KR20090063530A - High precision device for measuring velocity and location using in the high speed railway system - Google Patents

High precision device for measuring velocity and location using in the high speed railway system Download PDF

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KR20090063530A
KR20090063530A KR1020070130921A KR20070130921A KR20090063530A KR 20090063530 A KR20090063530 A KR 20090063530A KR 1020070130921 A KR1020070130921 A KR 1020070130921A KR 20070130921 A KR20070130921 A KR 20070130921A KR 20090063530 A KR20090063530 A KR 20090063530A
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South Korea
Prior art keywords
encoder
speed
speed railway
railway vehicle
rotation axis
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KR1020070130921A
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Korean (ko)
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KR100908395B1 (en
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김상수
이태형
한영재
박춘수
최성훈
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한국철도기술연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K13/00—Other auxiliaries or accessories for railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

A device for detecting a velocity and a position for a high speed railroad is provided to measure the velocity precisely by installing a commercial encoder with high precision in a high speed railroad. A device for detecting a velocity and a position for a high speed railroad includes a rotation axis(200), an encoder protecting cover, an encoder(300), and a coupling(240). The rotation axis is fixed in the center of a copper plate rotating with a wheel axis inside an axle box of the high speed railroad. The encoder protecting cover is fixed in an outer surface of the protecting cover sealing the axle box. The encoder has an encoder rotation axis. The encoder rotation axis is arranged toward the rotation axis by passing through the encoder protecting cover. The coupling connects the encoder rotation axis and the rotation axis.

Description

고속철도차량용 고정밀 속도 및 위치 검측장치{HIGH PRECISION DEVICE FOR MEASURING VELOCITY AND LOCATION USING IN THE HIGH SPEED RAILWAY SYSTEM}HIGH PRECISION DEVICE FOR MEASURING VELOCITY AND LOCATION USING IN THE HIGH SPEED RAILWAY SYSTEM}

본 발명은 고속철도차량용 고정밀 속도 및 위치 검측장치에 관한 것으로, 보다 상세하게는 고속철도차량의 관절대차에 고분해도의 엔코더를 안전 용이하게 장착하여 고속철도차량의 이동거리 및 속도를 고정밀도로 계측할 수 있도록 한 고속철도차량용 고정밀 속도 및 위치 검측장치에 관한 것이다.The present invention relates to a high-precision speed and position detection device for a high-speed railway vehicle, and more particularly, to easily mount a high-resolution encoder to a joint bogie of a high-speed railway vehicle so that the moving distance and speed of the high-speed railway vehicle can be accurately measured. The present invention relates to a high precision speed and position detection device for a high speed railway vehicle.

잘 알려진 바와 같이, 고속철도차량은 시속 300Km 이상의 고속으로 주행하는 열차로서, 관절대차ㆍ동력대차ㆍ동력객차대차를 포함한다.As is well known, a high speed railway vehicle is a train traveling at a high speed of 300 Km or more, and includes an articular bogie, a power bogie, and a power car carriage.

그리고, 이들 각 대차에는 제동장치, 현가장치, 차륜 등이 장착되는 2개의 윤축이 설치되며, 이 윤축이 회전함에 따라 차량이 움직이게 된다.Each of these trolleys is provided with two wheelsets on which a braking device, a suspension device, wheels, and the like are mounted. As the wheelsets rotate, the vehicle moves.

이때, 고속철도차량의 주행속도를 측정하기 위해 각 대차에는 속도측정모듈이 설치되는데, 이를테면 관절대차의 경우에는 윤축에 포니휠이 장착되어 그 회전수를 계측하도록 되어 있고, 동력대차나 혹은 동력객차대차의 경우에는 동력이 전달되는 감속기에서 기어 이빨의 회전을 계측하도록 속도센서를 구비하거나 혹은 미끄럼 및 윤축의 회전상태를 파악하기 위해 각 축당 속도검출시스템이 구성되어 있 다.At this time, in order to measure the running speed of the high-speed railway vehicle, a speed measuring module is installed in each bogie, for example, in the case of the articulated bogie, a pony wheel is mounted on the wheel shaft to measure the number of revolutions thereof. In this case, a speed sensor is provided to measure the rotation of gear teeth in a geared transmission, or a speed detection system for each axis is configured to grasp the state of sliding and wheel shaft rotation.

그리하여, 이들 속도측정모듈들은 그 측정결과를 소정의 펄스신호 형태로 출력하게 된다.Thus, these speed measurement modules output the measurement results in the form of a predetermined pulse signal.

그러나, 이러한 방식은 1회전당 대략 60여회 정도만의 펄스신호를 입력받아 속도를 측정해야 하므로 고속에서는 1회전당 계측 간격이 길어지게 되어 정밀도가 떨어짐으로 인해 보다 정확한 속도 산출과, 이동거리 산출에 한계를 갖게 된다.However, since this method needs to measure the speed by receiving pulse signal of about 60 times per revolution, the measurement interval per revolution becomes longer at high speed, and the accuracy is lowered. Will have

한편, 계측공학의 발전에 힘입어 현재 회전체의 회전속도를 보다 고정밀하게 계측할 수 있는 엔코더가 상용화되어 있다.On the other hand, with the development of metrology engineering, encoders that can measure the rotation speed of a rotating body more accurately are commercially available.

하지만, 이러한 상용 엔코더는 고정밀도를 유지하기 위해 매우 정교하게 구성되어 있으므로 외부 충격에 약하고, 그 구조를 쉽게 바꿀 수 없어 진동이 심하고, 개조가 쉽지 않아 상용 엔코더 자체의 구조를 개량하지 않는 한 설치위치를 특정할 수 없어 고속철도차량에서는 활용되지 못하고 있었다.However, since these commercial encoders are very precisely constructed to maintain high precision, they are weak to external shocks, their structure cannot be easily changed, they are severely vibrated, and they are not easy to be modified. Could not be identified and was not used in high-speed rail vehicles.

본 발명은 상술한 바와 같은 종래 기술상의 제반 문제점들을 감안하여 이를 해결하고자 창출된 것으로, 1회전당 수천회의 펄스신호를 출력하는 고정밀한 상용 엔코더를 자체적인 구조 개량없이 안정적으로 고속철도차량에 설치할 수 있도록 하여 보다 정확하고 정밀한 속도 계측이 가능하고, 그로 인해 고속철도차량의 이동거리 및 위치를 정확하게 산출할 수 있도록 한 고속철도차량용 고정밀 속도 및 위치 검측장치를 제공함에 그 주된 해결 과제가 있다.The present invention has been made in view of the above-mentioned problems in the prior art, so that a high-precision commercial encoder that outputs thousands of pulse signals per revolution can be installed stably in a high-speed railway vehicle without improving its own structure. Therefore, the main problem is to provide a high-precision speed and position detection device for a high-speed railway vehicle that can measure the speed and position of the high-speed railway vehicle accurately, thereby enabling a more accurate and accurate speed measurement.

본 발명은 상기한 해결 과제를 달성하기 위한 수단으로, 고속철도차량의 액슬 박스내 윤축과 함께 회전되는 구리판의 원 중심에 고정된 회전축과; 상기 액슬 박스를 밀폐하는 보호커버의 외면에 고정되는 엔코더보호커버와; 상기 엔코더보호커버를 관통하여 상기 회전축을 향해 배치되는 엔코더 회전축을 갖는 엔코더와; 상기 엔코더 회전축과 상기 회전축을 서로 연결하는 커플링으로 구성된 고속철도차량용 고정밀 속도 및 위치 검측장치를 제공한다.The present invention is a means for achieving the above object, a rotation shaft fixed to the circle center of the copper plate rotated together with the wheel shaft in the axle box of a high-speed railway vehicle; An encoder protective cover fixed to an outer surface of a protective cover for sealing the axle box; An encoder having an encoder axis of rotation disposed through the encoder protective cover toward the axis of rotation; It provides a high precision speed and position detection device for a high-speed railway vehicle composed of a coupling connecting the encoder rotation axis and the rotation axis to each other.

이때, 상기 회전축은 일단에 형성된 플랜지가 상기 구리판의 원 중심에 볼트와 너트로 밀착 고정되는 것에도 그 특징이 있다.At this time, the rotation shaft is characterized in that the flange formed at one end is tightly fixed to the circle center of the copper plate by bolts and nuts.

또한, 상기 엔코더는 회전축 1회전당 최소 1000회 이상의 펄스신호를 발생시키는 고정밀 상용 엔코더인 것에도 그 특징이 있다. In addition, the encoder is characterized in that it is a high-precision commercial encoder that generates at least 1000 pulse signals per rotation of the rotation axis.

본 발명은 회전체의 속도를 고도로 정밀하게 계측할 수 있는 상용화된 엔코더를 고속철도차량에 보다 안정적이면서 엔코더 자체의 구조 변경없이 곧바로 부착 사용할 수 있도록 함으로써 보다 정밀한 고속철도차량의 속도를 검측하고, 이를 통해 그 이동거리 및 위치 정보를 쉽게 산출할 수 있도록 하여 준다.The present invention detects the speed of a high-speed rail vehicle more precisely by enabling a commercially available encoder that can measure the speed of a rotating body with high accuracy to a high-speed rail vehicle more directly and without changing the structure of the encoder itself. It makes it easy to calculate travel distance and location information.

이하에서는, 첨부도면을 참고하여 본 발명에 따른 바람직한 실시예를 보다 구체적으로 설명한다.Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment according to the present invention.

도 1은 본 발명 장치가 설치될 고속철도차량의 액슬 박스를 보인 예시적인 사진이고, 도 2는 본 발명 장치의 설치예를 보인 요부 사시도이며, 도 3 및 도 4는 본 발명 장치가 구현될 고속철도차량의 액슬 박스내 구리판의 예시적인 사진이고, 도 5 및 도 6은 본 발명에 따른 엔코더의 설치예를 보인 예시적인 사진이다.1 is an exemplary photograph showing an axle box of a high-speed railway vehicle to be installed the device of the present invention, Figure 2 is a perspective view of the main portion showing an installation example of the device of the present invention, Figure 3 and 4 is a high-speed railway vehicle to be implemented the device of the present invention 5 and 6 are exemplary photographs showing an example of installation of an encoder according to the present invention.

도 1 내지 도 4에 도시된 바와 같이, 고속철도차량의 대차에는 차륜(100)이 연결 고정되는 윤축(110)이 구비되고, 상기 윤축(110)에는 구리판(120)을 포함한 접지브러쉬(미도시) 등이 설치된다.As shown in Figures 1 to 4, the cart of the high-speed railway vehicle is provided with a wheelset 110 to which the wheel 100 is connected and fixed, the wheel 110 includes a ground brush (not shown) including a copper plate 120 Etc. are installed.

이때, 이들 구리판(120)과 접지브러쉬 등을 보호하기 위해 액슬 박스(130)가 설치되고, 상기 액슬 박스(130)는 외부커버(132)로 커버링된다.In this case, an axle box 130 is installed to protect the copper plate 120 and the ground brush, and the axle box 130 is covered with an outer cover 132.

본 발명은 1회전당 최소 1000펄스 이상의 신호를 출력하는 고정밀 상용 엔코더(300)를 사용하되, 외부충격이나 진동으로부터 충분히 보호받을 수 있도록 하면서 자체 구조 변경없이 곧바로 사용할 수 있도록 상기 액슬 박스(130)의 구조를 개선하여 그 내부에 구비된 구리판(120)에 견실 안정적으로 설치될 수 있도록 구성한 것이다.The present invention uses a high-precision commercial encoder 300 that outputs a signal of at least 1000 pulses per revolution, so that the axle box 130 of the axle box 130 can be used immediately without changing its structure while being sufficiently protected from external shock or vibration. By improving the structure is configured to be installed in a stable stable copper plate 120 provided therein.

이를 위해, 휠과 함께 회전하는 상기 구리판(120)의 원 중심에 회전축(200)이 설치된다.To this end, the rotary shaft 200 is installed in the circle center of the copper plate 120 to rotate with the wheel.

이때, 상기 회전축(200)의 일단에는 원형상의 플랜지(210)가 일체로 형성되고, 상기 플랜지(210)의 배면은 상기 구리판(120)에 밀착되며, 다수의 볼트(220)와 너트(230)에 의해 고정된다.At this time, one end of the rotating shaft 200 is formed with a circular flange 210 integrally, the back surface of the flange 210 is in close contact with the copper plate 120, a plurality of bolts 220 and nuts 230 Is fixed by.

이 경우, 상기 회전축(200)을 고정하기 위해 상기 구리판(120)에는 그 원 중심을 기준으로 주변에 적어도 2개 이상, 바람직하기로는 4개의 구멍(미도시)이 드 릴링 가공된다.In this case, at least two, preferably four holes (not shown) are drilled around the copper plate 120 based on the circle center to fix the rotating shaft 200.

아울러, 상기 구멍은 지름 3mm가 바람직하며, 상기 회전축(200)이 최종 고정되었을 때 상기 회전축(200)의 축 중심과 구리판(120)의 원 중심간 편차(공차)는 0.5mm 이내가 되어야 한다.In addition, the hole is preferably 3mm in diameter, the deviation (tolerance) between the axis center of the rotary shaft 200 and the circular center of the copper plate 120 should be within 0.5mm when the rotary shaft 200 is finally fixed.

이는 엔코더(300)를 통한 계측정보의 정확성과 정밀성을 기하기 위함이다.This is to ensure the accuracy and precision of the measurement information through the encoder (300).

그리고, 상기 회전축(200)에는 도 2 및 4에 도시된 바와 같은 커플링(240)이 연결된다.In addition, a coupling 240 as shown in FIGS. 2 and 4 is connected to the rotation shaft 200.

상기 커플링(240)은 상기 회전축(200)과 엔코더(300)의 회전축을 서로 연결 구속하기 위한 수단이다.The coupling 240 is a means for connecting and restraining the rotary shaft 200 and the rotary shaft of the encoder 300 to each other.

한편, 엔코더(300)는 그 회전축이 도 5 및 도 6의 도시와 같이, 상기 액슬 박스(130)를 보호하기 위해 마련된 외부커버(132)를 관통하여 배치되고, 상기 엔코더(300)는 엔코더보호커버(310)에 의해 고정된다.On the other hand, the encoder 300 is rotated through the outer cover 132 provided to protect the axle box 130, as shown in Figures 5 and 6, the encoder 300 is encoder protection It is fixed by the cover 310.

결국, 상기 엔코더보호커버(310)는 상기 외부커버(132)의 외측면에 견고히 고정되고, 상기 엔코더(300)는 상기 엔코더보호커버(310) 내부에 장착되는 구조를 갖게 되며, 상기 엔코더(300)의 회전축은 상기 외부커버(132)를 관통한 뒤 커플링(240)에 의해 회전축(200)과 연결된 구조를 갖게 된다.As a result, the encoder protective cover 310 is firmly fixed to the outer surface of the outer cover 132, the encoder 300 has a structure that is mounted inside the encoder protective cover 310, the encoder 300 ) Has a structure connected to the rotating shaft 200 by the coupling 240 after passing through the outer cover 132.

그리고, 신호처리를 위해 상기 엔코더(300)의 케이블단자(320)에는 케이블(미도시)이 접속되어 1회전당 최소 1000회 이상 발생되는 펄스신호를 신호처리부로 전송하게 된다.In addition, a cable (not shown) is connected to the cable terminal 320 of the encoder 300 for signal processing to transmit a pulse signal generated at least 1000 times per revolution to the signal processor.

이러한 구성으로 이루어진 본 발명 장치는 앞서 설명한 바와 같이, 먼저 액 슬 박스(130)로부터 구리판(120)을 분리해 낸 다음 이 구리판(120)의 일측면에 다수의 구멍을 드릴링 가공하게 된다.As described above, the apparatus of the present invention, which has the above configuration, first separates the copper plate 120 from the axle box 130 and then drills a plurality of holes in one side of the copper plate 120.

이후, 가공된 구멍에 볼트(220)와 너트(230)를 이용하여 회전축(200)의 플랜지(210)를 밀착 고정시킨다.Thereafter, the flange 210 of the rotating shaft 200 is tightly fixed using the bolt 220 and the nut 230 to the processed hole.

이렇게 하여 회전축(200)이 고정되면 상기 회전축(200)의 상단에 커플링(240)을 끼워 고정한 후 상기 구리판(120)을 액슬 박스(130)에 다시 조립고정하게 된다.When the rotation shaft 200 is fixed in this way, the coupling 240 is fixed to the upper end of the rotation shaft 200, and then the copper plate 120 is assembled and fixed to the axle box 130 again.

이어, 엔코더(300)가 장착된 외부커버(132)를 상기 액슬 박스(130)에 조립하게 되는데, 이때 상기 엔코더(300)의 회전축이 정확하게 상기 커플링(240)과 조립 체결되게 하여야 한다.Subsequently, the outer cover 132 on which the encoder 300 is mounted is assembled to the axle box 130. In this case, the rotary shaft of the encoder 300 should be accurately assembled and coupled with the coupling 240.

이와 같은 과정을 거쳐 외부커버(132)가 조립완료되면, 이후 케이블을 엔코더(300)의 케이블단자(320)에 접속시켜 신호처리 가능한 상태로 유지한다.When the outer cover 132 is assembled through the above process, the cable is then connected to the cable terminal 320 of the encoder 300 and maintained in a signal processing state.

이러한 구성을 통해 구리판(120)은 윤축(110)과 함께 회전하게 되므로 결국 윤축(110)의 1회전당 최소 1000회 이상의 펄스신호를 출력하는 엔코더(300)를 통해 보다 정확하고 정밀한 속도 산출이 가능하게 된다.Through this configuration, the copper plate 120 rotates together with the wheelset 110, and thus, more accurate and accurate speed calculation is possible through the encoder 300 that outputs at least 1000 pulse signals per revolution of the wheelset 110. Done.

뿐만 아니라, 엔코더(300)가 엔코더보호커버(310)와 외부커버(132) 속에서 안정적으로 지지고정되기 때문에 외부 충격이나 진동으로부터 보호될 수 있으며, 설치 위치도 특정되고, 설치도 용이한 장점을 가진다.In addition, since the encoder 300 is stably supported and secured in the encoder protective cover 310 and the outer cover 132, the encoder 300 may be protected from external shock or vibration, and an installation location may be specified, and the installation may be easily performed. Have

도 1은 본 발명 장치가 설치될 고속철도차량의 액슬 박스를 보인 예시적인 사진,1 is an exemplary photograph showing an axle box of a high speed rail vehicle to which the present invention device is installed;

도 2는 본 발명 장치의 설치예를 보인 요부 사시도,Figure 2 is a perspective view of the main part showing an installation example of the present invention,

도 3 및 도 4는 본 발명 장치가 구현될 고속철도차량의 액슬 박스내 구리판의 예시적인 사진,3 and 4 are exemplary photographs of a copper plate in an axle box of a high speed railway vehicle to which the apparatus of the present invention is implemented;

도 5 및 도 6은 본 발명에 따른 엔코더의 설치예를 보인 예시적인 사진.5 and 6 are exemplary photographs showing an installation example of the encoder according to the present invention.

<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>

100....차륜 110....윤축100 ... wheel 110 ... wheelset

120....구리판 130....액슬 박스120 ... copper plate 130 ... axle box

132....외부커버 200....회전축132.Outer cover 200 ... Rotating shaft

210....플랜지 240....커플링210..Flange 240 .... Coupling

300....엔코더 310....엔코더보호커버300 ... encoder 310 .... encoder protective cover

Claims (3)

고속철도차량의 액슬 박스내 윤축과 함께 회전되는 구리판의 원 중심에 고정된 회전축과;A rotating shaft fixed to the circle center of the copper plate which rotates together with the wheel shaft in the axle box of the high speed railway vehicle; 상기 액슬 박스를 밀폐하는 보호커버의 외면에 고정되는 엔코더보호커버와;An encoder protective cover fixed to an outer surface of a protective cover for sealing the axle box; 상기 엔코더보호커버를 관통하여 상기 회전축을 향해 배치되는 엔코더 회전축을 갖는 엔코더와;An encoder having an encoder axis of rotation disposed through the encoder protective cover toward the axis of rotation; 상기 엔코더 회전축과 상기 회전축을 서로 연결하는 커플링으로 구성된 것을 특징으로 하는 고속철도차량용 고정밀 속도 및 위치 검측장치.High precision speed and position detection device for a high-speed railway vehicle, characterized in that the coupling consisting of a coupling connecting the rotary shaft and the rotary shaft to each other. 청구항 1에 있어서;The method according to claim 1; 상기 회전축은 일단에 형성된 플랜지가 상기 구리판의 원 중심에 볼트와 너트로 밀착 고정되는 것을 특징으로 하는 고속철도차량용 고정밀 속도 및 위치 검측장치.The rotating shaft is a high-precision speed and position detection device for a high-speed railway vehicle, characterized in that the flange formed at one end is tightly fixed to the circle center of the copper plate by bolts and nuts. 청구항 1에 있어서;The method according to claim 1; 상기 엔코더는 회전축 1회전당 최소 1000회 이상의 펄스신호를 발생시키는 고정밀 상용 엔코더인 것을 특징으로 하는 고속철도차량용 고정밀 속도 및 위치 검측장치.The encoder is a high-precision speed and position detection device for a high-speed railway vehicle, characterized in that the high-precision commercial encoder for generating a pulse signal of at least 1000 times per rotation of the rotary shaft.
KR1020070130921A 2007-12-14 2007-12-14 High precision speed and position detection device for high speed railway vehicles KR100908395B1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101312076B1 (en) * 2013-06-25 2013-09-25 한국기계연구원 An apparatus for measuring velocity of train

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KR0121873B1 (en) * 1994-12-08 1997-11-13 정몽원 Speed detection and display device for a car
KR20050062957A (en) * 2003-12-19 2005-06-28 한국철도기술연구원 Measuring system for velocity and kiloage of railway car
KR20050108631A (en) * 2004-05-12 2005-11-17 엘지.필립스 엘시디 주식회사 Apparatus for measuring mileage

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* Cited by examiner, † Cited by third party
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KR101312076B1 (en) * 2013-06-25 2013-09-25 한국기계연구원 An apparatus for measuring velocity of train

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