CN113624507A - Vehicle chassis detecting system - Google Patents
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- 238000012423 maintenance Methods 0.000 claims description 10
- 238000012549 training Methods 0.000 description 7
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Abstract
The application discloses a vehicle chassis detection system, which comprises chassis inspection equipment, an information acquisition system, a fault detection system and a control system; the control system is used for controlling the chassis inspection equipment to move to the target detection position and controlling the information acquisition system to acquire image information of the target detection position; the information acquisition system is used for acquiring the image information of the target detection position and sending the image information of the target detection position to the fault detection system; the fault detection system is used for determining a detection result corresponding to the image information of the target detection position according to the image information of the target detection position; the control system is also used for outputting the detection result. Therefore, the image information of the target detection position can be acquired by the vehicle chassis detection system, the fault detection is carried out on the vehicle chassis according to the acquired image information, the vehicle chassis does not need to be detected manually, and the accuracy, convenience and comprehensiveness of the fault detection of the vehicle chassis are improved.
Description
Technical Field
The application relates to the field of vehicle detection, in particular to a vehicle chassis detection system.
Background
In order to ensure reliable running and safe work, the chassis of heavy-duty vehicles including port transport vehicles and various engineering machines needs to be periodically checked, and faults such as aging, leakage, looseness, damage, loss and the like of parts are identified. At present, the detection of a vehicle chassis is mainly finished manually in the prior art, and then three actual problems exist in the existing manual detection mode: firstly, the space of the chassis is narrow, so that the inspection and operation of personnel are not convenient, particularly, the center of gravity of the whole vehicle is controlled by part of heavy-load chassis, the driving stability is improved, and the manual inspection is difficult to implement because the vehicle frame is close to the ground; secondly, the heavy-load chassis, especially the multi-shaft heavy-load chassis, has a plurality of checking points, and is high in working strength and tedious in manual operation checking, so that missing faults are easily generated; and for batch inspection, personnel face a large amount of repeated labor, fatigue is easily generated, and the fault detection is wrong or the inspection fault is omitted, so that the working efficiency is reduced. Therefore, in order to realize batch high-efficiency fault detection of heavy-load chassis and solve the problems of low fault detection accuracy and poor comprehensiveness caused by difficulty and inconvenience of manual operation, a vehicle chassis detection system is urgently needed at present.
Disclosure of Invention
The application provides a vehicle chassis detecting system to improve vehicle chassis fault detection's precision, convenience, comprehensiveness.
In a first aspect, the present application provides a vehicle chassis detection system, which includes chassis inspection equipment, an information acquisition system, a fault detection system, and a control system; the information acquisition system is arranged on the chassis inspection equipment;
the control system is used for controlling the chassis inspection equipment to move to a target detection position and controlling the information acquisition system to acquire image information of the target detection position;
the information acquisition system is used for acquiring the image information of the target detection position and sending the image information of the target detection position to the fault detection system;
the fault detection system is used for determining a detection result corresponding to the image information of the target detection position according to the image information of the target detection position;
the control system is also used for outputting the detection result.
Optionally, the fault detection system includes a trained fault detection model; the fault detection system is specifically configured to input the image information of the target detection position into the fault detection model, and obtain a detection result corresponding to the image information of the target detection position.
Optionally, the fault detection system is specifically configured to compare the image information of the target detection position with the standard image information corresponding to the target detection position, and determine a detection result corresponding to the image information of the target detection position.
Optionally, the information acquisition system includes a camera, and the camera is a camera capable of rotating in multiple directions; and/or the information acquisition system comprises a camera.
Optionally, the camera includes a visible light camera and/or an infrared camera.
Optionally, the chassis inspection equipment comprises a multi-degree-of-freedom series mechanism, and the information acquisition system is arranged at one end, far away from the chassis inspection equipment, of the multi-degree-of-freedom series mechanism.
Optionally, the chassis inspection equipment comprises an inertial navigation element, wherein the inertial navigation element is used for controlling the chassis inspection equipment to sequentially move to a plurality of detection positions according to the plurality of detection positions sent by the control system.
Optionally, the vehicle chassis detection system further includes a human-computer interaction system; the man-machine interaction system is used for responding to a user position control instruction, controlling the chassis inspection equipment to move to a detection position corresponding to the user position control instruction, responding to a user acquisition control instruction, adjusting an information acquisition angle of the information acquisition system, receiving image information acquired by the information acquisition system at the target detection position, displaying the image information at the target detection position, and responding to the user detection control instruction to determine a detection result corresponding to the image information at the target detection position.
Optionally, the control system is further configured to determine inspection state data corresponding to the vehicle type according to the vehicle type of the vehicle to be detected, and adjust the shape and size of the chassis inspection equipment according to the inspection state data.
Optionally, the control system is further configured to determine, according to the detection result, use information and/or a maintenance prompt of an accessory corresponding to the target detection position; and/or the presence of a gas in the gas,
the chassis inspection equipment comprises a walking driving part and a tail end executing mechanism.
According to the technical scheme, the vehicle chassis detection system comprises chassis inspection equipment, an information acquisition system, a fault detection system and a control system; the information acquisition system is arranged on the chassis inspection equipment; the control system is used for controlling the chassis inspection equipment to move to a target detection position and controlling the information acquisition system to acquire image information of the target detection position; the information acquisition system is used for acquiring the image information of the target detection position and sending the image information of the target detection position to the fault detection system; the fault detection system is used for determining a detection result corresponding to the image information of the target detection position according to the image information of the target detection position; the control system is also used for outputting the detection result. It is thus clear that this application can utilize control system control chassis to patrol and examine equipment and remove to the target detection position, then, utilize the chassis to patrol and examine the information acquisition system on the equipment and gather the image information of target detection position, then, fault detection system can be according to the image information of target detection position confirms the testing result that the image information of target detection position corresponds, immediately, control system exports the testing result. Like this, this application alright with the image information who utilizes vehicle chassis detecting system to gather the target detection position to carried out fault detection to vehicle chassis according to the image information who gathers, and need not be the same with prior art, need artifically carry out artifical the detection to vehicle chassis, thereby improved vehicle chassis fault detection's precision, convenience, comprehensiveness.
Further effects of the above-mentioned unconventional preferred modes will be described below in conjunction with specific embodiments.
Drawings
In order to more clearly illustrate the embodiments or prior art solutions of the present application, the drawings needed for describing the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and that other drawings can be obtained by those skilled in the art without inventive exercise.
Fig. 1 is a schematic structural diagram of a vehicle chassis inspection system according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following embodiments and accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a vehicle chassis inspection system in an embodiment of the present application is shown, which includes a chassis inspection apparatus, an information acquisition system, a fault detection system, and a control system.
In the present embodiment, the mentioned vehicle chassis may be any vehicle type vehicle chassis, such as a heavy-duty chassis. In one implementation mode, the chassis inspection equipment can comprise a walking driving part and a tail end executing mechanism, the information collecting system can be carried to walk to the vicinity of each detection point of the chassis according to a planned route, and the tail end executing mechanism is adapted to the local space of the chassis to achieve accessibility of the measurement points. The walking driving part can adopt wheel type or crawler type driving, the chassis inspection equipment is guaranteed to have enough cross-country capacity, and the chassis inspection equipment is suitable for wide-range road use conditions. The chassis inspection equipment is an actuating mechanism of the system, has an autonomous moving function, and can be loaded with an information acquisition system to sequentially reach each operation inspection point of the chassis under the control of a control system. The chassis inspection equipment has the characteristics of compact structure and strong maneuverability, and is suitable for narrow and small space of the chassis and uneven working conditions of a road surface.
The information acquisition system is arranged on the chassis inspection equipment, and in one implementation mode, the information acquisition system can be arranged on a tail end execution mechanism of the chassis inspection equipment; for example, when the tail end executing mechanism comprises a fixed support, when all detection positions of the chassis are positioned at positions which can be directly observed below the vehicle chassis, the information acquisition system can be arranged on the fixed support on the chassis inspection equipment; for another example, when the end executing mechanism comprises a multi-degree-of-freedom serial mechanism, the information acquisition system is arranged at one end, far away from the chassis inspection equipment, of the multi-degree-of-freedom serial mechanism, namely the chassis inspection equipment can be provided with the multi-degree-of-freedom serial executing mechanism, and the information acquisition system is arranged at the end of the mechanism, so that the multi-degree-of-freedom serial executing mechanism can stretch and retract according to specific conditions to realize changes of length, height and shape, and therefore flexible accessibility of each operation inspection point of the chassis is realized, and detection in a tortuous narrow space is adapted.
In this embodiment, the control system is configured to control the chassis inspection device to move to the target detection position, and control the information acquisition system to acquire the image information of the target detection position. In this embodiment, different polling data lists can be set according to different chassis structures and test point distribution conditions, wherein the polling data list comprises a plurality of detection positions, the polling data list can be input to the chassis polling equipment by the control system, so that the chassis polling equipment can move to the plurality of detection positions in sequence according to the plurality of detection positions in the polling data list, and fault detection is completed at each detection position, and thus, the vehicle chassis detection system can adapt to application of different chassis, and customized application is realized.
In this embodiment, the information collecting system may be configured to collect image information of the target detection position, and send the image information of the target detection position to the fault detecting system. It should be noted that, in this embodiment, the information acquisition system includes a camera, the camera is a camera capable of rotating in multiple directions, it can be understood that, the camera mentioned in this embodiment has rotational and pitching degrees of freedom, thereby implementing automatic scanning under a spherical coordinate system, and acquiring image information of measurement points at different observation angles, when a part of detection positions are located at positions that cannot be directly observed below, such as the inner side of a chassis frame cross beam, a multi-degree-of-freedom serial mechanism may be provided on the chassis inspection apparatus, and the camera is disposed at the end of the multi-degree-of-freedom serial mechanism (i.e., the camera is disposed at an end of the multi-degree-of-freedom serial mechanism far away from the chassis inspection apparatus), so that the multi-degree-of freedom mechanism can be used to enter a narrow and tortuous space of a chassis, to approach a measurement object, and to implement information acquisition. In one implementation, the camera may include a visible light camera and/or an infrared camera, so that the detection point information may be recorded by a visible light imaging picture and an infrared imaging picture, so that after the fault detection system receives the image information (i.e., the visible light imaging picture and the infrared imaging picture), the fault detection system identifies the visible light imaging picture, checks the fault, and determines the temperature information of the specific area of the chassis by using the infrared scale and the infrared imaging picture. It should be noted that, because the light below the chassis is darker, in order to ensure that the obtained picture is clear and has enough brightness, in one implementation manner, the chassis inspection equipment can be further provided with a lighting device, such as a floodlight, so that the suitable background light can be provided through the floodlight.
In one implementation manner of the embodiment, the vehicle chassis detection system may further include a human-computer interaction system.
And the man-machine interaction system is used for responding to a user position control instruction and controlling the chassis inspection equipment to move to a detection position corresponding to the user position control instruction. In this embodiment, the human-computer interaction system may provide an instruction input entry (for example, an interface or a key), so that a user may input a user position control instruction through the instruction input entry, where the user position control instruction includes a detection position, so as to control the chassis inspection apparatus to move to the detection position corresponding to the user position control instruction. In one scene, a user can manually control the chassis inspection equipment to move to a specific area near the heavy-load chassis through a man-machine interaction system, the chassis inspection equipment is used as a position reference point for inspection, and detection positions on an inspection list are all relative position data based on the point.
The human-computer interaction system can also be used for responding to a user acquisition control instruction and adjusting the information acquisition angle of the information acquisition system. In this embodiment, the human-computer interaction system may provide an instruction input entry (for example, an interface or a key), so that a user may input through the instruction input entry, where the user position control instruction includes a detection angle, so as to control the information acquisition system to turn to an angle position corresponding to the user acquisition control instruction for information acquisition.
It should be noted that, in order to prevent the failure detection system from failing to detect due to a problem, the system can still perform chassis failure detection, the human-computer interaction system may also be configured to receive the image information of the target detection position acquired by the information acquisition system, display the image information of the target detection position, and determine a detection result corresponding to the image information of the target detection position in response to a user detection control instruction. In this embodiment, the human-computer interaction system receives the image information of the target detection position acquired by the information acquisition system, may display the image information of the target detection position, and if a user detection control instruction of a detection result selected by a user for the image information is received, may respond to the user detection control instruction, and take the detection result selected by the user for the image information as a detection result corresponding to the image information of the target detection position.
In this embodiment, the fault detection system is configured to determine a detection result corresponding to the image information of the target detection position according to the image information of the target detection position. It should be noted that the fault detection system has two types of fault detection methods, one is to perform fault detection by using a neural network model, and the other is to perform fault detection by using an image processing algorithm, and these two types of methods are described below.
When a neural network model is employed for fault detection, the fault detection system may include a trained fault detection model. The fault detection system is specifically configured to input the image information of the target detection position into the fault detection model, and obtain a detection result corresponding to the image information of the target detection position. The fault detection model is obtained by training in advance using a fault training sample. Specifically, the collected image information can be stored according to the check point number, the fault identification based on the image is mainly completed manually at the initial stage of the equipment use, the numbered image is played to an operator for checking through a man-machine interaction system, the fault mode is identified manually, and a mark is made (namely, a corresponding detection result is marked on the image of the fault training sample), so that the fault training sample is obtained; after the fault training samples are accumulated to a certain amount, the fault training samples can be used as learning samples for supervised learning (namely fault training samples), automatic fault recognition is completed through an image recognition algorithm based on deep learning, the fault detection system has progressiveness, and can continuously self-correct according to a comparison result, so that the detection accuracy is improved. It should be noted that, in this embodiment, the reward and penalty factors may also be adjusted by manually verifying the recognition result, so as to optimize and adjust the network parameters of the fault detection model, and improve the recognition accuracy of the fault detection model. That is to say, in this embodiment, an automatic recognition mode may be adopted for fault detection, a fault detection system completes fault recognition and classification marking by using an intelligent image recognition algorithm based on machine learning, for a certain specific check point, the fault mode has certain regularity, for example, a specific connection point is prone to loosening, leakage is prone to occurring near a specific sealing surface, parts made of specific materials in a specific region are prone to aging and damage, and the like, a normal state and a fault state of each check point are marked by using an artificial mode, and then a supervised learning mode is adopted as an input learning sample to train the fault detection system based on neural network and deep learning, so that automatic image recognition and fault judgment are realized.
When the image processing algorithm is used for fault detection, the fault detection system is specifically used for comparing the image information of the target detection position with the standard image information corresponding to the target detection position, and determining the detection result corresponding to the image information of the target detection position. It should be noted that, the inspection objects of the system are components of the chassis and their installation, connection, and sealed interfaces, and the like, and the objective is to identify failure modes such as aging, leakage, looseness, damage, and loss, for example, for various failures, the image information of the target detection position is compared with the standard image information corresponding to the target detection position, and the implementation manner of determining the detection result corresponding to the image information of the target detection position is as follows: identifying an aging phenomenon by comparing color and texture changes of parts in image information of a target detection position with standard image information (namely, an image when no fault exists) corresponding to the target detection position, and determining a detection result corresponding to the image information of the target detection position; identifying oil stains by identifying specific shape characteristics in image information of a target detection position and standard image information corresponding to the target detection position, comparing area and background color differences in the image information of the target detection position and the standard image information corresponding to the target detection position, and judging whether a leakage phenomenon occurs so as to determine a detection result corresponding to the image information of the target detection position; marking lines at the threaded connection pair which is assembled in advance, and judging the loosening phenomenon according to the change conditions of the marking lines in the image information for identifying the target detection position and the standard image information corresponding to the target detection position so as to determine the detection result corresponding to the image information of the target detection position; the detection result corresponding to the image information of the target detection position is determined by respectively extracting the outline of the image information of the target detection position and the outline of the standard image information corresponding to the target detection position and comparing the outline of the image information of the target detection position and the outline of the standard image information to judge the damage and the missing phenomenon of the part. That is to say, the method and the device can adopt a manual identification mode for fault detection, all collected image information is sorted according to detection point numbers, and then is sequentially played to an operator through a human-computer interaction system, the operator checks and identifies the fault mode, and the picture is marked through the human-computer interaction system. And controlling the chassis inspection equipment to perform local detailed data extraction again for the inspection points in question. The marked picture information is stored in a database of the control system.
The control system is also used for outputting the detection result. It should be noted that all the picture information and the detection results in this embodiment can be stored in the database of the control system, so that the control system can output the detection results, for example, the detection results are displayed, so that the user can know the detection results.
It should be noted that, in this embodiment, the chassis inspection equipment may include an inertial navigation element, and the inertial navigation element may be configured to control the chassis inspection equipment to sequentially move to the plurality of detection positions according to the plurality of detection positions sent by the control system. It can be understood that if the chassis inspection equipment is provided with the inertial navigation element, the inertial navigation element can control the equipment to sequentially reach the specified position points according to the relative position data given by the inspection list, so that automatic inspection is realized.
In this embodiment, if the vehicle chassis inspection system further includes a human-computer interaction system, the chassis inspection device may include an inertial navigation element or may not include an inertial navigation element. If the chassis inspection equipment does not comprise an inertial navigation element, a user can sequentially reach each target detection position through manual control equipment of a man-machine interaction system (namely, the chassis inspection equipment can be controlled in response to a user navigation operation instruction), the control system records and stores control parameters of the whole motion process, and the automatic inspection process can be realized only by calling the parameters subsequently.
In this embodiment, the control system may be further configured to determine inspection state data corresponding to a vehicle type of the vehicle to be detected, and adjust the shape and size of the chassis inspection equipment according to the inspection state data. For example, the control system may determine routing inspection state data corresponding to the vehicle type according to the vehicle type of the vehicle to be detected, where the routing inspection state data may be understood as requirements such as size and shape that can enter the chassis of the vehicle to be detected, so that the size and shape of the chassis routing inspection equipment can be adjusted according to the routing inspection state data, and the adjusted chassis routing inspection equipment can enter the chassis of the vehicle to be detected.
In one implementation, the control system may be further configured to determine, according to the detection result, use information and/or a maintenance prompt of the accessory corresponding to the target detection position. The service information of the accessories can be understood as the service loss condition of the accessories, and the maintenance prompt can comprise the fault occurrence probability, the residual service life and the maintenance and repair suggestion information; the database in the control system can store a chassis health management database, and the chassis health management database stores the use loss condition of parts and corresponding fault occurrence probability, residual service life and maintenance and repair suggestion information. In this embodiment, after the detection result is obtained, the use information and/or the maintenance prompt of the part corresponding to the target detection position may be determined based on data in a chassis health management database, and the use information and/or the maintenance prompt of the part corresponding to the target detection position may be output to provide guidance for maintenance of the part.
According to the technical scheme, the vehicle chassis detection system comprises chassis inspection equipment, an information acquisition system, a fault detection system and a control system; the information acquisition system is arranged on the chassis inspection equipment; the control system is used for controlling the chassis inspection equipment to move to a target detection position and controlling the information acquisition system to acquire image information of the target detection position; the information acquisition system is used for acquiring the image information of the target detection position and sending the image information of the target detection position to the fault detection system; the fault detection system is used for determining a detection result corresponding to the image information of the target detection position according to the image information of the target detection position; the control system is also used for outputting the detection result. It is thus clear that this application can utilize control system control chassis to patrol and examine equipment and remove to the target detection position, then, utilize the chassis to patrol and examine the information acquisition system on the equipment and gather the image information of target detection position, then, fault detection system can be according to the image information of target detection position confirms the testing result that the image information of target detection position corresponds, immediately, control system exports the testing result. Like this, this application alright with the image information who utilizes vehicle chassis detecting system to gather the target detection position to carried out fault detection to vehicle chassis according to the image information who gathers, and need not be the same with prior art, need artifically carry out artifical the detection to vehicle chassis, thereby improved vehicle chassis fault detection's precision, convenience, comprehensiveness.
It can be understood that, in this embodiment, the function of automatically acquiring information of each check point in a narrow space of the chassis can be realized through the chassis inspection equipment carrying the information acquisition system; the automatic identification and classification of the fault can be realized through an image identification algorithm based on machine learning; the intelligent automatic inspection system can be designed in a customized manner, is suitable for the structures and the measuring point distribution of different heavy chassis, and has strong universality; the fault detection algorithm in the fact has progressiveness, and can continuously self-correct according to a comparison result, so that the detection accuracy is improved; in this embodiment, guidance is provided for maintenance by establishing a chassis health management database and applying big data analysis.
It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. The above-described apparatus and system embodiments are merely illustrative, in that elements described as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle chassis detection system is characterized by comprising chassis inspection equipment, an information acquisition system, a fault detection system and a control system; the information acquisition system is arranged on the chassis inspection equipment;
the control system is used for controlling the chassis inspection equipment to move to a target detection position and controlling the information acquisition system to acquire image information of the target detection position;
the information acquisition system is used for acquiring the image information of the target detection position and sending the image information of the target detection position to the fault detection system;
the fault detection system is used for determining a detection result corresponding to the image information of the target detection position according to the image information of the target detection position;
the control system is also used for outputting the detection result.
2. The vehicle chassis detection system of claim 1, wherein the fault detection system includes a trained fault detection model; the fault detection system is specifically configured to input the image information of the target detection position into the fault detection model, and obtain a detection result corresponding to the image information of the target detection position.
3. The vehicle chassis detection system according to claim 1, wherein the failure detection system is specifically configured to compare the image information of the target detection position with standard image information corresponding to the target detection position, and determine a detection result corresponding to the image information of the target detection position.
4. The vehicle chassis inspection system of claim 1, wherein the information acquisition system includes a camera that is rotatable in multiple directions; and/or the information acquisition system comprises a camera.
5. The vehicle chassis inspection system of claim 4, wherein the camera comprises a visible light camera and/or an infrared camera.
6. The vehicle chassis inspection system of any of claims 1-5, wherein the chassis inspection device includes a multiple degree of freedom tandem mechanism, and the information acquisition system is disposed at an end of the multiple degree of freedom tandem mechanism that is distal from the chassis inspection device.
7. The vehicle chassis inspection system of any of claims 1-5, wherein the chassis inspection device includes an inertial navigation element configured to control the chassis inspection device to move to the plurality of inspection positions in sequence based on the plurality of inspection positions sent by the control system.
8. The vehicle chassis inspection system of any of claims 1-5, further comprising a human interaction system; the man-machine interaction system is used for responding to a user position control instruction, controlling the chassis inspection equipment to move to a detection position corresponding to the user position control instruction, responding to a user acquisition control instruction, adjusting an information acquisition angle of the information acquisition system, receiving image information acquired by the information acquisition system at the target detection position, displaying the image information at the target detection position, and responding to the user detection control instruction to determine a detection result corresponding to the image information at the target detection position.
9. The vehicle chassis inspection system according to any one of claims 1 to 5, wherein the control system is further configured to determine inspection state data corresponding to a vehicle type of the vehicle to be inspected, and adjust the shape and size of the chassis inspection equipment according to the inspection state data.
10. The vehicle chassis detecting system according to any one of claims 1 to 5, wherein the control system is further configured to determine, according to the detection result, use information and/or a maintenance prompt of an accessory corresponding to the target detection position; and/or the presence of a gas in the gas,
the chassis inspection equipment comprises a walking driving part and a tail end executing mechanism.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114777645A (en) * | 2022-04-13 | 2022-07-22 | 中车青岛四方车辆研究所有限公司 | RGV positioning method and RGV positioning system for rail vehicle detection |
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| CN209525293U (en) * | 2019-03-04 | 2019-10-22 | 金瓜子科技发展（北京）有限公司 | A kind of thermal imaging system and chassis trolley |
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| CN114777645B (en) * | 2022-04-13 | 2024-01-26 | 中车青岛四方车辆研究所有限公司 | RGV positioning method and RGV positioning system for rail vehicle detection |
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