lower face of the bogie by means of one or more permanent magnets so as not to require modifications to the bogie.
  • the sensor nodes 20a may be attached to the bearings by attaching the covering device 6 in place of the covering devices generally provided on the bearings so as to use fastening elements already provided on the bearings.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP17191681.0A 2016-09-20 2017-09-18 Ein drehgestell und ein überwachungssystem für die erfassung, das management und die übertragung der betriebsdaten der drehgestelle Active EP3300987B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102016000094095A IT201600094095A1 (it) 2016-09-20 2016-09-20 Sistema di monitoraggio per l’acquisizione, l’elaborazione e la trasmissione di dati di funzionamento di un carrello ferroviario e carrello ferroviario comprendente detto sistema

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EP3300987B1 EP3300987B1 (de) 2021-11-10

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019180481A1 (en) * 2018-03-19 2019-09-26 Ecm Spa A monitoring system for acquiring, processing and transmitting operating data of a bogie and bogie comprising said system
WO2020198801A1 (en) * 2019-04-04 2020-10-08 Colin Cole System and method for monitoring a plurality of vehicle or infrastructure components
EP3792141A1 (de) * 2019-09-13 2021-03-17 Nabtesco Corporation Eisenbahnzustandsüberwachungsvorrichtung
US10988150B2 (en) * 2015-12-17 2021-04-27 Kawasaki Jukogyo Kabushiki Kaisha Railcar state monitoring device and train set including same
CN113247046A (zh) * 2021-05-28 2021-08-13 北京时域智控技术有限公司 一种铁路货车车载监测装置及其运行方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003156037A (ja) * 2001-11-22 2003-05-30 Nsk Ltd 軸受情報伝達装置
WO2005105536A1 (en) * 2004-05-03 2005-11-10 Sti Rail Pty Ltd Train integrity network system
US20070208841A1 (en) * 2006-03-01 2007-09-06 L-3 Communications Corporation Self-assembling wireless network, vehicle communications system, railroad wheel and bearing monitoring system and methods therefor

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009521902A (ja) * 2005-12-23 2009-06-04 エーエスエフ−キーストーン インコーポレイテッド 列車監視システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003156037A (ja) * 2001-11-22 2003-05-30 Nsk Ltd 軸受情報伝達装置
WO2005105536A1 (en) * 2004-05-03 2005-11-10 Sti Rail Pty Ltd Train integrity network system
US20070208841A1 (en) * 2006-03-01 2007-09-06 L-3 Communications Corporation Self-assembling wireless network, vehicle communications system, railroad wheel and bearing monitoring system and methods therefor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10988150B2 (en) * 2015-12-17 2021-04-27 Kawasaki Jukogyo Kabushiki Kaisha Railcar state monitoring device and train set including same
WO2019180481A1 (en) * 2018-03-19 2019-09-26 Ecm Spa A monitoring system for acquiring, processing and transmitting operating data of a bogie and bogie comprising said system
WO2020198801A1 (en) * 2019-04-04 2020-10-08 Colin Cole System and method for monitoring a plurality of vehicle or infrastructure components
EP3792141A1 (de) * 2019-09-13 2021-03-17 Nabtesco Corporation Eisenbahnzustandsüberwachungsvorrichtung
CN113247046A (zh) * 2021-05-28 2021-08-13 北京时域智控技术有限公司 一种铁路货车车载监测装置及其运行方法
CN113247046B (zh) * 2021-05-28 2023-10-13 北京时域智控技术有限公司 一种铁路货车车载监测装置及其运行方法

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IT201600094095A1 (it) 2018-03-20

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