KR101844525B1 - Automatic rail path creative apparatus for train simulating drive and automatic rail path creative method and storage medium to store automatic rail path creative program - Google Patents
Automatic rail path creative apparatus for train simulating drive and automatic rail path creative method and storage medium to store automatic rail path creative program Download PDFInfo
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- KR101844525B1 KR101844525B1 KR1020150119776A KR20150119776A KR101844525B1 KR 101844525 B1 KR101844525 B1 KR 101844525B1 KR 1020150119776 A KR1020150119776 A KR 1020150119776A KR 20150119776 A KR20150119776 A KR 20150119776A KR 101844525 B1 KR101844525 B1 KR 101844525B1
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Abstract
The present invention relates to a virtual line generating apparatus and method, and more particularly, to a virtual line generating apparatus and method, comprising: a data storage means for storing design data used in manufacturing a real line and adjunct data corresponding to various adjuncts disposed in a real line; A center line of the imaginary line is generated based on the input data extracted from the design drawing, a rail is formed on both sides of the center line to form a two-dimensional line, and a three-dimensional line is formed by arranging the adjuncts on the two- Line model creation means; A UI for receiving an input signal and displaying a virtual line generated by the line model creating means; A line model comparing means for comparing the two-dimensional line and the three-dimensional line created by the line model creating means with an actual line; A line model correcting means for editing the two-dimensional line, the three-dimensional line and the actual line when they are different, and correcting the difference; And a simulated running means for executing a simulated simulation running on the three-dimensional line generated by the line model generating means.
Description
The present invention relates to a virtual line generating device and a virtual line generating method using the virtual line generating device, and more particularly, to a virtual line generating device capable of accurately generating a virtual three-dimensional line used in a simulated traveling of a railway vehicle, To a method of generating a line.
In order to operate a railway vehicle, a driver's license must be possessed. The driver's license for a railway vehicle must pass the theoretical and functional tests conducted by the Korea Transportation Safety Authority can do.
The simulator driving exerciser used for the function training simulator and driver's license test for preparing for the functional test of the driving license of the railroad car learns the shape of the actual line using the simulated three-dimensional line same as the actual railroad line, And the time of application of the brake according to the curve of the vertical plane.
However, in order to design a virtual line used for a simulated running of a conventional railway vehicle, a worker has to manually set a line by using a general drawing design program to set each point. This resulted in considerable production time in virtual line design.
On the other hand, it is not easy to confirm whether the virtual line thus formed coincides with the actual line, and there is a limit that it is not easy to correct even if an error occurs with the actual line.
SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and provide a virtual line generating apparatus capable of generating a virtual three-dimensional line by using design data of an actual line and a virtual line generating method using the virtual line generating apparatus.
It is another object of the present invention to provide a virtual line generating apparatus capable of generating a virtual three-dimensional line quickly and accurately by using accessories such as road wheels, bridges and tunnels, and a virtual line generating method using the virtual line generating apparatus.
It is still another object of the present invention to provide a virtual line generation method capable of correcting data whenever an error occurs with a real line during generation of a two-dimensional line or a three-dimensional line, thereby generating an accurate virtual line.
The above objects and various advantages of the present invention will become more apparent from the preferred embodiments of the present invention by those skilled in the art.
The object of the present invention can be achieved by a virtual line generating apparatus which is executed in a computer and which generates a virtual line for running a railroad simulator. The virtual line generating apparatus of the present invention comprises: a data storage means for storing design data used in the production of a real line and associated data corresponding to various accessories disposed in an actual line; A center line of the imaginary line is generated based on the input data extracted from the design drawing, a rail is formed on both sides of the center line to form a two-dimensional line, and a three-dimensional line is formed by arranging the adjuncts on the two- Line model creation means; A UI for receiving an input signal and displaying a virtual line generated by the line model creating means; A line model comparing means for comparing the two-dimensional line and the three-dimensional line created by the line model creating means with an actual line; A line model correcting means for editing the two-dimensional line, the three-dimensional line and the actual line when they are different, and correcting the difference; And a simulated running means for executing a simulated simulation running on the three-dimensional line generated by the line model generating means.
According to one embodiment, the input data includes coordinate values for both end points of the center line with respect to the reference length, the starting point of the curve and the curvature of the end point of the curve and the direction of the curve, the start and end points of the gradient and the slope.
On the other hand, the object of the present invention can be achieved by a virtual line generation method. According to another aspect of the present invention, there is provided a virtual line creating method comprising: extracting input data from a design drawing used in actual line construction and creating a center line of a virtual line based on the input data; Forming a rail on both sides of the center line to form a planar line; Forming a two-dimensional line by applying gradient data to the planar line; And forming a three-dimensional line by forming an accessory of a roadbed, a bridge, and a tunnel on the two-dimensional line.
According to one embodiment, the modeling of the center line models the center line on the basis of coordinate values of both ends of the center line included in the input data, the starting point of the curve and the curvature of the end point of the curve and the direction of the curve .
According to an embodiment, the step of forming the two-dimensional line may include analyzing whether the error occurs by comparing the longitudinal section graph of the two-dimensional line with the longitudinal section of the design drawing of the actual line; And modifying the input data so that the longitudinal plane of the two-dimensional line is aligned with the longitudinal plane of the drawing of the actual line.
According to one embodiment, the step of forming the three-dimensional line may include applying modeling data for pre-stored roadbed, bridge, and tunnel to the two-dimensional line in correspondence with the position where the roadbed, bridge, ; Comparing the three-dimensional line with a design drawing of a real line to analyze an error; And repeatedly modifying the three-dimensional line until the design drawings of the three-dimensional line and the actual line coincide with each other.
According to one embodiment, the method further comprises mapping the actual image to the three-dimensional line.
According to an embodiment of the present invention, the step of executing the 3D line in the simulated running mode, comparing the running to the start point and the end point of the 3D line with the running moving image of the actual line, and finally verifying whether the 3D line is in conformity with the actual line .
According to one embodiment, the three-dimensional line includes a general railroad and an urban railroad.
On the other hand, the object of the present invention can be achieved by a virtual line creation program recording medium in which the virtual line creation program described above is recorded and the virtual line creation program is executed in a computer.
The virtual line generating apparatus and the virtual line generating method using the same according to the present invention can extract the IP data from the design drawing used for actual railway generation and can eliminate the labor for the operator to manually input data. Therefore, it is possible to shorten the working time required for generating the virtual line.
In addition, it is possible to generate a virtual line that coincides with a real line through repetitive comparison and correction with a real line in the middle of generation of a plane line, a two-dimensional line applying a gradient, and a three-dimensional line reflecting an adjunct.
In addition, the difference between the actual line and the virtual line is analyzed from various points of view, and displayed to the user, thereby inducing generation of the virtual line corresponding to the actual line.
Then, a simulation is performed using the finally generated three-dimensional line, and the final verification can be performed by comparing with the moving image of the actual line.
1 is a block diagram schematically showing a configuration of a virtual line generating apparatus according to the present invention,
FIG. 2 is a flowchart illustrating a virtual line generation process using a virtual line generation apparatus according to the present invention;
FIGS. 3 and 4 are diagrams illustrating a process of inputting center line data of a virtual line using IP data acquired from an actual line, FIG.
5 is a diagram illustrating a process of forming a center line of a virtual line using input line data information,
6 is a diagram illustrating a process of generating a two-dimensional line by applying gradient data to a center line,
FIG. 7 is a diagram illustrating a process of generating a three-dimensional line by applying an accessory to a two-dimensional line;
FIG. 8 is a diagram illustrating a process of comparing a virtual three-dimensional line and a real line,
FIG. 9 is an exemplary diagram illustrating a process of running a simulated three-dimensional line by using the generated virtual three-dimensional line,
FIG. 10 is an exemplary diagram showing a process of modifying the generated two-dimensional line or three-dimensional line.
For a better understanding of the present invention, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. The embodiments of the present invention may be modified into various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. The present embodiments are provided to enable those skilled in the art to more fully understand the present invention. Therefore, the shapes and the like of the elements in the drawings can be exaggeratedly expressed to emphasize a clearer description. It should be noted that in the drawings, the same members are denoted by the same reference numerals. Detailed descriptions of well-known functions and constructions which may be unnecessarily obscured by the gist of the present invention are omitted.
FIG. 1 is a block diagram showing a configuration of a virtual
As shown, the virtual
The virtual
The data storage means 120 stores the design drawings used in the construction of the actual railroad, and the accessory data corresponding to the accessory such as the roadbed, the bridge, and the tunnel included in the actual railroad. In addition, moving images on actual railway lines can be stored together
Here, the design drawings used in the actual construction of the railroad include a sectional view. In some cases, if you create a virtual line for a railroad that does not include a section, you can create and save the section directly.
The design drawings include all drawings of the actual railway lines currently in operation and the actual railway lines of the city railway. The accessory data includes shape data of various kinds of roadbed, bridge and tunnel applied to all actual lines. The accessory data is modeled in advance for each type and is stored in the data storage means 120. The user can search for the accessory data corresponding to the accessory applied to the virtual line currently designed by the user and apply the accessory data to the design.
The UI 110 receives an input signal from a user and displays a work progress process currently being created. An example of the
As shown in the figure, the
The
In the quick tool execution set 111, frequently used menus are arranged so that the user can quickly perform a desired function. 2D & 3D switching menu is selected, and when the
The simulated running mode of the quick tool execution set 111 automatically switches the current screen to the simulated running mode screen. The LOAD area display mode displays the area of the group created before loading a section as a circle on a two- or three-dimensional line. The IP movement menu can modify the straight line and the curve based on the IP data when the shape change is required for the created path.
The RUNLENGTH menu starts the job of specifying the RUN LENGTH in the line section. Start Point Move / Rotate menu starts to move or rotate based on the starting point of the prepared route to verify the route.
The DOF update menu is used to create a two-dimensional basic line (a line to which a gradient is applied to the plan view), apply the modified portion to the simulated running, and update the sampled DOF table for simulated driving.
The texture mapping start menu starts the work of applying a texture to a three-dimensional section of a wireframe shape. Texture Correction The left and right modification menu starts the adjustment of the texture modification on the 3D cross section in the left and right direction. The Texture Coordinate Up and Down Modify menu starts the work of adjusting the texture modification on the 3D cross section up and down.
The texture pattern flip menu is mapped to the left and right inverted shapes when the texture is applied to the three-dimensional cross section.
The
The Rails IP node window allows you to view the linear information of routes created or loaded, modify the length and radius of the straight / curve section in the table, and modify the direction of the curve. You can also see information about the start, end, and tilt of the gradient.
The section window displays detailed data of the loaded section, and the texture window displays a list of texture images to be mapped.
The
The floating window 1 (116) displays the shape of a section for two-dimensional and three-dimensional lines displayed on the
The line model creation means 130 sequentially creates the center line, the planar line, the two-dimensional line, and the three-dimensional line of the virtual line based on the input data loaded from the data storage means 120.
Here, the input data includes IP data or general railway data. The general railroad extracts input data by using data of a gradient, a straight line and a curve, and an urban railroad extracts input data by utilizing gradient slope, IP data coordinate and curvature data. Here, the gradient means a gradient. In other words, it shows uphill and downhill tracks.
The input data is extracted from the design drawing used when constructing the virtual railway to which the virtual railway is to be created. That is, if a design drawing of an actual railway is loaded, and then both ends of a section to be loaded and a virtual line are generated, the input data for the corresponding section is automatically extracted. When this input data is input to the virtual line generation, virtual lines are sequentially generated.
Herein, the input data is input to the document of the input format provided by the virtual
At this time, the IP data is extracted on the basis of a straight line as a meter, a curve radius as a meter, and a gradient as per millimeter.
Here, the design drawings used in designing the actual track are designed using common design tools such as CAD, CATIA, and Presagis Greator. The virtual line creating apparatus of the present invention is provided so as to be compatible with the above-described apparatus, so that the design drawing created in the above-described apparatus can be called up to extract input data. In addition, a longitudinal sectional view or a three-dimensional design drawing is called from the design drawing and used to analyze the correspondence with the three-dimensional line generated by the virtual
On the basis of the extracted input data, the line model creation means 130 sequentially creates the center line, the plane line, the two-dimensional line, and the three-dimensional line. The process of generating the center line, the planar line, the two-dimensional line, and the three-dimensional line by the line model creation means 130 will be described in detail in the virtual line creation process to be described later.
The line model comparing means 140 and the line model correcting means 150 compare the two-dimensional line or the three-dimensional line of the imaginary line generated by the line model creating means 130 with the actual line, analyze the difference, do. The line model comparison means 140 can analyze the shape of the gradient as a related art. To this end, the cross-sectional view included in the design drawing of the actual line is compared with the cross-section of the two-dimensional or three-dimensional line generated by the virtual
Also, the line model comparing means 140 can analyze the error of the gradient application. Planar lines created using input data such as IP data and general rail data (curves, straight lines, curvatures, gradients) are plane coordinates without a gradient applied. Therefore, when applying gradients, the trigonometric function is used for slopes, Is applied.
On the other hand, the railway car can derail at the point where the curve starts at the end of the straight line and the straight line starts at the end of the curve. This creates a relaxation curve that smoothly processes the part. For the generation of the relaxation curve, the relaxation curve formula is applied.
The line model comparing means 140 calculates the actual run length by combining the three formulas of the trigonometric function, the circumferential rate calculation method, and the relaxation curve formula. The actual travel distance is longer than the distance on the plane due to the gradient. Therefore, when the line structure is disposed on the basis of the actual travel distance recorded during actual traveling, a positional error occurs on the plane. In order to eliminate the occurrence of such an error, the line model comparison means 140 fixes the length of the line segment to the length on the plane, calculates the inverse of the above three formulas, The length of the section applied is reduced to obtain the line coordinate position, thereby reducing the occurrence of errors.
In addition, the line model comparing means 140 determines the possibility that there is an error in the initially secured input data itself. In the analysis of the input data error, when the discontinuity section or the like occurs when applying the planar linearity, an appropriate message window is opened to allow the user to confirm the contents of the error. This can be directly corrected to the defined document by analyzing the data, ). If the discontinuity section occurs, the contents of the discontinuity section can be confirmed and analyzed through an error message window.
The line model correcting means 150 allows simple correction when there is an error in the virtual line created through the line model creating means 130 or when there is a difference from the actual line. The modification process of the line model modification means 150 will be described in detail in the virtual line creation process.
The simulation running means 160 executes the three-dimensional line to which the texture created through the line model creating means 130 is applied, as shown in FIG. 9, as it travels through the actual railway vehicle. Thus, it is possible to travel to the start point and end point of the generated three-dimensional line. In addition, cumulative distance and traveling speed running in the traveling mode are displayed, and the final route can be verified by comparing the actual route image with the mock running image have.
As the simulated traveling means 160 is included, the virtual line generated by the virtual
The
A virtual line generation process through the virtual
Here, the virtual line that can be generated through the virtual
The process of creating a virtual line for a general railroad first extracts input data after loading a design drawing of a real line for which a virtual line is to be created. Then, the input data of the extracted general railroad is inputted in an input format (S11). For example, as shown in FIG. 3, when a virtual line for a line having a predetermined length is to be created, the curve data A100 shown in the side of the table is input. When the curve data A100 is inputted, the line model creating means 130 creates a solid line in units of a reference length (for example, 1M). This solid line is the center line of the virtual line, and the rail is formed on both sides of the line center line (S12).
When this process is completed, input data C100 and a planar line C200 are generated as shown in FIG. 5, and the shape of the entire line can be confirmed (S13). The entire route is formed by gathering the center lines of the reference length.
When the form of the entire route is compared with the drawing of the actual route and an error occurs with the actual route drawing, the form of the plane line is changed when the input data A100 is corrected and input again (S14). This process is repeated until the design plan of the virtual plane line and the actual line are the same.
When the planar line is created in the same manner as the design drawing of the actual route, the gradient data A200 including the starting point, the ending point and the slope of the gradient is inputted and executed. Then, as shown in FIG. 6, A spatial line D200 of the type shown in FIG. In addition, a vertical section graph D300, in which the slope value and the shape of each section are expressed, is displayed in the float window 2 (117). At this time, the texture applied to the spatial line D200 is displayed on the floating window 3 (118) (S15).
If the gradient of the entire route is different from the actual route map, the gradient data A200 is corrected and input again (S16), and the final two-dimensional line is completed (S170). When the creation of the planar line (S13) and the creation of the two-dimensional line (S17) are completed and the virtual line design is made in the same way as the design drawing of the actual route, the virtual line attachments are arranged.
To this end, the appendages previously stored in the data storage means 120 are retrieved and arranged. First, a roadbed is arranged (S30), a bridge is arranged (S31), and a tunnel is arranged (S32). The roadbed, bridges, and tunnels are retrieved from the data storage means 120 and automatically positioned at the precise location where each accessory should be placed. The point to be placed is extracted from the construction drawing of the actual line and included in the input data.
In step S31, the roadbed E100 and E200 are arranged as shown in FIGS. 7 and 8 (S30), the tunnel E300 is arranged (S32), and the bridge E500 is arranged (S31). When the arrangement is completed, a three-dimensional line shape as shown in FIG. 7 is generated (S33). Here, the arrangement order of the roadbed, the tunnel, and the bridge can be arranged with priority in accordance with necessity.
At this time, the length and type of tunnels, bridges,
On the other hand, when the adjunct data corresponding to the adjunct to be placed on the virtual line is not stored, it is necessary to directly generate and apply it through the actual route shooting video and photograph. At this time, data on the type (tunnel, bridge, and the like) and the length of the structure can be confirmed on the operation curve map, the track layout map, and the route map map.
On the other hand, the texture is used to map the adjuncts after they are three-dimensionally rendered.
When the respective attachments are arranged, the process of correcting the input data is performed when an error is generated in comparison with the actual drawing (S34). When the design drawings of the three-dimensional line and the actual line are matched through this modification process, the simulated running mode is executed (S35).
When the generation of the three-dimensional line is completed, it is possible to travel from the starting point to the end point of the general railway imaginary line generated through the simulated traveling mode, and the cumulative distance and the traveling speed E400 traveling in the traveling mode, . As shown in FIG. 9, the traveling image A of the actual route is displayed together with the traveling mode of the three-dimensional line on the
When an error occurs with the traveling image (A) generated on the three-dimensional route and the actual route generated in the final three-dimensional route verification (S36), the editing mode is executed (S38) and data according to the route is corrected (S39).
Then, it is again determined whether there is a portion to be corrected in the roadbed, bridge, and tunnel data (S34), the mode operation mode is executed again (S35), and it is determined whether the generated three- .
Here, FIG. 10 shows a process of modifying data according to a route by executing an edit mode. As shown in FIG. 10A, it is possible to select, delete, add and modify (F100) an object section to be modified of the three-dimensional line, and the operation is performed through an
When an error occurs in the radius of curvature of the curve, the target section of the line to be corrected can be selected and edited as shown in FIG. 10 (b). The correction method of the radius of curvature can be modified by using a mouse or a keyboard. In addition, the railway data may be directly modified as shown in FIG. 10 (c) (F300).
When directly modifying the railway data, the direction of the corrected route can be rotated as shown in (d) of FIG. 10 to facilitate the confirmation (F400).
On the other hand, in the case of generating a line of an urban railway, the city railway data B100 in the form of a table extracted from the linear schematic diagram of the actual line as shown in FIG. 4 is inputted (S21). The city railroad data B100 includes X, Y coordinates and radius data. When the city railway data B100 is inputted, a center line is automatically generated in units of a reference length (for example, 1M) (S22). When the input data C100 and the planar line shape C200 are generated in the same manner as in the case of the general railway, the shape of the entire route can be confirmed (S23).
When the planar line is generated, a start point, an end point, and a slope of the gradient included in the urban railway data B100 are input and executed, and a two-dimensional spatial line D200 as shown in FIG. 6 is formed (S25). Dimensional line is created through the modification process of the gradient data to the spatial line (S26) (S27).
Hereinafter, a three-dimensional line is generated through the same process as the above-described general railway.
As described above, since the virtual line generating apparatus and the virtual line generating method using the same according to the present invention extract IP data from the design drawing used for actual railway generation, the operator manually inputs data, Thereby eliminating troublesome work to be performed. Therefore, it is possible to shorten the working time required for generating the virtual line.
In addition, it is possible to generate a virtual line that coincides with a real line through repetitive comparison and correction with a real line in the middle of generation of a plane line, a two-dimensional line applying a gradient, and a three-dimensional line reflecting an adjunct.
In addition, the difference between the actual line and the virtual line is analyzed from various points of view, and displayed to the user, thereby inducing generation of the virtual line corresponding to the actual line.
Then, a simulation is performed using the finally generated three-dimensional line, and the final verification can be performed by comparing with the moving image of the actual line.
This makes it possible to increase the reliability of the generated virtual line.
The embodiments of the virtual line generating apparatus and the virtual line generating method using the same according to the present invention described above are merely illustrative and those skilled in the art will appreciate that various modifications and equivalent implementations It will be appreciated that embodiments are possible. Therefore, it is to be understood that the present invention is not limited to the above-described embodiments. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims. It is also to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
100: virtual line generation device 110: UI
111: Menu Tab 113: Quick Toolbar Collection
114: Tab Widget 115: Main Window
116: Floating 1 117: Floating 2
118: Floating 3 120: Data storage means
130: Line model creating means 140: Line model comparing means
150: Line model modifying means 160: Simulation driving means
170:
Claims (10)
A data storage means for storing a design drawing used in the production of the actual line and ancillary data corresponding to various accessories disposed in the actual line;
A center line of the imaginary line is generated based on the input data extracted from the design drawing, a rail is formed on both sides of the center line to form a two-dimensional line, and a three-dimensional line is formed by arranging the adjuncts on the two- Line model creation means;
A UI for receiving an input signal and displaying a virtual line generated by the line model creating means;
A line model comparing means for comparing the two-dimensional line and the three-dimensional line created by the line model creating means with an actual line;
A line model correcting means for editing the two-dimensional line, the three-dimensional line and the actual line when they are different, and correcting the difference;
And a simulated running means for executing a simulated simulation running on the three-dimensional line generated by the line model creating means,
The line model creation means
Dimensional line is compared with a longitudinal section of a design drawing of a real line to analyze whether or not an error has occurred and to correct the input data so that the longitudinal section of the two-dimensional line is aligned with the longitudinal section of the actual line drawing And the virtual line is generated.
Wherein the input data includes coordinate values for both ends of a center line with respect to a reference length, a start point of the curve, a curvature of the end point of the curve and a direction of the curve, a start point and an end point of the gradient, and a slope.
Forming a rail on both sides of the center line to form a planar line;
Forming a two-dimensional line by applying gradient data to the planar line;
Forming a three-dimensional line by forming an accessory of a roadbed, a bridge and a tunnel on the two-dimensional line,
Wherein forming the two-dimensional line comprises:
Comparing the longitudinal section graph of the two-dimensional line with a longitudinal section of a design drawing of an actual line to analyze whether or not an error has occurred;
And modifying the input data such that the longitudinal plane of the two-dimensional line is aligned with the longitudinal plane of the drawing of the actual line.
Wherein modeling the centerline comprises:
Wherein the center line is modeled based on coordinate values of both ends of the center line included in the input data, a starting point of the curve, and a curvature of the end point of the curve and the direction of the curve.
Wherein forming the three-dimensional line comprises:
Applying modeling data for pre-stored roadbed, bridges and tunnels to the actual track to the two-dimensional track in correspondence with the location of the roadbed, bridges and tunnels;
Comparing the three-dimensional line with a design drawing of a real line to analyze an error;
And repeatedly modifying the three-dimensional line until the design drawings of the three-dimensional line and the actual line coincide with each other.
Further comprising the step of mapping an actual image to the three-dimensional line.
The method further comprises the step of executing the three-dimensional line in the simulated running mode, comparing the running to the start point and the end point of the three-dimensional line with the running moving image of the actual line, and finally verifying whether the three- To create a virtual line.
Wherein the three-dimensional line includes a general railroad and an urban railroad.
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| KR101881351B1 (en) * | 2017-10-23 | 2018-07-25 | 주식회사 글로텍 | System And method for reviewing the serviceability of concrete track at railway bridge end |
| EP3703993A1 (en) * | 2017-10-30 | 2020-09-09 | Konux GmbH | Data fusion concept |
| CN110299051A (en) * | 2019-06-05 | 2019-10-01 | 上海车轮互联网服务有限公司 | Driving Test simulated route creation method and device based on speech recognition |
| KR102146012B1 (en) * | 2020-04-21 | 2020-08-19 | (주) 한일프로텍 | Method for generating data for virtual autonomous driving environment using a plurality of autonomous driving data and apparatus thereof |
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| KR20070069629A (en) | 2005-12-28 | 2007-07-03 | 한국철도기술연구원 | Apparatus for measuring a railroad track parameter |
| KR101183174B1 (en) | 2009-12-17 | 2012-09-14 | 한국철도기술연구원 | Method of designing catenary system on AC electric railway system |
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| KR100632915B1 (en) * | 2005-04-29 | 2006-10-12 | 경봉기술(주) | Method of 3 dimension image display and system of 3 dimension image display |
| KR100875524B1 (en) * | 2008-05-21 | 2008-12-23 | 한국종합설계 주식회사 | Compensating system for drawing |
| KR101223885B1 (en) * | 2010-12-23 | 2013-01-17 | 주식회사 포스코아이씨티 | System for Simulating Train Operation |
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