CN112319426A - Blowing dust removal equipment - Google Patents
Blowing dust removal equipment Download PDFInfo
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- CN112319426A CN112319426A CN202011314696.7A CN202011314696A CN112319426A CN 112319426 A CN112319426 A CN 112319426A CN 202011314696 A CN202011314696 A CN 202011314696A CN 112319426 A CN112319426 A CN 112319426A
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- 239000000428 dust Substances 0.000 title claims abstract description 131
- 238000007664 blowing Methods 0.000 title claims abstract description 128
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000000605 extraction Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 abstract description 10
- 238000004140 cleaning Methods 0.000 abstract description 9
- 239000000853 adhesive Substances 0.000 abstract description 6
- 230000001070 adhesive effect Effects 0.000 abstract description 6
- 238000010408 sweeping Methods 0.000 abstract description 6
- 238000010926 purge Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 4
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- 238000013135 deep learning Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/008—Vehicle cleaning apparatus not integral with vehicles for interiors of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D50/00—Combinations of methods or devices for separating particles from gases or vapours
- B01D50/40—Combinations of devices covered by groups B01D45/00 and B01D47/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
- B08B5/023—Cleaning travelling work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D2258/00—Sources of waste gases
- B01D2258/02—Other waste gases
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses blowing dust removal equipment which comprises a travelling mechanism, a blowing execution assembly and a blowing control system, wherein the blowing execution assembly is arranged on the travelling mechanism and used for blowing dust removal to the bottom of a vehicle, and the blowing control system is connected with the travelling mechanism and the blowing execution assembly and used for controlling the travelling mechanism to travel and the blowing execution assembly to blow dust removal to the bottom of the vehicle. The blowing dust removal equipment can realize blowing dust removal on the vehicle bottom, and on one hand, continuous blowing can be realized for a heavily polluted region of the dust on the vehicle bottom or when oil stains with strong adhesive force are encountered, so that the cleaning effect is achieved; on the other hand, can adjust the height and the angle of jetting execution subassembly according to actual need, especially to some deeper higher spare parts of vehicle bottom to realize sweeping vehicle bottom fixed point and omnidirectional.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to blowing dust removal equipment.
Background
According to the structure of the existing train, dust can be attached to the bottom of the train after the train runs for a long time, the polluted dust such as floating soil can bring inconvenience during maintenance, and meanwhile, hidden dangers are brought to the long-time high-speed running of the train. Therefore, the dust removal and purging are carried out on the train bottom of the rail transit vehicle and auxiliary equipment thereof, and the dust removal and purging are necessary facility links for regular maintenance, so that on one hand, clean operation conditions can be provided for next maintenance procedures, and on the other hand, the hidden danger of the faults of train bottom electrical equipment caused by attachments can be reduced.
The vehicle base is used for cleaning, maintaining and repairing rail transit vehicles and other related system equipment, a rail surface and a rail bridge are arranged in the base, and a cleaning pit is arranged below the rail bridge, so that the vehicles can be swept in the cleaning pit. Among the prior art, jetting dust collecting equipment's shower nozzle often fixes on the walking portion, walks along the walking track in the clean position of taking a hole through the walking portion to the realization sweeps the cleanness of vehicle, however, above-mentioned mode of setting up, because the angle of the jetting of shower nozzle is limited, and the highly uniform of shower nozzle, and the dust removal effect that can lead to the vehicle bottom like this is unsatisfactory, so that follow-up needs the manual work to mend and blow, can reduce the work effect and increase the cost of labor like this.
Therefore, how to avoid the problem that the dust removal effect of the existing blowing dust removal equipment on the bottom of the car is not ideal is a technical problem which needs to be solved by technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide blowing dust removal equipment which can realize fixed-point blowing at each position of the train bottom and can realize continuous blowing on heavily polluted areas so as to improve the blowing effect.
In order to achieve the purpose, the invention provides blowing dust removal equipment which comprises a travelling mechanism, a blowing execution assembly and a blowing control system, wherein the blowing execution assembly is arranged on the travelling mechanism and used for blowing dust removal to the bottom of a vehicle, and the blowing control system is connected with the travelling mechanism and the blowing execution assembly and used for controlling the travelling mechanism to travel and the blowing execution assembly to blow dust removal to the bottom of the vehicle.
Optionally, the system further comprises a vision system connected with the blowing control system and used for acquiring information of vehicle bottom parts and transmitting the information to the blowing control system.
Optionally, the vision system includes a camera detachably connected to the blowing execution assembly for photographing vehicle bottom parts to obtain image information.
Optionally, the blowing execution assembly comprises a mechanical arm and a nozzle arranged at the tail end of the mechanical arm, and the mechanical arm drives the nozzle to move so as to realize blowing and dust removal at different positions of the bottom of the vehicle.
Optionally, the number of the mechanical arms is at least two, and all the mechanical arms are arranged on the walking mechanism side by side.
Optionally, the dust collector is connected with the blowing control system and used for sucking dust dispersed at the bottom of the vehicle after being blown by the blowing execution assembly.
Optionally, the dust collection system comprises a dust removal air guide sleeve and a dust removal host connected with the dust removal air guide sleeve, and the dust removal air guide sleeve is connected with the dust removal host through a dust removal pipeline.
Optionally, a dust hood is arranged outside the dust removing air guide sleeve to prevent dust from overflowing.
Optionally, the dust removal host includes a centrifugal fan, a driving motor and a cartridge filter, the driving motor drives the centrifugal fan, and dust enters the cartridge filter along the dust removal air guide sleeve and the dust removal pipeline to form filtered clean air.
Optionally, the running gear is embodied as a wheeled chassis structure.
Compared with the background art, the blowing dust removal equipment provided by the embodiment of the invention comprises a travelling mechanism, a blowing execution assembly and a blowing control system, wherein the blowing execution assembly is arranged on the travelling mechanism and used for blowing and removing dust on the bottom of the vehicle, the blowing control system is connected with the travelling mechanism and the blowing execution assembly and used for controlling the travelling mechanism to travel and the blowing execution assembly to blow and remove dust on the bottom of the vehicle. The blowing dust removal equipment mainly has the advantages that:
firstly, the blowing execution assembly is controlled by the blowing control system to realize blowing and dust removal on the vehicle bottom, on one hand, when the dust on the vehicle bottom heavily pollutes the area or meets oil stains with strong adhesive force, continuous blowing can be realized to achieve the cleaning effect; on the other hand, can adjust the height and the angle of jetting execution subassembly according to actual need, especially to some deeper higher spare parts of vehicle bottom to realize sweeping vehicle bottom fixed point and omnidirectional. The arrangement mode is favorable for realizing full-automatic purging, so that the labor intensity of operators is greatly reduced.
Secondly, control running gear in order to drive jetting actuating assembly and walk along the length direction of train through jetting control system, be favorable to realizing nimble removal, need not each section train and gradually enters into and sweeps the region, can further carry out the omnidirectional operation of sweeping to the vehicle bottom under the completely static state of train when the train gets into completely and cleans the region.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a blowing dust removal device provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a dust collection system and a blowing control system in the blowing dust removal device according to the embodiment of the present invention.
Wherein:
01-subway rail surface, 02-walking rail, 1-walking mechanism, 2-blowing execution component, 21-mechanical arm, 22-nozzle, 3-dust collection system, 31-dust shield, 32-dust collection guide cover, 33-dust collection pipeline, 34-dust collection host, 4-blowing control system and 5-compressed air pump.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide blowing dust removal equipment which can realize fixed-point blowing at each position of the train bottom and can realize continuous blowing on heavily polluted areas so as to improve the blowing effect.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following directional terms such as "upper end, lower end, left side, right side" and the like are defined based on the drawings of the specification.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a blowing dust removing device according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a dust collection system and a blowing control system in the blowing dust removal device according to the embodiment of the present invention.
The blowing dust removal equipment provided by the embodiment of the invention comprises a travelling mechanism 1, a blowing execution component 2 and a blowing control system 4, wherein the blowing execution component 2 is arranged on the travelling mechanism 1, the blowing execution component 2 is used for blowing dust removal to the bottom of a vehicle, the blowing control system 4 is connected with the travelling mechanism 1 and the blowing execution component 2, and the blowing control system 4 is used for controlling the travelling mechanism 1 to travel and the blowing execution component 2 to blow dust removal to the bottom of the vehicle.
Compared with the defects that the traditional equipment needs train matched purging equipment, the moving range of a nozzle is limited, manual complementary blowing is needed and the like, the blowing dust removal equipment provided by the embodiment of the invention controls the blowing execution assembly 2 through the blowing control system 4 so as to realize blowing dust removal on the bottom of the train, and on one hand, continuous blowing can be realized for a heavily polluted area of dust on the bottom of the train or when oil stains with strong adhesive force are encountered so as to achieve the cleaning effect; on the other hand, can adjust the height and the angle of jetting executive component 2 according to actual need, especially to some deeper higher spare parts of vehicle bottom to realize sweeping vehicle bottom fixed point and omnidirectional. The arrangement mode is favorable for realizing full-automatic purging, so that the labor intensity of operators is greatly reduced.
In addition, through jetting control system 4 control running gear 1 in order to drive jetting execution module 2 and walk along the length direction of train, be favorable to realizing nimble removal, need not each section train and gradually enters into and sweeps the region, can further carry out the omnidirectional operation of sweeping the vehicle bottom when the train completely gets into and cleans the region under the state of train complete stillness in subway track face 01.
The walking mechanism 1, the blowing execution component 2 and the blowing control system 4 can form a blowing robot device, the walking mechanism 1 can be set to be of a wheel type chassis structure, the blowing execution component 2 can be set to comprise a mechanical arm 21 and a nozzle 22 arranged at the tail end of the mechanical arm 21, and the mechanical arm 21 can drive the nozzle 22 to move so as to realize blowing and dust removal at different positions of the bottom of the vehicle. Of course, at least two robot arms 21 are provided, and it is preferable that two robot arms 21 are provided, and the two robot arms 21 are arranged side by side and opposite to each other on the traveling mechanism 1.
Of course, the device further comprises a compressed air pump 5 connected with the nozzle 22 through a compressed air pipeline, the compressed air pump 5 can be a screw air compressor, an air source required by the nozzle 22 can be provided by the air compressor, and an air source of an air storage tank is supplied to the blowing execution assembly 2 after passing through a filter, so that the vehicle bottom is blown.
The blowing control system 4 can be provided with a PLC control cabinet with a preset control program. The PLC control cabinet is made of a metal shell and can effectively prevent dust, rust, corrosion and moisture through paint spraying treatment. The working states and working parameters of all control buttons, switches and various devices on the control panel of the PLC control cabinet can be clearly displayed, and operation and management of operators are facilitated. The PLC control cabinet can control the travelling mechanism 1 and the blowing execution assembly 2 and is connected through a communication technology. The puff control system 4 has a random manual control mode and an automatic control mode.
Simultaneously, jetting dust collecting equipment still is equipped with following safety feature:
phase protection measures: preventing the device from operating in unstable voltage conditions and any power failure due to phase errors;
the outer side of the traveling mechanism 1 is additionally provided with peripheral protection detection, and when an object or a person enters the range of the track, the control system automatically stops the traveling mechanism 1;
overload protection: the device is prevented from being overhigh in temperature or overloaded when in work.
Running gear 1 installs on the walking track 02 in the trench, and running gear 1 fuses the location technique, can acquire the automobile body location data, and equipment can adjust the height and the angle of arm 21 in the specific position, realizes the fixed point and sweeps, guarantees the accuracy of equipment in the operation of sweeping.
In this way, the blowing operation of each angle of the bottom of the car can be realized through the free movement of the mechanical arm 21 of the robot; meanwhile, based on the autonomous image recognition algorithm of deep learning, the robot can recognize the state of the target object, and can continuously blow the recognized heavily-polluted area or encounter oil stains with strong adhesive force, so that the cleaning effect is achieved. Of course, the autonomous image recognition algorithm of deep learning belongs to the conventional application technology of robots, and reference can be made to the content of the prior art, which is not expanded one by one herein.
In addition, the robot can be provided with a positioning function, for places with higher positions or places difficult to purge, the robot can adjust the height and the angle of the mechanical arm 21 at corresponding positions to complete purging, for example, the length of a specific train is a known quantity, the train is stopped to a set position, so that through the purging experience, oil stains which are difficult to purge or have strong adhesive force often exist at the position away from the locomotive by a preset distance can be known in advance, and the travelling mechanism 1 can be stopped when travelling to the preset position away from the locomotive by the positioning function of the robot, so that automatic purging operation is performed.
Furthermore, the blowing dust removal equipment also comprises a visual system connected with the blowing control system 4, wherein the visual system is used for acquiring the information of the vehicle bottom parts, and in addition, the visual system can also transmit the information of the vehicle bottom parts to the blowing control system 4 so that the blowing control system 4 can process the information to obtain a processing result and control the blowing execution assembly 2 to blow according to the processing result.
In particular, the vision system comprises a camera which is detachably connected to the blowing execution assembly 2 and is used for shooting vehicle bottom parts to acquire image information. Therefore, the information of the vehicle bottom parts is acquired in a camera shooting mode. After the information is acquired, the blowing control system 4 can perform preprocessing on the image information acquired by the camera, and perform operations such as denoising, smoothing, and transformation to enhance important features of the image. Of course, the setup of the vision system can be referred to the vision system cooperating with the robot on the automated production line, where it will not be deployed one by one.
More specifically, based on the autonomous image recognition of deep learning, the robot can flexibly apply SIFT feature matching technology to establish an image recognition model for a target object, the SIFT features are local features of the image, the SIFT features keep invariance to rotation, scale scaling and brightness change, the vision angle change, affine transformation and noise also keep certain stability, and quick and accurate matching can be performed in a massive feature database. The image recognition technology of the robot is the same as the image recognition principle of human beings, and the recognition process is also different. The method comprises the steps of information acquisition, preprocessing, feature extraction and selection, classifier design and classification decision.
Feature extraction and selection is one of the very critical techniques in the image recognition process, and is the key step in image recognition. Because the images shot by the cameras are various, if the images are distinguished by a certain method, the images are identified by the own characteristics of the images, the process of acquiring the characteristics is characteristic extraction, the characteristics obtained in the characteristic extraction are not all useful for the identification, and the useful characteristics are extracted, so that the characteristics are selected; the classifier design is that a recognition rule is obtained through training, and a feature classification can be obtained through the recognition rule, so that the image recognition technology can obtain high recognition rate; the classification decision refers to classifying the identified objects in the feature space, so as to better identify which class the researched objects specifically belong to.
Generally, the blowing control system 4 of the robot acquires information of each part through a camera, summarizes and summarizes characteristics of objects from mass data, and extracts the characteristics; then, an identification rule is obtained through training, a classifier is established, classification identification and judgment are carried out according to image characteristics, accurate identification of the physical state of the target part can be carried out, and continuous blowing can be carried out on the identified heavily polluted area or when oil stains with strong adhesive force are encountered, so that the cleaning effect is achieved.
In order to optimize the above embodiment, the blowing dust removal device further comprises a dust collection system 3 connected with the blowing control system 4, and the dust collection system 3 is used for sucking dust dispersed at the bottom of the vehicle after being blown by the blowing execution assembly 2. Specifically, the dust collection system 3 includes a dust removal air guide sleeve 32 and a dust removal host 34 connected to the dust removal air guide sleeve 32, the dust removal air guide sleeve 32 is connected to the dust removal host 34 through a dust removal pipeline 33, the dust removal air guide sleeve 32 can be set to be of a cone structure, the cone structure is provided with a perforated plate type dust collection port, the perforated plate type dust collection port is provided with uniform negative pressure air flow, dust in the dust blocking cover 31 can be effectively absorbed, and a larger dust removal area can be achieved. The dust removal guide covers 32 are arranged on two sides of the train to effectively recycle the blown dust; the dust removing main machine 34 includes a centrifugal fan, a driving motor and a drum filter, and dust enters the drum filter along the dust removing guide cover 32 and the dust removing pipeline 33 by driving the centrifugal fan by the driving motor to form filtered clean air.
In addition, a dust shield 31 for preventing dust from overflowing is provided outside the dust removing guide cover 32. The dust-blocking cover 31 can be made of a frame-type metal framework, the surface of the dust-blocking cover is sealed with a PE thin plate, and the total length of the dust-blocking cover 31 is about 120 meters according to requirements. The dust shield 31 can surround the dust area generated by blowing completely to prevent the dust gas blown from the bottom of the vehicle from overflowing and effectively reduce the noise of the blowing storehouse. Of course, both the dust-removing diversion cover 32 and the dust-blocking cover 31 can be welded by metal plates, and the surfaces are electrostatically sprayed.
When the vehicle blowing device works, a vehicle to be blown stops at a preset position, at the moment, the dust collection system 3 is started in a static state of the train, a negative pressure dust removal area is formed in a blowing area at the bottom of the train, then the blowing control system 4, the travelling mechanism 1 and the blowing execution assembly 2 are started, the blowing execution assembly 2 starts to move along a fixed track, and when the vehicle bottom is blown, the vehicle blowing device can be automatically positioned according to parts of the vehicle bottom, so that fixed-point blowing is realized. The cleaning operation can be carried out on one carriage in about 15-30 minutes, and the speed is adjustable. A small amount of large-particle dust falls into a trench, the floating dust is recycled into the dust removal air guide sleeve 32 along with air flow and enters the dust removal host 34 through the dust removal pipeline 33, a filter screen is arranged in the dust removal host 34, and the air filtered by the filter screen is discharged from an air outlet, so that the GB16297 standard is met.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The blowing dust removing device provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are provided only to help understand the concepts of the present invention and the core concepts thereof. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The blowing dust removal equipment is characterized by comprising a travelling mechanism (1), a blowing execution component (2) arranged on the travelling mechanism (1) and used for blowing dust removal to the bottom of a vehicle, and a blowing control system (4) connected with the travelling mechanism (1) and the blowing execution component (2) and used for controlling the travelling mechanism (1) to travel and the blowing execution component (2) to blow dust removal to the bottom of the vehicle.
2. The blowing dust removal device of claim 1, further comprising a vision system connected to the blowing control system (4) for acquiring and communicating underbody component information to the blowing control system (4).
3. Blowing dust removal device according to claim 2, characterized in that the vision system comprises a camera which is detachably connected to the blowing execution assembly (2) and is used to take images of vehicle underbody components in order to obtain image information.
4. The blowing dust removal device of claim 1, wherein the blowing execution assembly (2) comprises a mechanical arm (21) and a nozzle (22) arranged at the tail end of the mechanical arm (21), and the mechanical arm (21) drives the nozzle (22) to move so as to realize blowing dust removal on different positions of the bottom of the vehicle.
5. Blowing dust removal device according to claim 4, characterized in that at least two robot arms (21) are provided, all robot arms (21) being arranged side by side on the travelling mechanism (1).
6. The blowing dust removing device according to any one of claims 1 to 5, further comprising a dust suction system (3) connected to the blowing control system (4) for sucking dust scattered at the bottom of the vehicle after being blown by the blowing performing assembly (2).
7. The blowing dust removal device according to claim 6, characterized in that the dust extraction system (3) comprises a dust extraction air guide hood (32) and a dust extraction main unit (34) connected to the dust extraction air guide hood (32), the dust extraction air guide hood (32) being connected to the dust extraction main unit (34) via a dust extraction duct (33).
8. The blowing dust removing device according to claim 7, wherein a dust-shielding hood (31) for preventing dust from overflowing is provided outside the dust-removing air guide hood (32).
9. The blowing dust removing device according to claim 8, wherein the dust removing main unit (34) comprises a centrifugal fan, a drive motor, and a cartridge filter, the centrifugal fan being driven by the drive motor, and dust enters the cartridge filter along the dust removing air guide sleeve (32) and the dust removing duct (33) to form filtered clean air.
10. Blowing dust removal device according to claim 6, characterized in that the travelling mechanism (1) is embodied as a wheel chassis structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011314696.7A CN112319426A (en) | 2020-11-20 | 2020-11-20 | Blowing dust removal equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011314696.7A CN112319426A (en) | 2020-11-20 | 2020-11-20 | Blowing dust removal equipment |
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| CN112319426A true CN112319426A (en) | 2021-02-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896102A (en) * | 2021-03-27 | 2021-06-04 | 湖南凌翔磁浮科技有限责任公司 | High-efficiency intelligent purging method, storage medium, terminal and system for rail transit vehicle |
| CN113895404A (en) * | 2021-02-24 | 2022-01-07 | 中铁第四勘察设计院集团有限公司 | Sweeping method for vehicle bottom pollution identification |
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| CN112896102A (en) * | 2021-03-27 | 2021-06-04 | 湖南凌翔磁浮科技有限责任公司 | High-efficiency intelligent purging method, storage medium, terminal and system for rail transit vehicle |
| CN112896102B (en) * | 2021-03-27 | 2022-08-05 | 湖南凌翔磁浮科技有限责任公司 | High-efficiency intelligent purging method, storage medium, terminal and system for rail transit vehicle |
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