EP3663163A1 - Automated system for commercial inspection of trains and cars with modular architecture - Google Patents

Automated system for commercial inspection of trains and cars with modular architecture Download PDF

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Publication number
EP3663163A1
EP3663163A1 EP19000532.2A EP19000532A EP3663163A1 EP 3663163 A1 EP3663163 A1 EP 3663163A1 EP 19000532 A EP19000532 A EP 19000532A EP 3663163 A1 EP3663163 A1 EP 3663163A1
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EP
European Patent Office
Prior art keywords
car
monitoring
outputs
cars
multiportal
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.)
Withdrawn
Application number
EP19000532.2A
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German (de)
English (en)
French (fr)
Inventor
Oleg Andreevich KALABEKOV
Andrey Olegovich KALABEKOV
Yevgeny Viktorovich POMAZOV
Andrey Alexandrovich NEMTSEV
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Production Cooperative <<research And Production Complex <<avtomatizatsiya>>
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Production Cooperative <<research And Production Complex <<avtomatizatsiya>>
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Publication date
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Publication of EP3663163A1 publication Critical patent/EP3663163A1/en
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    • 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
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/50—Trackside diagnosis or maintenance, e.g. software upgrades
    • B61L27/57—Trackside diagnosis or maintenance, e.g. software upgrades for vehicles or trains, e.g. trackside supervision of train conditions

Definitions

  • the invention refers to the railway transport - in particular to the automatic and telemechanic devices performing complex monitoring of both commercial state of the rolling stock and video monitoring of safety, correct placement and fixation of the cargo on the open rolling stock, of operability and safety of the car sides, roofs and tanks, state control of factors directly influencing the safety of transportation: detection of dangerous non-uniformity of the loading distribution on the wheel pairs (in terms of sustainability of the rolling stock), non-observance of the railway dimensions, disruption of the brake system functionality and wheel pairs operability, wear limit and current collector overheating.
  • Cars derailing is known to be the main reason of the significant disruption of railway traffic. It may be caused by natural conditions, infrastructural factors, rolling stock failure and non-observance of loading rules, operational disturbances. Whereas the most important role is played by the factors related to the defect of the rolling stock (disruption of the brake system functionality, defects of wheel pairs and wheeled charts, defects of endurance of the car frames and other) and non-compliance with their operation (non-observance of loading rules, non-uniformity of the loading of the bulky goods, non-observance of the loading dimensions and other).
  • a known device for detection of the cargo oversize of the rolling stock including two supports located at both sides of the railway, a sensor of a rolling stock presence, a car counter, photoelectric sensors of monitoring the dimensions of the rolling stock, each of which contains a radiator, an optical system, a reflector, a photoelectric receptor, an interface unit the outputs of which are connected to the outputs of the photoelectric channels, a memory unit and a register (Author's certificate of the USSR, No. 1799773 , class B 61 K 9/02, 1993).
  • the device allows to register the breach of the allowed loading dimensions that can lead to non-observance of the traffic safety conditions, however doesn't solve the issues of the visual monitoring of the technical and commercial state of trains and cars as well as the automated evaluation of the technical state of the rolling stock, in particular, of the wheeled charts and the locomotive current collector. Furthermore, it is worth noticing that the device uses reflective-mode electro-optical sensors equipped with additional constructional units such as a reflector and autonomous optical system which reduces the reliability of the device. The mentioned sensors work unreliably in conditions of atmospheric phenomena (fog, sun outage, projector outage, etc.).
  • the disadvantage of the device is the fact that an operator can see only a perspective image of the train (in particular, of the roof of a moving car) formed by a camera of a general inspection during the real-time visual inspection of the rolling stock.
  • the camera of the detailed inspection performs a non-stop recording of the image of the search objects, moving fast in its field of vision, which cannot be directly visually detected by an operator.
  • the image deviations of the inspected object from the initial state are detected by its comparison with the reference image, and based on the results of this comparison the cargo safety is evaluated.
  • the reference image of the inspected train is created in advance in the departure yard by recording a video of the rolling stock in the similar transportation conditions, which is further transferred to the destination yard prior to the arrival of the inspected object.
  • the device doesn't allow the inspection of the car loading dimensions on the rolling stock for the purpose of safe transportation of the train vehicles as well as it doesn't solve the issues of the visual monitoring of the technical and commercial state of trains and cars as well as the evaluation of the technical state of the rolling stock, in particular, of the wheeled charts and the locomotive current collector.
  • an optoelectronic sensor of the wheeled charts count three additional television cameras designed for obtaining images of the left and right sides of the cars as well as for monitoring of the seals on the tank doors, projectors whereas the sensors monitoring the car loading dimensions are mounted on the bearing structure with the possibility of the combined monitoring of the limits of the combined area-based limit loading dimensions and dimensions of the rolling stock, an optoelectronic sensor of the car beginning, an optoelectronic sensor of the wheeled charts count, television cameras of the left and the right sides of the cars are fixed on the supports, a television camera monitoring the seals on the tank doors is fixed on the crossbar, while projectors are fixed on the supports and the crossbar of the bearing structure, whereas the outputs of all television cameras are connected to the PC video inputs, the outputs of the additional monitoring sensors of the cars loading dimensions and the sensor of the wheeled charts count are connected to the relevant inputs of the indication and interface unit connected through the control input to the PC output, the indication and interface unit has a possibility to work
  • the stated system contains a mounted above the rail U-shaped bearing structure with four television camera designed for obtaining images of the left car side, the right car side, the car roof and for monitoring of the seals on the tank doors, optoelectronic sensors monitoring the borders of the combined area-based loading dimensions and dimensions of the rolling stock, optoelectronic sensors of the train beginning, car count and wheeled charts count as well as projectors, whereas the outputs of all television cameras are connected to the PC video inputs of the automated working place of an operator, the outputs of all optoelectronic sensors are connected to the relevant inputs of the indication and interface unit which has a possibility to work both autonomously and under PC control; the control input and output of the indication and interface unit are connected to the PC sequential ports with a monitor connected to the PC output.
  • a weighing rail with the weighing devices fixed on it designed for automated weight control and detection of the general, lateral and transversal car overload at the train movement as well as for detection of the train speed at weighing, a thermal imaging camera designed for obtaining digital thermographic data and forming thermographic images of the tanks and cars sides with the purpose of monitoring of the filling level of the tanks, uniformity and fullness of the cars loading, a device for automated cars inventory numbers recognition, whereas the weighing rail is mounted on the crossbar of the U-shaped bearing structure, the thermal imaging camera is fixed on the support of the bearing structure, the outputs of the weighing devices mounted on the weighing rail are connected with the relevant inputs of the multiportal plate of the PC which is located at the automated working place of an operator, while the output of the thermal imaging camera is connected to the input of the PC Fire Wire port.
  • the device for automated cars inventory numbers recognition is created on basis of the PC microprocessor unit with the possibility of automatic recognition of the inventory numbers, detection of the discrepancies between data from the wagon list and the recognized inventory numbers, and also with the possibility of forming the list of inventory numbers with reference to the car number.
  • the purpose of the current invention is the expansion of the prototype functionalities due to elimination of the disadvantages mentioned above.
  • Automated system for commercial inspection of trains and cars with modular architecture contains a mounted above the rail U-shaped bearing structure 1, with eight television cameras 2, 3, 4, 5, 6, 7, 8 and 9 mounted on it.
  • the first 2 and the second 3 television cameras are mounted on the supports of the U-shaped bearing structure 1 and designed for obtaining images of the left and right sides of a car and forming images of inventory numbers of cars.
  • the third 4 and the forth 5 television cameras are mounted on the crossbar of the U-shaped bearing structure 1 and designed for obtaining images of car roofs and monitoring the seals on the tank doors.
  • Counter directed the fifth 6 and the sixth 7 television cameras are mounted on the lower parts of the opposite supports of the U-shaped bearing structure 1 and designed for monitoring wheeled charts and reading the inventory numbers of car frames.
  • the seventh and the eighth television cameras 8 and 9 oriented counter-currently towards the direction of the rolling stock are mounted horizontally on the upper parts of the opposite supports of the U-shaped bearing structure 1 and designed for forming images of the hard-melting inset of the locomotive current collector.
  • the outputs of all television cameras are connected through the multiportal plate 10 to the video inputs of the PC installed at the automated workplace of a PC operator 11 with a monitor 12.
  • the outputs of the first 2 and the second 3 television cameras are additionally connected to the first controller 13 of automated car inventory numbers recognition connected through the multiportal plate 10 to the PC input 11.
  • strain sensors 16 mounted on the rails 14 and 15 in the section of the U-shaped bearing structure 1 in the inter rail spaces.
  • the outputs of the strain sensors 16, mounted on the rails 14 and 15 are connected through the multiportal plate 10 to the relevant PC inputs 11.
  • the first thermal imaging camera 17 is made high-resolution, fixed on the separate support 20 taken beyond the dimensions of the U-shaped bearing structure 1 and designed for examination of the rolling stock units along their height, obtaining digital thermographic data and forming thermographic images of the tanks and cars sides with the purpose of monitoring of the filling level of the tanks, uniformity and fullness of the cars loading with the granular cargo as well as the brakes system performance monitoring, and is connected to the second controller 21, and through the multiportal plate 10 to the PC input 11.
  • the second thermal imaging camera 18 mounted on the support of the U-shaped bearing structure 1 at the level of the wheeled charts axles is designed for monitoring performance of the brake system of the rolling stock.
  • the stated thermal imaging camera 18 has a relatively small linear field, due to its location near the car because of the limited distance between the railways in the conditions of the two railway traffic, and can have smaller resolution capability if compared with the thermal imaging camera 17.
  • the third thermal imaging camera 19 is designed for monitoring the overheating of the current collector hard-melting inset.
  • three single-beam laser range finders 23, 24 and 25 controlling the compliance of the loading oversize, the outputs of which are connected through the multiportal plate 10 to the PC 11.
  • There are mounted respectively on the opposite supports and the crossbar of the U-shaped bearing structure 1 three scanning laser range finders 26, 27, 28 providing the possibility of building the images of the side and top surfaces of the covered rolling stock units, models of the cargo placement on the open rolling stock helping to monitor the loading oversize and damage of the car walls and roof.
  • the scanning areas of the laser range finders 26, 27, 28 are located vertical, and their outputs are connected through the multiportal plate 10 to the PC 11.
  • three single-beam laser range finders 23, 24 and 25 duplicate the work of the scanning laser range finders 26, 27, 28 at detection of the major limit breach of the rolling stock dimensions requiring urgent stop.
  • the distance between the nearby pressure sensors 16 located on each of the rails 14 and 15 are equal.
  • the distance between the border pressure sensors 16 (the length of the rail on which the pressure sensors are located 16) is almost equal to the triple length of the wheel circle of the wheeled chart, and the amount of the sensors 16 on each rail is equal to eight.
  • the outputs of the pressure sensors 16 are connected to the third controller 29 of the evaluation of the data of the pressure sensors 16.
  • the controller 29 includes a unit 30 of recording the data on the wheel pressure at each pressure sensor 16 at the passing of the wheel on the rails 14 and 15.
  • the outputs of the unit 30 are connected to the entering the stated controller 29 unit of detection of the wheel pair loading 31, to the detection unit of the dangerous shift of the cargo along the car width 32, wheel pair defect detection unit 33.
  • the outputs of the stated units 31-33 are connected through the multiportal plate 10 to the PC 11.
  • the U-shaped bearing structure 1 is similar to the bearing structure used in dimension gates, in particular, in the complex of the commercial inspection of cargo ASCITC manufactured by Production cooperative «Research and production complex "AVTOMATIZATSIYA". Cameras on the basis of the charge coupled devices (CCD-matrix) located in the airproof thermally controlled enclosures can be used in the function of the television cameras 2, 3, 4, 5, 6, 7, 8 and 9. Plates of series CP-114EL/CP-114EL-I, CP-118E-A-I/CP-138E-A-I, CP-132EL/CP-132EL-I or similar can be used in the function of the multiportal plate 10.
  • a server with the suitable software and a multi-channel video input ensuring the video capture of the television signal can be used in the function of the PC 11.
  • Monitor 12 is LCD, for example, VMC-38.8 type with a PC speaker.
  • PC 11 software ensures, in particular, the following functions:
  • Controllers 13, 21, 22, 29, 34 can be performed on the basis of module PCs.
  • Continuously operating range finders with the digital output such as, for example, BOSCH GLM 80 can be used in the function of the single-beam laser range finders 23, 24, 25.
  • Devices by "HOKUYO" (Japan) for example, a scanning laser range finder UXM-30LX-EW ensuring the measurement of the distances up to 30 m with accuracy 1 mm at the scanning angle 190° can be used in the function of the scanning laser range finders 26, 27, 28.
  • the stated scanning laser range finder has a built-in calculator.
  • the stated range finder allows to form a digital frame of a car due to the usage of the built-in calculator ensuring the formation of the cut of the scanned surface landscape in the single-face scanning mode, as well as formation of the landscape image of the surface embracing the range finder when scanned volumetrically. Furthermore, in several case multi-bean laser range finders working in several faces, for example, by Velodune company can be used. Whereas the built-in calculator of the range finder potentially allows to detect the speed and the direction of the train.
  • Strain pressure sensors by Statera LLC (Rostov-na-Donu, Russia) manufactured under the patent RF No2349874 can be used in the function of the pressure sensors 16.
  • the optimized number of the pressure sensors 16 on each rail is equal to eight.
  • Thermal imaging devices on the basis of the microbolometric matrix with digital processing of the images can be used in the function of the television cameras 17, 18 and 19.
  • An operator at receiving the information on the arriving of the train to the control zone enters data on the amount of the locomotives in the train and the train number to the PC 11, or the stated data is automatically transferred to the PC 11 vie the local network from the automated system of the yard administration.
  • the locomotive crosses the beams of the scanning laser range finders 26, 27, 28, each of which can work as a train beginning sensor and inter car spaces sensor, whereas the data on the beam crossing is transferred to the PC 11, which launches recording of the video data from the television cameras 2-7 to the hard disc of the PC 11.
  • the monitor 12 in the "MULTISCREEN" mode displays the information from all or only selected by an operator television cameras.
  • PC 11 counts the cars in the control zone according to the crossing of the beams of the scanning laser range finders 26, 27, 28 (or one of them selected as a train beginning sensor and inter car space sensor) and forms a car number, which is reproduced on the monitor screen 12 and attached to the video files transferred at that moment for being stored on the hard disc of the PC 11. Whereas the readings of the car number sensor formed on the monitor screen 12 rise, while the type of the checked car is simultaneously identified according to the sequence of cars in the train written in the memory of the PC 11.
  • the television cameras 2 and 3 form the images of the side surfaces of the rolling stock units allowing the operator to detect fractures, marks, open gates and doors.
  • video signals from the stated cameras are used in the first controller 13 of the automated cars inventory numbers recognition.
  • Cars inventory numbers enter the PC 11, which detects discrepancies between the data from the wagon list and the recognized inventory numbers and ensures the possibility of forming the list of inventory numbers with reference to the car number.
  • Television cameras 4 and 5 form images respectively of the roof surfaces of the rolling stock units (television camera 4 with relatively wide viewing angle) and of the seals of the tank doors (television camera 5 with relatively narrow viewing angle).
  • the television cameras 6 and 7 form the images of the side surfaces of the wheeled charts and the wheels of the wheel pairs, parts of the car frames as well as the seals on the hopper-car doors allowing the operator to detect their visible damages.
  • the images from the stated television cameras are also recorded to the memory of the PC 11.
  • the video images of the wheeled charts transferred to the PC 11 are recognized in the PC 11 with the help of the relevant software, as the result of which the charts are counted and the data on the car number passing through the control gate is formed.
  • This data is compared in real time with the data on the car number formed according to the signals from the scanning laser range finders 26, 27, 28 (or one of them).
  • Such a two channel car counter allows to significantly improve the count accuracy and timely detect failures in the car count subsystem.
  • the single-beam laser range finders 24 and 25 the beams from which are directed vertically downwards, and dimensionally coincide with the vertical borders of the limit railway oversize, work as the sensors of the stated oversize excess.
  • a signal from the relevant laser range finder enters the PC 11, and it forms a note about the oversize presence on the video image of the relevant side surface of the rolling stock unit, and notifies on the need to stop the train in order to eliminate the oversize.
  • a relevant signal enters the PC 11, and it forms a note about the oversize presence on the video image of the relevant upper surface of the rolling stock unit.
  • the PC 11 sends an alarm signal to the monitor 12, and notifies on the need to stop the train in order to eliminate the oversize.
  • a relevant sound signal can be also sent.
  • the work of the single-beam laser range finders 23, 24 and 25 duplicates the work of the scanning laser range finders 26, 27 and 28, which are the main technical mean of monitoring the dimensions of the rolling stock in terms of detecting of the limit non-observance that can lead to an accident and require an urgent stop of the train.
  • the scanning laser range finders 26, 27 and 28 provide more detailed detection of both the oversize presence, and their form and location.
  • the stated range finders perform scanning in the selected sectors set according to their location geometry and the car height.
  • the calculators built in the range finders 26 and 27 form the images of the frames of the car side walls, while the calculator built in the range finder 28 forms an image of the car roof landscape or an image of the landscape of the cargo located in the gondola car or on the platform.
  • the images of the landscapes of the car side walls and roof (the cargo in the gondola car or on the platform) are united in the PC 11 into a single car frame for obtaining an image of the car cross-section (the side walls and the cargo in the gondola car).
  • the information on the car frame cross-section in the PC 11 is compared to the allowed railway dimensions on the given section of the railway traffic, which was sent to the PC 11 in advance.
  • the PC 11 similar to the information received from the single-beam laser range finders 23, 24 and 25) sends an alarm signal to the monitor 12, and the relevant sound signal of the oversize excess plays in its speaker.
  • the information on the cross-section of the car frames is transferred non-stop to the PC 11 for being recorded with the possibility of the further analysis.
  • the information on the form of the monitored train car side surfaces and roofs is compared in the PC 11 to the recorded information.
  • This information is selected from the memory of the PC 11 considering the information on the car type stored in the memory of the PC 11 and formed on the basis of the data on the train car number and on the rolling stock preliminary entered from the railway automated control system.
  • the PC 11 sends an alarm signal to the monitor 12, and the sound signal relevant this type of breach of the cargo commercial safety plays in its speaker.
  • the file with the relevant image is marked, and the information on the presence of the commercial flaw with its location is written to the memory of the PC 11.
  • the combination of the single-beam range finders 23, 24 and 25, and the scanning laser range finders 26, 27 and 28 allows to detect the full stock-list of the breaches of the car integrity and possible options of the railway oversize excess.
  • the thermal imaging camera 17, mounted on the support 20, is made on the basis of the microbolometric matrix of high resolution (image dissection standard is not lower than 640x480 pixel) and forms a high-quality contrast thermal image of the tank sides with liquid cargo or of the cars (gondola cars) with the bulky cargo, providing the possibility of visualization of the borders of the "cargo-air" section, which allows to visually evaluate the fullness and conformity of the bulky cargo loading.
  • the thermal imaging camera 17 also forms a thermal image of the wheel pairs, which allows to detect improper operation of the brake system.
  • the installation of the thermal imaging camera 17 on the separate support 20 is caused by the usage of the a not wide-angled high-resolution lens, not allowing to obtain the necessary linear field of vision at the installation of the thermal imaging camera on the side support of the dimension gate.
  • the wheeled charts roll along the rails 14 and 15, equipped with the consequently mounted pressure sensors 16.
  • the pressure sensors 16 are located along the rails at the equal distance from each other.
  • the recording of the influence on the pressure sensors 16 is performed.
  • the recorded influence in the unit 31 are compared to the allowed wheel loading.
  • the unit 31 forms a signal sent to the PC 11, which forms an information message on the screen of the monitor 12 and an electronic mark in the image of the relevant chart.
  • the unit of the dangerous shift of the cargo along the car width 32 forms a signal, which is sent to the PC 11 forming an information message on the screen of the monitor 12 and an electronic mark in the image of the relevant chart, whereas its value of the loading difference on the left and the right wheels is not allowed in terms of the traffic safety.
  • the wheel pair failure detection unit 33 forms a signal, which is sent to the PC 11 forming an information message on the screen of the monitor 12 and an electronic mark in the image of the chart, on which the defected wheel is located.
  • the wheel pair failure detection unit 33 forms a signal, which is sent to the PC 11 forming an information message on the screen of the monitor 12 and an electronic mark in the image of the chart, on which the defected wheel is located.
  • the real-time detection of the defect current collector is performed according to two criteria - the excess of the limit wear of the hard-melting inset plate detected according to the value of the ratio of its width to its length, as well as the overheating of the plate.
  • the television cameras 8 and 9 forming the images of the hard-melting current collecting inset plate are used.
  • the need to use two television cameras 8 and 9 is caused by the fact that their optic axles are located close to the horizontal surface, and one of them, depending on the time of the day, can be exposed to the sun light (the sunrise or the sunset).
  • the images from both television cameras are transferred to the image selection unit 35 which sorts out the low quality images from the exposed television camera 8 or 9. After that the quality dynamic image of the plate during its movement towards the television cameras 8 and 9 is recorded to the memory of the unit 36.
  • the unit 37 recognizes the image of the hard-melting current collecting inset plate and transfers it in the processed form (contrasting, outlining, noise abatement) to the output of the unit 38 measuring the length and the height of the hard-melting inset. After that the calculation of the ratio of the inset length and thickness (unit 39) and its comparison with the allowed value in unit 40 are performed. In case the calculated value is smaller than the allowed value, unit 40 forms a signal for the PC 11 according to which it displays on the monitor 12 a text message on the excessive wear of the current collecting plate.
  • a thermal imaging camera 19 the output of which is directly connected to the fifth controller 22, which detects the current collector overheating temperature, is used, while in case of the overheating it sends a signal to the PC 11 according to which it displays on the monitor 12 a text message on the excessive overheating of the current collecting plate.
  • the technical result of using the stated system is the ensuring of the visual and sound monitoring of all types of loading oversize and dimensions of the rolling stock, the real-time visual inspection of the commercial state of the rolling stock at its passing through the control section on the operator's PC screen in the "MULTISCREEN" mode (simultaneous displaying of several image windows from television and thermal imaging cameras, displaying of the informational windows on the oversize and failures with reference and inventory numbers of the cars, formation of the sound and text information signal) or in the full screen mode from the selected image source; formation of the report (reference) on the detected oversize and failures of the rolling stock (wheeled charts, brake system, current collector), creation of the video archive.
  • the usage of the described system allows to assess the performance of the several units together with the commercial inspection of the train, which ensures the timely measures to eliminate the failures and thus to reduce the risk of the train traffic disruption.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
EP19000532.2A 2018-12-05 2019-11-25 Automated system for commercial inspection of trains and cars with modular architecture Withdrawn EP3663163A1 (en)

Applications Claiming Priority (1)

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RU2018143177A RU2713132C1 (ru) 2018-12-05 2018-12-05 Автоматизированная система коммерческого осмотра поездов и вагонов с модульной архитектурой (АСКО ПВ 3.0)

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EP3663163A1 true EP3663163A1 (en) 2020-06-10

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Cited By (3)

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CN112183371A (zh) * 2020-09-29 2021-01-05 杭州光明汽车有限公司 一种汽车故障智能检测***
CN114636463A (zh) * 2022-01-27 2022-06-17 东莞宝钢钢材部件有限公司 一种监磅车辆检查核对装置
EP4360991A1 (en) * 2022-10-31 2024-05-01 Rumo Malha Sul S.A System and method for detecting wagon sway

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CN114636463A (zh) * 2022-01-27 2022-06-17 东莞宝钢钢材部件有限公司 一种监磅车辆检查核对装置
CN114636463B (zh) * 2022-01-27 2024-03-01 东莞宝钢钢材部件有限公司 一种监磅车辆检查核对装置
EP4360991A1 (en) * 2022-10-31 2024-05-01 Rumo Malha Sul S.A System and method for detecting wagon sway

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