CN105711621A - Intelligent brake shoe runaway displacement and alarm detection device and method - Google Patents
Intelligent brake shoe runaway displacement and alarm detection device and method Download PDFInfo
- Publication number
- CN105711621A CN105711621A CN201610046686.7A CN201610046686A CN105711621A CN 105711621 A CN105711621 A CN 105711621A CN 201610046686 A CN201610046686 A CN 201610046686A CN 105711621 A CN105711621 A CN 105711621A
- Authority
- CN
- China
- Prior art keywords
- runaway
- iron shoe
- intelligent iron
- displacement
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 56
- 238000001514 detection method Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims abstract description 63
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 178
- 229910052742 iron Inorganic materials 0.000 claims description 89
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 230000002459 sustained effect Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000000737 periodic effect Effects 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000009977 dual effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses an intelligent brake shoe runaway displacement and alarm detection device and method.The device comprises a power management module, a distance detection module, a three-axis acceleration sensor module, a main control module and a wireless transmission module.The device judges whether a brake shoe is placed in the right position through ranging and gives an alarm if not.The device also judges whether runaway or stealing occurs by detecting the dip angle of the intelligent brake shoe under vibration, calculates runaway displacement through accelerated speed dual integral if runaway occurs, and gives a stealing alarm otherwise.By the adoption of the device, intelligent brake shoe runaway displacement and alarm detection are achieved, and improvement of railway operation safety and accident analysis and judgment are well guaranteed.
Description
Technical field
The present invention relates to the anti-slip field of railroad train, be specifically related to a kind of Intelligent iron shoe runaway displacement and alarm detector and method.
Background technology
Prevent its runaway to be to ensure that the important requirement of railway job safety after railway intermediate station, Train Stopping, and place the Main Means that Intelligent iron shoe is vehicle anti-skid operation.Traditional mechanical intelligent skate is wasted time and energy, and can not meet the demand that the anti-slip operation of railway is growing, and Intelligent iron shoe replaces traditional intelligence skate and become inevitable.
As a kind of novel intelligent anti-running device, runaway displacement can't be detected by current Intelligent iron shoe, this to the recollecting of accident afterwards, accident analysis adversely affects.Additionally, Intelligent iron shoe is during operation, how to distinguish runaway or stolen there is also judges the problems such as not accurate enough.
Summary of the invention
For solving prior art Problems existing, the present invention proposes a kind of Intelligent iron shoe runaway displacement and alarm detector and method, has differentiation runaway and stolen and detect the functions such as calculating runaway distance.
A kind of Intelligent iron shoe runaway displacement and alarm detector, this device comprises power management module, distance detection module, 3-axis acceleration sensor module, main control module and wireless transport module, described power management module connects distance detection module, and described distance detection module, wireless transport module, 3-axis acceleration sensor module are all connected with main control module；Described distance detection module detects the Intelligent iron shoe distance to wheel；Described 3-axis acceleration sensor module measures Intelligent iron shoe three axle static acceleration, respectively: the x-axis directional acceleration a of two interorbital vertical directionx, the y-axis directional acceleration a of rail tangential directionyZ-axis directional acceleration a with vertical track in-planez.By finding range, this device judges whether Intelligent iron shoe is in place, if not in place, report to the police；Judge whether runaway or stolen by detecting the inclination angle of Intelligent iron shoe under Vibration Condition, if there is runaway, calculating runaway displacement, otherwise sending stolen warning.
A kind of Intelligent iron shoe runaway displacement and alarm detection procedure, based on Intelligent iron shoe runaway displacement of the present invention and alarm detector, by the distance of distance detection module detection Intelligent iron shoe to wheel, it is judged that whether Intelligent iron shoe is in place；The inclination alpha of Intelligent iron shoe Vibration Condition and Intelligent iron shoe is judged by three axle static acceleration sensor assemblies, and judge whether runaway or stolen based on the inclination alpha of Intelligent iron shoe under Vibration Condition, if there is runaway, calculating runaway displacement s, otherwise sending stolen warning.
Preferably, the distance detection module distance by ultrasound examination Intelligent iron shoe to wheel, and set threshold value, if distance is more than setting threshold value, then send placement warning not in place.
Preferably, measure Intelligent iron shoe three axle static acceleration by 3-axis acceleration sensor module, and set threshold value；If ax, ayAnd azThe fluctuation of middle any value more than setting threshold value, then judges that Intelligent iron shoe is in Vibration Condition.
Preferably, according to formula:
Calculating obtains Intelligent iron shoe inclination alpha.
Preferably, in Intelligent iron shoe sustained vibration situation, set threshold value, if Intelligent iron shoe inclination alpha is setting within threshold value, be then considered as runaway；If Intelligent iron shoe inclination angle is outside setting threshold value, then it is considered as stolen.
Preferably, by 3-axis acceleration sensor module periodic sampling y-axis directional acceleration ay, and to y-axis directional acceleration ayCarry out double integrator to calculate runaway displacement s.
Preferably, during Intelligent iron shoe work, comprise the following steps:
(1) main control module of Intelligent iron shoe, wireless transport module, 3-axis acceleration sensor module initialization；
(2) if Intelligent iron shoe is in Vibration Condition and certain time, step (3) is forwarded to；Otherwise, (9) are gone to step；Preferably, described certain time is 3 seconds；
(3) detection Intelligent iron shoe inclination alpha；
(4) if α is setting between threshold value bound, step (5) is forwarded to；Otherwise, (8) are gone to step；
(5) initializing runaway displacement s is 0；
(6) detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayCarry out double integrator to calculate runaway displacement s；
(7) send runaway to report to the police, and remote monitoring computer is passed in runaway displacement, go to step (11)；
(8) send stolen warning, go to step (11)；
(9) distance detection module initializes, and detects wheel distance；
(10) if wheel distance is more than setting threshold value, send Intelligent iron shoe and place warning not in place, go to step (11), it is preferred that set threshold value as 15cm；Otherwise send Intelligent iron shoe state normal, go to step (11)；
(11) terminate.
Preferably, calculate runaway displacement by acceleration double integrator, comprise the following steps:
(1) 3-axis acceleration sensor module initialization；
(2) runaway displacement s=0 is initialized；
(3) opening timing device, arranges the sampling period t of 3-axis acceleration sensor module, it is preferred that sampling period t=10ms；
(4) rail tangential direction is namely along 3-axis acceleration sensor module y-axis direction, detects y-axis directional acceleration ayInstantaneous acceleration a in the ith sample momentyi, according to formula
si=si-1+ayit2
Calculate the displacement s obtaining in the ith sample cyclei, wherein s0=0；
(5) calculate
S=∑ si
Obtain total runaway displacement s；
(6) if counting down to the setting time, by wireless transport module, runaway displacement s being issued remote monitoring computer, otherwise going to step (3), it is preferred that described one set the time as 5 seconds.
Beneficial effect:
The invention discloses a kind of Intelligent iron shoe runaway displacement and alarm detector and method, by finding range, this device judges whether Intelligent iron shoe is in place, if not in place, report to the police；Judge whether runaway or stolen by detecting the inclination angle of Intelligent iron shoe under Vibration Condition, if there is runaway, acceleration double integrator being calculated runaway displacement, otherwise sends stolen warning.The arrangement achieves Intelligent iron shoe runaway displacement and alarm detection, to improving railway operation safety, and judge to provide important guarantee for accident analysis.
Accompanying drawing explanation
Fig. 1 is present system structural representation；
Fig. 2 is Intelligent iron shoe Dip countion schematic diagram of the present invention；
Fig. 3 is workflow diagram of the present invention；
Fig. 4 is runaway displacement calculation flow chart of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.This Intelligent iron shoe is arranged on certain large-scale station of the north.Designing requirement sends a secondary data in 5 seconds under Intelligent iron shoe abnormal conditions, and data are wireless uploads to remote monitoring computer by detecting.The present embodiment is carried out premised on technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As it is shown in figure 1, Intelligent iron shoe device mainly includes power management module, distance detection module, 3-axis acceleration sensor module, main control module and wireless transport module group.Power management module provides voltage for Intelligent iron shoe, and whether distance detection module detection Intelligent iron shoe is in place, and 3-axis acceleration sensor module is used for runaway and antitheft detection, and all detection signals are sent to remote monitoring computer by wireless transport module.Main control module is responsible for total tune control.
In Intelligent iron shoe implementation process, 3-axis acceleration sensor module records the x-axis directional acceleration a of two interorbital vertical directionx, the y-axis directional acceleration a of rail tangential directionyZ-axis directional acceleration a with vertical track in-planez, work as ax, ayAnd azThe fluctuation of middle any value is acceleration of gravity more than threshold value 0.1g, the g set, then it is believed that Intelligent iron shoe is vibrated.
As in figure 2 it is shown, xyz is natural system of coordinates, rail is on x/y plane, along the y-axis direction.Acceleration of gravity is along sensor coordinate system three axle, i.e. xsensor, ysensor, zsensorThe component of axle respectively ax, ayAnd az, then sensor ysensorAngle between axle and natural system of coordinates x/y plane, namely the inclination alpha of Intelligent iron shoe is,
In preferred embodiment, when Intelligent iron shoe sustained vibration, if α is more than 30 ° or less than-30 °, it is believed that Intelligent iron shoe is stolen, sends stolen warning.
As it is shown on figure 3, Intelligent iron shoe carry out runaway stolen detection time, specific works step is as follows:
(1) Intelligent iron shoe main control module, wireless transport module, 3-axis acceleration sensor module initialization；
(2) if Intelligent iron shoe has vibration and continues 3 seconds, forward step (3) to, otherwise, go to step (9)；
(3) detection Intelligent iron shoe inclination alpha；
(4) if α is between-30 ° and+30 °, forward step (5) to, otherwise, go to step (8)；
(5) initializing runaway displacement s is 0；
(6) detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayCarry out double integrator to calculate runaway
Displacement s；
(7) send runaway to report to the police, and remote monitoring computer is passed in runaway displacement, go to step (11)；
(8) send stolen warning, forward step (11) to；
(9) range finder module initializes, and detects wheel distance；
(10) if wheel distance is more than 15cm, send Intelligent iron shoe and place warning not in place, go to step (11) and otherwise send out
Go out Intelligent iron shoe state normal；
(11) terminate.
In preferred embodiment, when Intelligent iron shoe sustained vibration, if α is between-30 ° and 30 °, it is believed that Intelligent iron shoe runaway, calculate runaway displacement.As shown in Figure 4, detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayCarrying out double integrator to calculate runaway displacement s, the calculating of runaway displacement s comprises the steps:
(1) 3-axis acceleration sensor module initialization；
(2) runaway displacement s=0 is initialized；
(3) opening timing device, arranges the sampling period t=10ms of acceleration transducer；
(4) rail direction is along sensor y-axis direction, and detection acceleration transducer y-axis is at the instantaneous acceleration a in ith sample momentyi, according to formula
si=si-1+ayit2
Calculate the displacement s obtaining in the ith sample cyclei, wherein s0=0；
(5) calculate
S=∑ si
Obtain total runaway displacement s；
(6) if counting down to 5s, by wireless transport module, runaway displacement s being issued remote monitoring computer, otherwise going to step (3).
The present invention has passed through above-described embodiment and accompanying drawing illustrates clear; without departing from the spirit and substance of the case in the present invention; those skilled in the art can make respective change and correction according to the present invention, and these variations and modifications broadly fall into the protection domain of the claims in the present invention.
The present invention is not directed to that method is all same as the prior art maybe can adopt prior art to be realized.
Claims (9)
1. an Intelligent iron shoe runaway displacement and alarm detector, it is characterized in that, this device comprises power management module, distance detection module, 3-axis acceleration sensor module, main control module and wireless transport module, described power management module connects distance detection module, and described distance detection module, wireless transport module, 3-axis acceleration sensor module are all connected with main control module；Described distance detection module detects the Intelligent iron shoe distance to wheel；Described 3-axis acceleration sensor module measures Intelligent iron shoe three axle static acceleration, respectively: the x-axis directional acceleration a of two interorbital vertical directionx, the y-axis directional acceleration a of rail tangential directionyZ-axis directional acceleration a with vertical track in-planez。
2. an Intelligent iron shoe runaway displacement and alarm detection procedure, based on the Intelligent iron shoe runaway displacement described in claim 1 and alarm detector, it is characterized in that, by the distance of distance detection module detection Intelligent iron shoe to wheel, it is judged that whether Intelligent iron shoe is in place；The inclination alpha of Intelligent iron shoe Vibration Condition and Intelligent iron shoe is judged by three axle static acceleration sensor assemblies, and judge whether runaway or stolen based on the inclination alpha of Intelligent iron shoe under Vibration Condition, if there is runaway, calculating runaway displacement s, otherwise sending stolen warning.
3. a kind of Intelligent iron shoe runaway displacement according to claim 2 and alarm detection procedure, it is characterized in that, the distance detection module distance by ultrasound examination Intelligent iron shoe to wheel, and set threshold value, if distance is more than setting threshold value, then send placement warning not in place.
4. a kind of Intelligent iron shoe runaway displacement according to claim 2 and alarm detection procedure, it is characterised in that measure Intelligent iron shoe three axle static acceleration by 3-axis acceleration sensor module, and set threshold value；If ax, ayAnd azThe fluctuation of middle any value more than setting threshold value, then judges that Intelligent iron shoe is in Vibration Condition.
5. a kind of Intelligent iron shoe runaway displacement according to claim 4 and alarm detection procedure, it is characterised in that according to formula:
Calculating obtains Intelligent iron shoe inclination alpha.
6. a kind of Intelligent iron shoe runaway displacement according to claim 5 and alarm detection procedure, it is characterised in that in Intelligent iron shoe sustained vibration situation, set threshold value, if Intelligent iron shoe inclination alpha is setting within threshold value, be then considered as runaway；If Intelligent iron shoe inclination angle is outside setting threshold value, then it is considered as stolen.
7. a kind of Intelligent iron shoe runaway displacement according to claim 6 and alarm detection procedure, it is characterised in that by 3-axis acceleration sensor module periodic sampling y-axis directional acceleration ay, and to y-axis directional acceleration ayCarry out double integrator to calculate runaway displacement s.
8. a kind of Intelligent iron shoe runaway displacement according to claim 7 and alarm detection procedure, it is characterised in that during Intelligent iron shoe work, comprise the following steps:
(1) main control module of Intelligent iron shoe, wireless transport module, 3-axis acceleration sensor module initialization；
(2) if Intelligent iron shoe is in Vibration Condition and certain time, step (3) is forwarded to；Otherwise, (9) are gone to step；
(3) detection Intelligent iron shoe inclination alpha；
(4) if α is setting between threshold value bound, step (5) is forwarded to；Otherwise, (8) are gone to step；
(5) initializing runaway displacement s is 0；
(6) detection Intelligent iron shoe y-axis directional acceleration ay, and to y-axis directional acceleration ayCarry out double integrator to calculate runaway displacement s；
(7) send runaway to report to the police, and remote monitoring computer is passed in runaway displacement, go to step (11)；
(8) send stolen warning, go to step (11)；
(9) distance detection module initializes, and detects wheel distance；
(10) if wheel distance is more than setting threshold value, send Intelligent iron shoe and place warning not in place, go to step (11)；Otherwise send Intelligent iron shoe state normal, go to step (11)；
(11) terminate.
9. a kind of Intelligent iron shoe runaway displacement according to claim 7 or 8 and alarm detection procedure, it is characterised in that calculate runaway displacement by acceleration double integrator, comprise the following steps:
(1) 3-axis acceleration sensor module initialization；
(2) runaway displacement s=0 is initialized；
(3) opening timing device, arranges the sampling period t of 3-axis acceleration sensor module；
(4) rail tangential direction is namely along 3-axis acceleration sensor module y-axis direction, detects y-axis directional acceleration ayInstantaneous acceleration a in the ith sample momentyi, according to formula
si=si-1+ayit2
Calculate the displacement s obtaining in the ith sample cyclei, wherein s0=0；
(5) calculate
S=∑ si
Obtain total runaway displacement s；
(6) if counting down to the setting time, by wireless transport module, runaway displacement s being issued remote monitoring computer, otherwise going to step (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610046686.7A CN105711621B (en) | 2016-01-22 | 2016-01-22 | A kind of displacement of Intelligent iron shoe runaway and alarm detector and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610046686.7A CN105711621B (en) | 2016-01-22 | 2016-01-22 | A kind of displacement of Intelligent iron shoe runaway and alarm detector and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105711621A true CN105711621A (en) | 2016-06-29 |
| CN105711621B CN105711621B (en) | 2017-06-16 |
Family
ID=56153968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610046686.7A Active CN105711621B (en) | 2016-01-22 | 2016-01-22 | A kind of displacement of Intelligent iron shoe runaway and alarm detector and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105711621B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117186A (en) * | 2017-04-27 | 2017-09-01 | 南京富岛信息工程有限公司 | A kind of Intelligent iron shoe and its data transmission method for uplink based on Lora communications |
| CN108001477A (en) * | 2018-01-03 | 2018-05-08 | 伊军庆 | A kind of skate remote monitoring and management system and its method |
| CN110712669A (en) * | 2019-10-22 | 2020-01-21 | 深圳市微度数字技术有限公司 | Anti-slip iron shoe management and control device and alarm method |
| CN111055877A (en) * | 2019-12-24 | 2020-04-24 | 南京富岛信息工程有限公司 | Wide-temperature-range intelligent iron shoe and anti-slip state judgment method thereof |
| CN112265568A (en) * | 2020-10-26 | 2021-01-26 | 南京富岛信息工程有限公司 | Intelligent iron shoe slip alarm system |
| CN112793616A (en) * | 2021-02-08 | 2021-05-14 | 南京富岛信息工程有限公司 | Novel intelligent skate and in-place distance acquisition method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4457237A (en) * | 1980-10-08 | 1984-07-03 | Franz Plasser Bahnbaumaschinen-Industrie-Gesellschaft Mbh | Electronic anti-spin and anti-slip control for drive and brake of an intermittently advancing track working machine |
| DE3426747C2 (en) * | 1984-07-20 | 1992-01-09 | Alfred Teves Gmbh, 6000 Frankfurt, De | |
| CN2887698Y (en) * | 2006-03-01 | 2007-04-11 | 陈立 | Antislip iron shoes with alarming function |
| CN202046322U (en) * | 2010-12-31 | 2011-11-23 | 北京世纪东方国铁科技股份有限公司 | Intelligent anti-slipping brake shoe system capable of being monitored |
| CN204452481U (en) * | 2015-01-23 | 2015-07-08 | 武汉铁路局科学技术研究所 | The anti-slip electronics skate of rolling stock |
| CN204472832U (en) * | 2015-02-11 | 2015-07-15 | 中国神华能源股份有限公司 | The safety monitoring device of anti-slip metal shoe |
-
2016
- 2016-01-22 CN CN201610046686.7A patent/CN105711621B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4457237A (en) * | 1980-10-08 | 1984-07-03 | Franz Plasser Bahnbaumaschinen-Industrie-Gesellschaft Mbh | Electronic anti-spin and anti-slip control for drive and brake of an intermittently advancing track working machine |
| DE3426747C2 (en) * | 1984-07-20 | 1992-01-09 | Alfred Teves Gmbh, 6000 Frankfurt, De | |
| CN2887698Y (en) * | 2006-03-01 | 2007-04-11 | 陈立 | Antislip iron shoes with alarming function |
| CN202046322U (en) * | 2010-12-31 | 2011-11-23 | 北京世纪东方国铁科技股份有限公司 | Intelligent anti-slipping brake shoe system capable of being monitored |
| CN204452481U (en) * | 2015-01-23 | 2015-07-08 | 武汉铁路局科学技术研究所 | The anti-slip electronics skate of rolling stock |
| CN204472832U (en) * | 2015-02-11 | 2015-07-15 | 中国神华能源股份有限公司 | The safety monitoring device of anti-slip metal shoe |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117186A (en) * | 2017-04-27 | 2017-09-01 | 南京富岛信息工程有限公司 | A kind of Intelligent iron shoe and its data transmission method for uplink based on Lora communications |
| CN108001477A (en) * | 2018-01-03 | 2018-05-08 | 伊军庆 | A kind of skate remote monitoring and management system and its method |
| CN108001477B (en) * | 2018-01-03 | 2024-02-13 | 伊军庆 | System and method for remotely monitoring and managing iron shoes |
| CN110712669A (en) * | 2019-10-22 | 2020-01-21 | 深圳市微度数字技术有限公司 | Anti-slip iron shoe management and control device and alarm method |
| CN111055877A (en) * | 2019-12-24 | 2020-04-24 | 南京富岛信息工程有限公司 | Wide-temperature-range intelligent iron shoe and anti-slip state judgment method thereof |
| CN111055877B (en) * | 2019-12-24 | 2021-05-28 | 南京富岛信息工程有限公司 | Wide-temperature-range intelligent iron shoe and anti-slip state judgment method thereof |
| CN112265568A (en) * | 2020-10-26 | 2021-01-26 | 南京富岛信息工程有限公司 | Intelligent iron shoe slip alarm system |
| CN112793616A (en) * | 2021-02-08 | 2021-05-14 | 南京富岛信息工程有限公司 | Novel intelligent skate and in-place distance acquisition method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105711621B (en) | 2017-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105711621A (en) | Intelligent brake shoe runaway displacement and alarm detection device and method | |
| CN104494550B (en) | A kind of computational methods for vehicle active collision avoidance distance | |
| CN106274779B (en) | A kind of detection method, device and its application of vehicle rollover and collision | |
| CN105109490B (en) | Method for judging sharp turn of vehicle based on three-axis acceleration sensor | |
| CN107719409B (en) | The anti-slip Intelligent iron shoe of railway and its attitude detecting method with posture detection function | |
| CA3035929C (en) | Systems and methods for detecting mobile device movement within a vehicle using accelerometer data | |
| CN103354032A (en) | Wireless vehicle information detection system based on magnetoresistive sensor | |
| CN109085381A (en) | Vehicle-mounted acceleration transducer direction calibration method | |
| CN102145859B (en) | Double-lifting-appliance bridge crane adopting ultrasonic sensor and positioning method thereof | |
| CN108415009A (en) | A kind of train speed computational methods and system | |
| CN106339692B (en) | A kind of fatigue driving state information determines method and system | |
| CN104036619B (en) | Fatigue detection method and detecting device based on steering wheel angle data | |
| CN103792096A (en) | Portable brake performance tester with embedded electronic gyroscope and test method | |
| CN207867669U (en) | Driver fatigue early warning system and vehicle | |
| CN104864909A (en) | Road surface pothole detection device based on vehicle-mounted binocular vision | |
| CN105403219B (en) | A kind of bicycle navigation system based on MEMS | |
| CN105353348B (en) | A kind of system and method for being used to position underground coal mine movement target | |
| CN103676953B (en) | Intelligent Mobile Robot magnetic navigation derailing automatic recovery method | |
| CN105292113A (en) | Clamping device for detecting vehicle stability based on GPS (Global Positioning System) | |
| CN106144490B (en) | A kind of detecting system and method for drag conveyor complexity operating condition | |
| CN109795468A (en) | A kind of system and method identifying vehicle heat fading phenomenon | |
| CN104483861B (en) | Intelligent vehicle-mounted monitoring device and intelligent vehicle-mounted monitoring method | |
| US9090270B2 (en) | Speed sensitive dragging equipment detector | |
| CN106381888B (en) | Manhole cover anti-theft detection device and control method | |
| CN106768577B (en) | A kind of vehicle tyre vertical load monitoring device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |