WO2016113724A1 - 状態監視装置、状態監視システム、および編成列車 - Google Patents

状態監視装置、状態監視システム、および編成列車 Download PDF

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Publication number
WO2016113724A1
WO2016113724A1 PCT/IB2016/051433 IB2016051433W WO2016113724A1 WO 2016113724 A1 WO2016113724 A1 WO 2016113724A1 IB 2016051433 W IB2016051433 W IB 2016051433W WO 2016113724 A1 WO2016113724 A1 WO 2016113724A1
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WIPO (PCT)
Prior art keywords
sensor signal
vehicle
state monitoring
monitoring device
threshold
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Application number
PCT/IB2016/051433
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English (en)
French (fr)
Japanese (ja)
Inventor
了 古谷
隆夫 渡邊
克行 岩崎
Original Assignee
株式会社日立製作所
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Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/IB2016/051433 priority Critical patent/WO2016113724A1/ja
Priority to EP16737159.0A priority patent/EP3246223B1/de
Priority to GB1710761.6A priority patent/GB2550297B/en
Publication of WO2016113724A1 publication Critical patent/WO2016113724A1/ja

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    • 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
    • B61L15/0072—On-board train data handling
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/40—Handling position reports or trackside vehicle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/50—Trackside diagnosis or maintenance, e.g. software upgrades
    • B61L27/57—Trackside diagnosis or maintenance, e.g. software upgrades for vehicles or trains, e.g. trackside supervision of train conditions

Definitions

  • the present invention relates to a state monitoring device, a state monitoring system, and a train train.
  • Patent Document 1 JP 2013-164869 A
  • Patent Document 1 JP 2013-164869 A
  • This publication states that “a drive that can accurately detect accidents without making mistakes due to noise or disturbance, and that can make judgments that are suitable for vehicle specifications, driving habits, driving road conditions, and road surface conditions.
  • “To provide a recorder” see Patent Document 1 [0007]), and as a means for solving the problem, “a camera installed in a vehicle and an acceleration sensor capable of detecting at least two longitudinal accelerations of the vehicle front, rear, left and right” And a storage recorder that stores an image photographed by the camera and an acceleration detected by the acceleration sensor, provided that the acceleration detected by the acceleration sensor exceeds a predetermined threshold for a predetermined time.
  • Patent Document 1 [0008] is disclosed.
  • Patent Document 1 discloses a technique for automatically recording a predetermined location or position regardless of any sensor signal for preventive maintenance based on a characteristic sensor signal generated in the predetermined location or section. There is room for improving the efficiency of operations such as operations and maintenance.
  • an embodiment of the present invention is directed to, for example, vehicle state monitoring based on a sensor signal acquired from a sensor mounted on a vehicle and vehicle position information acquired from a vehicle information control device.
  • a sensor signal detection unit that detects a sensor signal
  • a sensor signal threshold determination processing unit that determines whether the sensor signal exceeds a predetermined threshold, vehicle position information, and a sensor signal
  • the sensor signal threshold excess section management unit that inputs the determination result by the threshold determination processing section and measures the number of times the threshold is exceeded within a predetermined section, and whether the number of times the threshold is exceeded within the predetermined section has exceeded a predetermined number If the number of times the threshold is exceeded exceeds a predetermined number, the automatic recording section management unit is set to set the predetermined section as an automatic recording section that automatically performs data recording.
  • Example of overall configuration of a railway vehicle state monitoring system according to the first embodiment Configuration example of the hardware system of the state monitoring apparatus shown in FIG. An example of a system configuration for detecting sensor signals in a predetermined section in the overall configuration diagram shown in FIG.
  • Example of status monitoring system flow shown in FIG. Example of sensor signal threshold value determination process shown in FIG.
  • Example of overall configuration of railway vehicle state monitoring system of embodiment 2 System configuration diagram for detecting sensor signals in a predetermined section in the overall configuration diagram shown in FIG.
  • a railway vehicle state monitoring system that can be constructed with a simple system configuration is provided, and it is related to any sensor signal for preventive maintenance based on characteristic sensor signals generated in a predetermined place or section. Therefore, it is possible to provide a system for automatically recording a predetermined place and position.
  • the ground side monitoring system 6 includes a personal computer 9, an analyzer 10, and a database 8 via a network 11. The ground side monitoring system 6 acquires information from a plurality of vehicles.
  • the personal computer 9, the analysis device 10, and the database 8 are separated is shown, all or some of them may be configured by one device. For example, you may comprise so that the function implement
  • the state monitoring device 2 can input various sensor signals to the state monitoring items required for each railcar 1.
  • the vehicle body 13 is used for the purpose of monitoring the riding comfort of the railcar 1.
  • the vibration acceleration sensor 12 installed on the floor surface is shown as an example of wired connection
  • the vibration acceleration sensor 12 may be installed on the carriage 14 of the railway vehicle 1 for the purpose of monitoring abnormality of the track infrastructure and the carriage parts.
  • a noise measuring microphone may be installed on the vehicle body 13 and the carriage 14 of the railway vehicle 1 for the purpose of monitoring abnormalities of the noise inside and outside the railway vehicle 1.
  • a strain sensor may be installed in the vehicle body 13 and the carriage 14 of the railway vehicle 1 for the purpose of monitoring the deterioration of the railway vehicle 1.
  • Various sensors and the state monitoring device 2 may use wireless transmission.
  • FIG. 1 Although the example which acquires information from a rail vehicle is shown in FIG. 1, for example, mobile systems (automobile, elevator, etc.) other than a rail vehicle, or plant systems (thermal power generation, wind power generation, nuclear power generation, etc.), etc. It is also possible to configure so as to acquire information from other than the railway vehicle.
  • mobile systems autonomous, elevator, etc.
  • plant systems thermo power generation, wind power generation, nuclear power generation, etc.
  • the state monitoring device 2 includes a processor 30, a switch 31, a display unit 32, and a setting unit 40.
  • the processor 30 includes a CPU (Central Processing Unit) 33, an interface 34, a RAM (Random Access Memory) 35, and a ROM ( Read only memory) 36 and a card connector 37.
  • the CPU 33 of the processor 30 is connected to the interface 34, RAM 35, ROM 36, and card connector 37 via the bus 38, and the card connector 37 is connected to the memory card 39.
  • the interface 34 is connected to the switch 31, the display unit 32, the setting unit 40, various sensors including the vibration acceleration sensor 12, and the vehicle information control device 5.
  • Various sensors including the vibration acceleration sensor 12 may be installed inside the state monitoring device 2.
  • the state monitoring device 2 may be configured as a part of the vehicle information control device 5.
  • the switch 31, the display unit 32, and the setting unit 40 may be installed on the surface of the state monitoring device 2.
  • the memory card 39 connected to the card connector 37 may be taken out directly from the surface of the state monitoring device 2.
  • the sensor connected to the state monitoring device 2 is the vibration acceleration sensor 12.
  • the vibration acceleration sensor signal 100 a detected by the vibration acceleration sensor 12 is output to the sensor signal detection unit 50 of the state monitoring device 2.
  • the sensor signal detection unit 50 converts the vibration acceleration sensor signal 100 a into a digital sensor signal 101 a and outputs the digital sensor signal 101 a to the sensor signal threshold determination processing unit 51 and the data transmission / recording processing unit 54.
  • the sensor signal threshold determination processing unit 51 determines whether or not a preset sensor signal threshold has been exceeded for the digital sensor signal 101a, and then manages the sensor signal threshold determination processing result 102a for sensor signal threshold excess section management.
  • the sensor signal threshold value excess section management unit 52 receives the sensor signal threshold value determination processing result 102a and the vehicle position signal 104a of the vehicle information control device 5, and based on the vehicle position signal 104a, exceeds the sensor signal threshold value in a predetermined section, place, and position. The number of times is counted, and the sensor signal threshold value excess number 105 a is output to the vehicle position information threshold value determination processing unit 53.
  • the vehicle information control device 5 may acquire the vehicle position information through detection information by the track circuit, wireless communication with the ground device, or the like.
  • the vehicle position information threshold determination processing unit 53 inputs the sensor signal threshold excess number 105a and the vehicle position signal 104a, and determines whether the sensor signal threshold excess number 105a exceeds a preset excess number threshold.
  • the determination processing result 106 a is output to the data transmission / recording processing unit 54.
  • the data transmission / recording processing unit 54 receives the determination processing results 102a and 106a and the digital sensor signal 101a, and outputs the digital sensor signal 101a to the vehicle information control device 5 based on the sensor signal threshold determination processing result 102a and the determination processing result 106a. .
  • the data transmission / recording processing unit 54 inputs the vehicle information signal 107a of the vehicle information control device 5, and based on the determination processing results 102a and 106a, the digital sensor signal 101a and the vehicle information signal 107a are sent to the memory card 39 of the state monitoring device 2.
  • the data transmission / recording processing unit 54 may be installed on the ground side and provided with means for transmitting the determination processing result 106a or the digital sensor signal 101a and the vehicle information signal 107a to the ground side device by wireless communication. In this case, it is possible to reduce the space and cost for installing the data transmission / recording processing unit 54 and the memory card 39 on the upper side of the vehicle.
  • data transmission / recording can be performed while the vehicle is stopped, so that the processing cost during traveling can be reduced.
  • an automatic recording section for automatically recording data can be set and managed by the vehicle position information threshold value determination processing unit 53 and the data transmission / recording processing unit 54, as will be described later. You may call it an automatic recording section management part.
  • the vehicle position signal 104a may be applied with station information (for example, a unique station code assigned to each station), km information indicating a travel distance, or a GPS (Global Positioning System) signal.
  • the vehicle information signal 107a may be selected from items required for detailed analysis of the digital sensor signal 101a, such as vehicle travel speed information and GPS information.
  • the sensor signal threshold value determination processing unit 51 determines that the preset sensor signal threshold value has been exceeded with respect to the digital sensor signal 101a, the sensor signal threshold value determination processing unit 51 outputs an alarm signal to the vehicle information control device 5 to provide a ground side monitoring system. 6 may be configured to output to the personal computer 9.
  • vehicle position information threshold value determination processing unit 53 determines that the preset excess number threshold value is exceeded with respect to the sensor signal threshold value excess number 105a, it outputs an automatic recording start signal to the vehicle information control device 5.
  • the system configuration may be such that the data is output to the personal computer 9 of the ground side monitoring system 6.
  • the state monitoring system power-on process 200 is executed, and initial setting 201 such as device error confirmation and threshold parameter reading processing of each device (vehicle information control device 5 and the like) including the state monitoring device 2 is executed.
  • initial setting 201 such as device error confirmation and threshold parameter reading processing of each device (vehicle information control device 5 and the like) including the state monitoring device 2 is executed.
  • a sensor signal and vehicle position information detection process 202 is executed, a threshold determination process 203 for the sensor signal is executed, and it is determined whether the threshold is exceeded (204).
  • the record transmission process 205 of the threshold value excess sensor signal is executed.
  • the threshold excess status startup processing 206 is executed, and the threshold excess status is set to ON.
  • an ON / OFF determination process 207 for the threshold excess status is executed.
  • the threshold excess status is ON, the threshold excess status fall processing 208 is executed, and further, determination processing 209 is performed to determine whether or not the current vehicle position information acquired from the vehicle information control device 5 already exists in the sensor signal threshold excess segment.
  • the sensor signal threshold value excess counter update process 210 is executed.
  • the sensor signal threshold value excess section generation process 211 is newly executed.
  • it is determined whether or not the sensor signal threshold value excess counter has exceeded a preset number of times threshold, and if the threshold value is exceeded, the current vehicle position information is set in the automatic recording interval as an automatic recording interval setting process 213. Set.
  • a sensor signal recording transmission process 215 is executed for automatic recording.
  • the automatic recording section information set by the vehicle position information threshold determination processing unit 53 is compared with the position information acquired from the vehicle information control device 5, and if they match, data transmission to the data transmission / recording processing unit 54 is performed. Allow it.
  • a series of processes after the process 202 are repeatedly executed until the state monitoring system power-off process 217 is executed.
  • the state monitoring system power supply shutdown process 217 is executed, the system is shut down by executing an update process for the current parameters and the like.
  • the vibration acceleration waveform 60 has a position on the horizontal axis and an acceleration on the vertical axis, and includes a significant vibration generation section 63.
  • the vibration acceleration threshold value 61 and the vibration acceleration threshold value excess time 62 are set in advance.
  • the sensor signal threshold value determination process detects an excess point where the vibration acceleration waveform 60 exceeds the vibration acceleration threshold value 61 for the first time.
  • the sensor signal threshold value determination process determines whether or not the vibration acceleration waveform 60 exceeds the vibration acceleration threshold value excess time 62 on the basis of the point where the vibration acceleration threshold value 61 is exceeded. Output.
  • FIG. 6 shows the vibration acceleration sensor signal waveform 71 and the distance between the stations AB when the railcar 1 passes through the station A, the station B, the station C, and the station D three times repeatedly with the horizontal axis as the position.
  • the sensor signal threshold value excess number 72, the sensor signal threshold value excess number 73 between stations C, a station code 76 as vehicle position information, and a data recording / transmission permission signal 74 are shown.
  • the vibration acceleration sensor signal waveform is detected between the first station AB and the station CD, between the second station AB and the station CD, and between the third station CD. It is assumed that the signal threshold determination processing unit 51 includes a significant vibration acceleration 75 detected as exceeding the threshold.
  • the sensor signal threshold excess section management unit 52 uses the station code 76, which is vehicle position information, based on the significant vibration acceleration 75 generated between the stations A and B, and the sensor signal threshold excess count 72 between the stations A and B. Count.
  • the data transmission / recording processing unit 54 switches the data recording / transmission enable / disable signal 74 from OFF to ON, records a significant vibration acceleration 75 in the memory card 39, and transmits it to the vehicle information control device 5.
  • the sensor signal threshold excess section management unit 52 counts the sensor signal threshold excess count 73 between the stations CD based on the station code 76 based on the significant vibration acceleration 75 generated between the stations CD.
  • Data recording / transmission processing by the data transmission / recording processing unit 54 at this time is as described above.
  • the sensor signal threshold excess section management unit 52 uses the station code 76 based on the station code 76 due to the significant vibration acceleration 75 generated between the stations A and B and the stations CD.
  • the sensor signal threshold excess number 72 between A and B and the sensor signal threshold excess number 73 between the stations CD are counted.
  • the threshold of the sensor signal threshold excess number is set to 2 in advance, it is determined that the sensor signal threshold excess number 72 between the stations A and B and the sensor signal threshold excess number 73 between the stations CD have exceeded the threshold.
  • the station code 76 between the stations A and B and the station code 76 between the stations C and D are automatically set as automatic recording section targets.
  • the data transmission / recording processing unit 54 switches the data recording / transmission enable / disable signal 74 from OFF to ON, records the vibration acceleration sensor signal waveform 71 in the memory card 39, and transmits it to the vehicle information control device 5. Further, although the threshold-exceeding vibration acceleration 75 is confirmed between the stations C and D, the data transmission / recording processing unit 54 performs a data recording / transmission permission signal in the same manner as the automatic recording of the vibration acceleration between the stations A and B described above.
  • the vibration acceleration sensor signal waveform 71 is recorded in the memory card 39 and transmitted to the vehicle information control device 5.
  • the recording section is automatically generated based on the threshold value excess number 72 between the stations A and B, the threshold value excess number 73 between the stations C and D, and the station code 76.
  • the maximum number of times of exceeding the threshold may be selected according to the memory of the state monitoring device 2.
  • kilometer information indicating a travel distance, a GPS signal, or the like may be applied.
  • the vehicle traveling speed can also be subjected to threshold determination processing for the station code 76.
  • a method for canceling the automatic recording section a method for manually canceling from the setting unit 40 of the state monitoring device 2 or the ground side monitoring system 6 may be used. Furthermore, when the threshold excess vibration acceleration 75 is not detected at a preset time or travel distance, a method of automatically canceling from the automatic recording section may be used.
  • FIG. 7 is a diagram visualizing the vibration occurrence state between a position A and a position B, with the horizontal axis representing the position and the vertical axis representing the time.
  • the gray value of the vibration acceleration distribution 80 is expressed in the figure as the magnitude of the vibration acceleration level.
  • the vibration acceleration level may be expressed as the size of a figure such as a circle.
  • the present invention can be applied to a railway vehicle.
  • a moving body such as a monorail or an automobile that travels at a specific position or place.
  • any sensor signal for preventive maintenance can be used on the basis of a characteristic sensor signal generated in a predetermined place or section without constantly recording / transmitting a sensor signal having a large data capacity. Nevertheless, it is possible to provide a system for automatically recording a predetermined location and position, improve vehicle operation reliability, and increase vehicle maintenance work efficiency.
  • FIG. 9 shows an example of a railway vehicle state monitoring system according to the second embodiment.
  • a railway vehicle 20 is added, and a through passage 21 is installed in the railway vehicle 1 and the railway vehicle 20.
  • the railway vehicle 20 is provided with a state monitoring device 2 'and a vibration acceleration sensor 12', and a sensor signal of the vibration acceleration sensor 12 'is input to the state monitoring device 2'.
  • the sensor connected to the state monitoring device 2 ′ installed in the railway vehicle 20 is a vibration acceleration sensor 12 ′.
  • the sensor signal threshold excess section management unit 52 ′ inputs the vehicle position signal 104a of the vehicle information control apparatus 5 via the state monitoring device 2, and based on the vehicle position signal 104a, the sensor signal threshold value in a predetermined section, place, and position. The excess number is counted, and the sensor signal threshold excess number 105a ′ is output to the vehicle position information threshold determination processing unit 53 ′.
  • the vehicle position information threshold value determination processing unit 53 ′ inputs the vehicle position signal 104a of the vehicle information control device 5 through the state monitoring device 2, and the sensor signal threshold value excess number 105a ′ exceeds the preset excess number threshold value. Then, the determination processing result 106a ′ is output to the data transmission / recording processing unit 54 ′. Further, the vehicle position information threshold value determination processing units 53 and 53 ′ communicate automatic recording section signals 110a indicating the respective automatic recording locations, and automatically share the automatic recording sections set in the rail vehicles 1 and 20. Data recording / transmission will be implemented.
  • the state monitoring device 2 ′ may have a system configuration that is connected to the state monitoring device 2 via the vehicle information control device 5. Further, the same system configuration may be adopted even if the number of railway vehicles 20 increases. Further, the number of times that the threshold value is exceeded may be shared between the sensor signal threshold value excess section management units 52 and 52 ′ to determine the automatic recording location.
  • a predetermined data recording location / section detected and set between a plurality of vehicles having different vehicle characteristics is shared between the vehicles in the train set, and is generated in each vehicle. It is possible to provide a system for automatically recording characteristic sensor signals and their changes over time, improve vehicle operation reliability, and increase vehicle maintenance work efficiency.
  • FIG. 11 shows an example of a railway vehicle state monitoring system according to the third embodiment.
  • the transmission information of each railway vehicle is the wireless transmission devices 7, 7 ′, 7 ′′ and the radio on the ground side.
  • the data is accumulated in the database 8 of the ground side monitoring system 6 via the transmission device 7.
  • the ground side monitoring system 6 is connected to the threshold management update device 150 via the network 11.
  • the threshold management update device 150 centrally manages the number of times the sensor signal threshold is exceeded and the automatic recording section of each rail vehicle 1, 1 ′, 1 ′′.
  • a common sensor signal for each rail vehicle 1, 1 ′, 1 ′′ executes so as to set / update the transmission information related to the number of times of exceeding the threshold and the automatic recording section in the state monitoring devices 2, 2 ′, 2 ′′.
  • what is necessary is just to take the same system structure, even if the number of the rail vehicles 1 increases.
  • Sensor signal detection unit 51 ... Sensor signal threshold determination processing unit, 52 ... Sensor signal Threshold excess section management unit, 53... Vehicle position information threshold determination processing unit, 54... Data transmission / recording processing unit, 60. 2 ... vibration acceleration threshold excess time, 63 ... significant vibration occurrence section, 70 ... station, 71 ... vibration acceleration sensor signal waveform, 72 ... threshold excess frequency between stations A and B, 73 ... threshold excess between stations CD Number of times, 74 ... Data recording transmission permission signal, 75 ... Threshold acceleration vibration acceleration, 76 ... Station code, 80 ... Vibration acceleration distribution, 81 ... Vibration acceleration distribution, 82 ... Vibration acceleration distribution, 83 ... Vibration acceleration distribution, 84 ... Vibration acceleration 85 ...
  • Trend analysis range designation 90 ... vibration acceleration level, 100a ... vibration acceleration sensor signal, 101a ... digital sensor signal, 102a ... sensor signal threshold determination processing result, 104a ... vehicle position signal, 105a ... sensor signal threshold excess count, 106a ... judgment processing result, 107a ... vehicle information signal, 110a ... automatic recording section signal, 150 ... threshold management update device, 200 ... power on Processing: 201: Initial setting, 202: Sensor signal and vehicle position information detection processing, 203: Sensor signal threshold determination processing, 205: Sensor signal threshold excess sensor signal recording / transmission processing, 206: Sensor signal threshold excess status startup Processing, 207 ... status determination processing, 208 ... sensor signal threshold value excess status falling processing, 210 ... sensor signal threshold value excess counter update processing, 211 ... sensor signal threshold value excess interval generation processing, 213 ... interval setting processing, 215 ... sensor signal Recording / transmission processing, 217 ... Status monitoring system shutdown processing

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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)
  • Train Traffic Observation, Control, And Security (AREA)
PCT/IB2016/051433 2015-01-15 2016-03-14 状態監視装置、状態監視システム、および編成列車 WO2016113724A1 (ja)

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Application Number Priority Date Filing Date Title
PCT/IB2016/051433 WO2016113724A1 (ja) 2015-01-15 2016-03-14 状態監視装置、状態監視システム、および編成列車
EP16737159.0A EP3246223B1 (de) 2016-03-14 2016-03-14 Zustandsüberwachungsvorrichtung, zustandsüberwachungssystem und zug
GB1710761.6A GB2550297B (en) 2015-01-15 2016-03-14 State-monitoring device, state-monitoring system, and organization train

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PCT/IB2016/051433 WO2016113724A1 (ja) 2015-01-15 2016-03-14 状態監視装置、状態監視システム、および編成列車

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JP2019129604A (ja) * 2018-01-24 2019-08-01 株式会社東芝 機器状態記録システム、及び機器状態記録装置
CN114954586A (zh) * 2022-06-16 2022-08-30 中车青岛四方机车车辆股份有限公司 智能化运营系统、方法、装置、设备、产品及轨道车辆

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JP2019129604A (ja) * 2018-01-24 2019-08-01 株式会社東芝 機器状態記録システム、及び機器状態記録装置
WO2019146408A1 (ja) * 2018-01-24 2019-08-01 株式会社 東芝 機器状態記録システム、及び機器状態記録装置
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CN114954586B (zh) * 2022-06-16 2023-12-26 中车青岛四方机车车辆股份有限公司 智能化运营系统、方法、装置、设备、产品及轨道车辆

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