KR100948960B1 - Measuring system of catenary contact and impect force - Google Patents

Abstract

The present invention relates to a contact force and an impact acceleration detection system of a tramline, and a sensor measuring device for measuring the contact force and acceleration information of the pantograph and the tramline and converting the measurement data into measurement data, and receiving the measurement data from the sensor measuring device and receiving the pantograph. And a data analysis device for analyzing the contact force and the impact acceleration between the and the tramline.

According to the present invention, the contact force and the impact acceleration of the tramline and the pantograph are measured, and using the statistical processing functions for the average contact force and standard deviation, the current collection quality is analyzed based on this, and the mechanical shock is analyzed to analyze the electric shock and the pantograph. It is effective to maintain the best current collecting state continuously and stably.

Catenary, Pantograph, Contact Force, Impact Acceleration

Description

Measurement system of catenary contact and impect force}

1 is a principle diagram shown to explain the contact force between the tram line and the pantograph,

2 is a conceptual diagram of a system for detecting contact force and impact acceleration of a vehicle lane according to the present invention;

3 is a view showing for explaining the installation position of the sensor unit according to the present invention,

4 is a system configuration diagram for detecting contact force and impact acceleration of a catenary according to the present invention,

5 is a detailed configuration of the sensor measuring unit according to the present invention,

6 is a cross-sectional view of the installation of the sensor measuring unit according to the present invention;

7 is a detailed configuration diagram of a second light transmission and reception unit according to the present invention;

8 is a detailed configuration diagram of a data collecting device unit according to the present invention;

9 is a view showing an example of the contact force and the impact acceleration detection data screen of the tank line according to the present invention.

*** Explanation of symbols for main parts of drawing ***

1: pantograph 2: tramline

3: train 100: sensor measuring device

110: sensor portion 112: strain gauge

114: acceleration sensor 120: sensor measurement unit

122: signal conditioner 124: A / D converter

126: data acquisition / measurement control computer 130: first optical transceiver

132: first optical wireless LAN 140: battery

160: wireless remote control 200: data analysis device

210: second optical transceiver 212: second optical LAN

214: first optical conversion device 218: second optical conversion device

220: data collection unit 222: industrial computer

230: power supply unit 240: power conversion unit

300: monitoring system

The present invention relates to a system for detecting contact force and impact acceleration of a tramline, and more specifically, analyzing measurement data of a train to periodically monitor current collection quality and dynamic characteristics of a pantograph according to track conditions and driving patterns. It relates to a system that measures the contact force and impact acceleration of a tramline in order to quantify its performance so that the tramline and pantograph can maintain the best state of current collection.

In general, trains in commercial operation, especially high-speed trains, operate using electric energy received from a tank line as a motive force, depending on how stably the pantograph installed on the train follows the tank line and collects them. The driving performance such as towing or braking of the train depends on it.

Such a contact force between the tramline and the pantograph is an equilibrium of force at the point where the tramline and the pantograph current collector contact each other when the train is stationary or while driving, and the equilibrium state of the force and the contact force in the vertical direction are shown in FIG. As shown in Fig. 2, the static spring force, which is the force that the main spring of the pantograph 1 pushes up the current collector plate, and the lift force generated when the train travels at high speed are combined to obtain a time-averaged average of the equilibrium force when contacting the tank line. Average contact force ”, the equilibrium state between the forces is expressed by the following equation (1).

Fi = -Fc + Fa + Fs -------------- Formula (1)

At this time, the 'Fc' is the contact force (contact force, contact between the tank line and the current collector plate), 'Fi' is the inertia force (inertia force, pantograph vertical movement), 'Fs' is the spring force (spring force, spring) Static pressure), and 'Fa' is the aerodynamic uplifting force.

However, the inertial force (Fi) caused by the pantograph's acceleration in the up and down direction when contacted along the up and down vibration of the running train and the current movement of the tramline is in the up and down (+,-) direction based on the equilibrium height of the stationary state. Since the alternating movement of the action direction changes, the average time value is offset to '0', so the average contact force (Fc) between the tramline and the pantograph is given by Equation (2) below.

Fc = Fa + Fs -------------- Formula (2)

As can be seen from Equation (2), the average contact force Fc can be obtained by the sum of the static compressive force Fs of the main spring and the air lift Fa in the high-speed band.

Typical standards for evaluating current collection quality include the EN standard and the UIC code, and the evaluation and evaluation of the current collection quality by looking at these standards and comparisons on the average contact force measured in the high-speed railway current collector system, especially for high-speed trains, Big results can be expected in terms of speed and safety.

On the other hand, most of the pantograph (1) accidents are due to a collision with the tram line (2) equipment that has an abnormality, so that if the collision can be detected immediately, the damage can be minimized by preventing the expansion of the accident.

Accordingly, the present invention has been made in view of this point, the object of the present invention is to measure the contact force and impact acceleration of the tank line and pantograph to ensure that the tank line and pantograph continuously maintain the best state of current collection and The present invention provides an impact acceleration detection system.

The present invention for achieving the above object;

A sensor measuring device for measuring contact force and acceleration information between the pantograph and the tramline and converting the measured information into measurement data; And a data analysis device for receiving measurement data from the sensor measuring device and analyzing contact force and impact acceleration between the pantograph and the vehicle line.

The sensor measuring device may include a sensor unit for measuring contact force and acceleration information between the pantograph and the tramline, a sensor measurer for digitalizing the contact force and acceleration information measured by the sensor unit and converting the measured contact force and acceleration information into measurement data; And a first optical transmitter / receiver for converting the measurement data of the sensor measurement unit into an optical signal and transmitting it, a battery for supplying power, and a DC-DC converter for converting the battery power to a constant voltage and supplying the measured voltage to the sensor measurement unit. It features.

The data analyzing apparatus analyzes and stores an average contact force by using a second optical transmission receiver that receives measurement data transmitted from the first optical transmitter and a measurement data received through the second optical transmitter and receiver. And a power supply unit for supplying driving power.

In addition, the sensor unit is characterized by consisting of a strain gauge is installed on both ends of the bow connection frame of the pantograph to measure the contact force, and an acceleration sensor installed between the bow connection frame and the primary spring to measure the acceleration.

And, the sensor measuring unit; A signal conditioner for amplifying the contact force and the acceleration signal measured by the sensor unit at a constant ratio, an A / D converter for converting the contact force and the acceleration signal amplified by the signal conditioner into digital measurement data, and an A / D converter thereof And a data collection / measurement control computer for calculating and processing the measurement data input from the data.

The first optical transmitter / receiver may include a first optical wireless LAN configured to convert measured data of the sensor measuring unit into a wireless optical signal and transmit and receive the wireless optical signal.

The wireless sensor further includes a wireless remote controller for turning on / off the power supply of the sensor measuring unit and the first optical transmitting and receiving unit.

In addition, the second optical transmission receiver; A second optical wireless LAN for receiving a wireless optical signal from the first optical wireless LAN of the first optical transmitting and receiving unit, a first optical conversion device for converting the wireless optical signal received by the second optical wireless LAN into optical data; And an optical cable for transmitting the optical data of the first optical conversion device, and a second optical conversion device for converting the optical data transmitted through the optical cable into an electrical signal and outputting the electrical signal to the data collection device.

The data collection device unit may receive train speed data, image data, and GPS time data from a monitoring system.

In addition, the data collecting device unit; An industrial computer for generating measurement data by analyzing average contact force and standard deviation with the measurement data and performing statistical processing on average contact force and standard deviation, a keyboard / mouse for inputting conditions, a monitor for displaying the detection data, It is characterized by consisting of a UPS for supplying power.

Hereinafter, the characteristics will be understood by the embodiments described in detail with reference to the accompanying drawings, the contact force and the impact acceleration detection system of the tank according to the present invention.

At this time, Figure 1 is a schematic diagram illustrating the contact force between the tramline and the pantograph, Figure 2 is a conceptual diagram for detecting the contact force and impact acceleration of the tramline according to the present invention, Figure 3 is a sensor unit according to the present invention Figure 4 is a view showing the installation position, Figure 4 is a system configuration for detecting the contact force and the impact acceleration of the vehicle lane according to the invention, Figure 5 is a detailed configuration of the sensor measuring unit according to the invention, Figure 6 7 is a detailed configuration diagram of a second light transmission and reception unit according to the present invention, FIG. 8 is a detailed configuration diagram of a data collection device unit according to the present invention, and FIG. FIG. 1 shows an example of a contact force and an impact acceleration detection data screen of a catenary.

2 to 4, the contact force and the impact acceleration detection system of the tank line according to the present invention is a sensor measuring device for measuring the contact force and acceleration of the pantograph (1) and the tank line (2) and converts it into measurement data in a digital format ( 100 and a data analysis device 200 for analyzing the contact force and the impact acceleration between the pantograph 1 and the catenary line 2 using the measurement data transmitted through the sensor measuring device 100.

At this time, the train is required to have a good current collection system, the driving performance of the train, that is, the traction performance and braking performance depends on how well the vehicle is stable while following the tramline, in particular, only one trillion of two sets of current collection system at high speed The current collector of a high-speed train that contacts and supplies power to the tramline requires higher reliability and followability, so the contact force and acceleration between the tramline (2) and the pantograph (1) are measured to measure the pantograph (3) of the train (3). 1) Continuous maintenance and improvement efforts are needed by periodically monitoring current collection quality and dynamic characteristics and quantifying their performance.

Therefore, in the present invention, the contact force and the impact acceleration between the vehicle line 2 and the pantograph 1 are analyzed by using the sensor measuring device 100 and the data analyzing device 200.

At this time, the sensor measuring device 100 is installed on the PC1 vehicle tower of the train (3), the data analysis device 200 is installed inside the TMC vehicle of the train pantograph (1) of the high speed driving train (3) ) And the performance of the collection between the tank line (2).

On the other hand, the data analysis device 200 is linked with the existing monitoring system 300, GPS, wheel information in order to be able to check the trajectory (2) followability at a specific measurement position, and analyzes the measured data by moving It is also possible.

At this time, the monitoring system 300 receives the speed and distance code information received from the speed distance meter and the same time code information transmitted through the GPS receiver.

Hereinafter, the respective components will be described in detail.

First, the sensor measuring device 100 digitizes the sensor unit 110 for measuring contact force and acceleration information between the pantograph 1 and the catenary line 2, and the contact force and acceleration information measured by the sensor unit 110. Sensor measurement unit 120 to calculate the measurement data, the first optical transmission and reception unit 130 for transmitting the measurement data as an optical signal, the battery 140 for supplying a constant power supply, and the power supply of the battery 140 Is converted into a constant voltage and supplied to the sensor measuring unit 120 and the optical wireless LAN 132 of the first optical transmitting and receiving unit 130, the DC-DC converter 150, the sensor measuring unit 120 and It is composed of a wireless remote controller 160 for turning on / off the power supply of the first optical transmission and reception unit 130.

In this case, the wireless remote controller 160 can be used on the ground, and through this, in order to measure the contact force and the acceleration signal, the power switch so that power is supplied to the sensor measuring unit 120 using the wireless remote controller 160 before the measurement starts. When not shown), the sensor measuring unit 120 is automatically booted to start the measurement. On the other hand, when the measurement is finished, when the sensor measuring unit 120 is shut down (Shutdown), the power is turned off using the wireless remote controller 160. When the power switch of the wireless remote controller 160 is off (Off), the sensor measuring unit 120 is automatically shut down.

On the other hand, the battery 140 has a capacity that can be operated for at least 9 hours, the battery 140 is manufactured in the form integrated into the sensor measuring unit 120, the charging device for charging the battery 140 It is preferable to provide further. In addition, the battery 140 is a structure that can be detachably removable, it is preferable to configure so as to withstand vibration when moving the train.

The sensor unit 110 includes a strain gauge 112 installed at both ends of the bow connection frame 1a to measure contact force, and an acceleration sensor 114 to measure acceleration. 114 is a parallel plate of the lower portion of the bow connection frame (1a) is provided with a first acceleration sensor (114a) for measuring the first impact on the bow connection frame (1a), the first acceleration sensor (114a) is installed The second accelerometer 114b is installed at the upper part, and the third accelerometer 114c is installed at the rising arm of the lower portion of the parallel plate on which the second accelerometer 114b is installed, and measured from the acceleration sensors 114. Accurate impact acceleration is measured by averaging or averaged accelerations.

More specifically, the four strain gauges 112 are attached to each end of the bow connecting frame 1a at 9 cm points with cyanoacrylate (CYANOACRYLATE), which is an instant adhesive, so as not to be affected by noise. It is wrapped around with fusion tape and shielded with aluminum tape.

In addition, the acceleration sensor 114 is first attached with cyanoacrylate (CYANOACRYLATE), and secondly fixed by applying around the acceleration sensor 114 using a urethane adhesive.

At this time, the strain gauge 112 is applied by applying a polyurethane (POLYURETHANE) coating agent in order to not affect the waterproof and insulation and strain of the strain gauge 114, and secondly finished with aluminum tape shield ( Shield) effect, and the acceleration sensor 114 is also finished with a polyurethane coating and aluminum tape like the strain gauge 112.

The contact force and acceleration information sensed by the strain gauge 112 and the acceleration sensor 114 of the sensor unit 110 are converted into measurement data in a digital format by the sensor measurement unit 120.

On the other hand, the contact force and the acceleration information measured by the sensor unit 110 is an analog signal, and the level is weak, so it is not easy to analyze the data.

Accordingly, the sensor measuring unit 120 converts the contact force and the acceleration signal measured by the sensor unit 110 into a high level signal amplified by a predetermined ratio, as shown in FIG. 5. A) and an A / D converter 124 for converting the contact force and the acceleration signal amplified by the signal conditioner 122 into measurement data in digital form, and for processing the digital data through the A / D converter 124. Data collection / measurement control computer 126.

At this time, the data collection / measurement control computer 126 controls the signal conditioner 122 and the A / D converter 124 to collect and measure the data measured from the sensor unit 110, and the measured data The first optical transmitter / receiver 130 is controlled to transmit to the analysis apparatus 200.

On the other hand, the measurement data on the contact force and the acceleration converted into digital data in the sensor measuring unit 120 is transmitted through the first optical transmission and reception unit 130.

In this case, the first optical transmitter / receiver 130 of the sensor measuring apparatus 100 performs optical communication for data transmission and reception with the data analysis apparatus 200. Such a first optical transmitter / receiver 130 transmits measurement data wirelessly. The first optical wireless LAN 132 is converted into an optical signal and transmitted and received.

On the other hand, the safety of the communication path insulation between the vehicle tower and the vehicle phase should be selected as a proven system considering the electrical effects that may occur during operation.

Therefore, the data analysis device 200 for receiving the information transmitted through the first optical transmission and reception unit 130 is an optical cable for the electrical connection of the data measurement operating in the high voltage environment of the sensor measuring device 100 and 25KV Use

In addition, the data analysis apparatus 200 installed on the vehicle includes a second optical transmission receiver 210 receiving the measurement data transmitted from the first optical transmitter and receiver 130, and the second optical transmitter and receiver 210. A data collection unit 220 for collecting measurement data received through the power supply unit 230 for supplying power, and a power conversion unit for supplying a DC voltage for driving to the first optical transceiver 210; 240).

As shown in FIG. 7, the second optical transmitter 210 of the data analysis apparatus 200 receives a wireless optical signal from the first optical WLAN 132 of the first optical transmitter 130. 2 optical wireless LAN 212, a first optical conversion device 214 for converting a wireless optical signal received by the second optical wireless LAN 212 into optical data, and an optical cable 216 for transmitting the optical data. And a second optical conversion device 218 for converting optical data transmitted through the optical cable 216 into an electrical signal.

In this case, the second optical wireless LAN of the second optical transmission and reception unit 210 is located at a distance separated from the optical wireless LAN 132 of the first optical transmission and reception unit 130 installed in the sensor measuring device 100. It is insulated by installing 212.

At this time, the light transmitting portion and the light receiving portion of the first optical wireless LAN 132 and the second optical wireless LAN 212 is naturally installed to adjust the angle to face each other.

Meanwhile, the wireless optical signal received by the second optical wireless LAN 212 is converted into optical data through the first optical conversion device 214, and is then converted into optical data through the second optical conversion device 218 via the optical cable 216. It is converted into normal measurement data.

At this time, all the equipments and devices are built in a reliable system that is protected against induced voltage and EMI (Electromagnetic Induction) in order to be safe in the environment directly affected by AC 25KV high voltage, to prevent abnormal operation and noise inflow. desirable.

On the other hand, the data collection unit 220 is to share the train speed data, image data, GPS time data linked to the measurement data with the existing monitoring system 300.

Accordingly, the on-vehicle data analyzing apparatus 200 stores the train speed data, the image data, and the GPS time data in association with the measurement data received from the sensor measuring apparatus 100, and thus the average contact force and the standard deviation according to the measurement conditions and the environment. Statistical processing is performed, the quality of current collection is analyzed, and segmentation or integrated analysis is possible.

To this end, the data collection device unit 220 must be hardware and software linked to the same time code, the same speed code, the same distance information, the same monitoring image information and the existing monitoring system 300.

Such a data collection device 220 is installed inside the vehicle in order to collect, control, and analyze in the vehicle using the measurement data transmitted from the sensor measuring device 100 and must be accommodated in a separate rack, and the existing RFID is included together. Install integrated.

Therefore, the data collection device 220 stores the measured data in units of sensor detection time as shown in FIG. 8, and analyzes the average contact force and the standard deviation using the data, and performs statistical processing on the average contact force and the standard deviation. Industrial computer 222, a keyboard / mouse 224, and a monitor 226 is provided, and a UPS 228 for supplying a stable power is provided, the detection data is provided through the monitor 226 It can be checked in real time, and the storage of the detection data is stored and analyzed in units of sensor detection time.

In this case, the detection data is displayed to be confirmed in real time through the monitor 226 even during system operation, and the measurement data is stored in a time unit (eg, 0.67 ms interval) at which the data is measured.

The measurement information is used to analyze average contact force, maximum contact force, minimum contact force, and mechanical impact.

At this time, the criteria for evaluating the current quality of pantograph for the railway line in the high-speed railway current collecting system are European EN standard and UIC code, and two methods are proposed as an evaluation method. There is a method and a method of measuring the difference between the average contact force and the standard deviation of the measured contact force by measuring the actual contact force, but in the present invention to evaluate the current quality of the pantograph for the tramline by measuring the actual contact force. The contact force is measured and based on this, the quality of current collection is analyzed based on the statistical processing functions for average contact force and standard deviation. Therefore, the contact force is obtained using the measurement data of the sensor unit 110, and the average contact force, the maximum contact force, and the minimum contact force are calculated by the industrial computer 222 to analyze the mechanical shock.

At this time, the contact force of the pantograph (1) is determined based on the two-wire characteristics and the current collection quality (if the difference between the average contact force and three times the standard deviation is greater than zero, the current collector quality is good).

Pantograph (1) In order to detect collision with the catenary system in the event of an accident, it is considered to install an accelerometer on the pantograph (1) and detect it.However, the degree of damage and impact acceleration of the pantograph (1), or with a sensor Since the relationship between position and acceleration is inaccurate, the acceleration sensor is installed on the lower part of the current collector plate and the upper part of the central spring box to quantitatively clarify the relationship between the abnormal state of the lane and the acceleration received by each part of the pantograph (1). Attach. Therefore, the impact acceleration in the event of a collision with a tanker or a tanker that has an abnormality is about 0.0012 seconds in duration, and it is about 20 ~ 120 times in the current collector plate and 5-50 times in the central spring box in the normal state. It is judged whether abnormality is detected by acceleration measurement of the box.

At this time, as can be seen in the graph of Figure 9 it can be confirmed that the acceleration of the central spring box at the time of collision is increased by more than 200 than usual.

On the other hand, such an analysis is preferably to build a database by various analysis units such as time, section, region, etc., and to store and manage the data for each analysis unit, all the measurement data is filtered according to the user's desired search conditions to meet the data It is also preferable to configure only to display.

Hereinafter, a detection process of a contact force and an impact acceleration detection system of a vehicle lane according to the present invention will be described with reference to FIGS. 1 to 9.

When the contact force and acceleration information measured from the strain gauge 112 and the acceleration sensor 114 installed in the pantograph 1 of the vehicle tower are sensed, it is input to the sensor measuring unit 120.

The sensor measuring unit 120 amplifies the contact force and the acceleration information in the signal conditioner 122 and converts it into digital measurement data while passing through the A / D converter 124.

Such measurement data is computed by the data collection / measurement control computer 126 to be transmitted through the first optical transmission / reception unit 130.

The measurement data transmitted through the first optical transmitter / receiver 130 is received by the second optical transmitter / receiver 210 of the data analysis apparatus 200. That is, the wireless optical signal is received by the second optical wireless LAN 212 of the second optical transmission and reception unit 210, which passes the optical cable 216 with optical data while passing through the first optical conversion apparatus 214 that converts the optical data into optical data. It is transmitted through the second light conversion device 218 and received by the data collection unit 220.

At this time, the data collection unit 220 is the contact force and acceleration measurement data received through the sensor measuring device 100 and the speed and distance code information monitored by the existing monitoring system 300 from the speed distance measurer 310 And the same time code information monitored through the GPS 312 is received.

The collected information is analyzed and displayed on the monitor 226 by analyzing the average contact force, the maximum contact force, the minimum contact force, and the mechanical impact between the tramline and the pantograph 1.

In addition, the data collecting device 220 may check the analysis information for each specific time or condition by setting the condition by the user using the keyboard / mouse 224.

Although the preferred embodiment of the present invention has been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to the scope of the present invention to be substantially equivalent to the embodiment of the present invention. Various modifications can be made by those skilled in the art without departing from the scope of the present invention.

As can be seen from the above description, according to the present invention by measuring the contact force and the impact acceleration of the tramline and pantograph using the statistical processing function for the average contact force, standard deviation, etc. based on this to analyze the current collection quality mechanical By analyzing the impact, the tramline and pantograph have the effect of maintaining the best current collecting state continuously and stably.

Claims (10)

The contact force and acceleration information of the pantograph and the tramline are measured and converted into measurement data, but the sensor unit measures the contact force and acceleration information between the pantograph and the tramline, and the contact force and acceleration information measured by the sensor unit are digitally measured. A sensor measuring unit for converting the data into a data, a first optical transmitting and receiving unit for converting the measured data of the sensor measuring unit into an optical signal, and transmitting the battery; a battery for supplying power; A sensor measuring device composed of a DC-DC converter for supplying; A second optical transmission receiver receiving the measurement data from the sensor measuring device and analyzing the contact force and the impact acceleration between the pantograph and the tramline, and receiving the measurement data transmitted from the first optical transmitter and receiver; It is composed of a data analysis device consisting of a data collection device for analyzing and storing the average contact force by using the measurement data received through the transmission and reception, and a power supply for supplying driving power; The sensor unit is composed of a strain gauge installed on both ends of the bow connection frame of the pantograph and an acceleration sensor installed between the bow connection frame and the primary spring to measure the acceleration. The acceleration sensor may include a first acceleration measurement sensor installed on the bow connection frame to measure the first impact, a second acceleration sensor installed on a parallel plate below the bow connection frame on which the first acceleration sensor is installed, and the first acceleration sensor. 2. The contact force and impact acceleration detection system of a catenary, characterized in that it comprises a third acceleration sensor installed in the ascending arm portion below the parallel plate on which the acceleration sensor is installed. delete delete delete The method of claim 1, The sensor measuring unit; A signal conditioner for amplifying the contact force and the acceleration signal measured by the sensor unit at a constant ratio, an A / D converter for converting the contact force and the acceleration signal amplified by the signal conditioner into digital measurement data, and an A / D converter thereof A contact force and an impact acceleration detection system for a catenary, characterized by comprising a data collection / measurement control computer for calculating and processing measurement data input from the train. The method of claim 1, And a first optical wireless LAN configured to convert the measurement data of the sensor measuring unit into a wireless optical signal and transmit and receive the first optical wireless LAN. The method of claim 1, And a wireless remote controller for turning on / off power supply of the sensor measuring unit and the first optical transmitting and receiving unit. The method of claim 1, The second optical transmission receiver; A second optical wireless LAN for receiving a wireless optical signal from the first optical wireless LAN of the first optical transmitting and receiving unit, a first optical conversion device for converting the wireless optical signal received by the second optical wireless LAN into optical data; An optical cable for transmitting optical data of the first optical conversion device, and a second optical conversion device for converting the optical data transmitted through the optical cable into an electrical signal and outputting the electrical signal to the data collection device. Contact force and impact acceleration detection system. The method of claim 1, The data collection device unit receives the train speed data, image data, GPS time data from the monitoring system, the contact force and impact acceleration detection system of the front line. The method of claim 1, The data collecting device unit; An industrial computer for generating measurement data by analyzing average contact force and standard deviation with the measurement data and performing statistical processing on average contact force and standard deviation, a keyboard / mouse for inputting conditions, a monitor for displaying the detection data, , The contact force and impact acceleration detection system of the foreline, characterized in that consisting of a UPS for supplying power.

Images