CN105206058B - A kind of highway law enforcement patrol plane - Google Patents
A kind of highway law enforcement patrol plane Download PDFInfo
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- CN105206058B CN105206058B CN201510650743.8A CN201510650743A CN105206058B CN 105206058 B CN105206058 B CN 105206058B CN 201510650743 A CN201510650743 A CN 201510650743A CN 105206058 B CN105206058 B CN 105206058B
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Abstract
The invention discloses a kind of highway law enforcement patrol plane.Existing movable patrolling system traveling is unstable, it is impossible to break the barriers very well, and the shooting of its camera has blind area.The power set driving mobile devices of the present invention；The end face of the unilateral wheel of power, the unilateral wheel of upper transmission and the unilateral wheel of underdrive is equipped with flange in mobile devices；Frame is pressed on guardrail by auxiliary fixing device using auxiliary wheel and damper；Supervising device includes electric platform, camera, infrared detector and alarm；Control unit includes box body and the central controller, travelling control unit, PMU, GPS locator, graphics processing unit, memory cell and the alarm unit that are integrated in box body.The present invention stable on guardrail can be travelled, and can also be cleared the jumps, with cushioning effect, and camera can accomplish that 360 ° shoot without dead angle, and captured information can pass background management system analysis back, accomplish science early warning.
Description
Technical field
The invention belongs to freeway surveillance and control field, it is related to patrol plane, and in particular to a kind of highway law enforcement patrol
Machine.
Background technology
Traditional is monitored the monitoring for substantially using fixed position to driving vehicle on road, i.e., in fixing point position
Camera is installed or the filming instrument that tests the speed is laid.The former Meteorological is high, safeguards and operating cost is high, the latter needs manually to put
Put and move, and need special messenger to wait for nurse.The monitor and control facility of the type can only enter to the driving vehicle Jing Guo its installation site
Row monitoring, it is impossible to the vehicular traffic situation outside monitoring camera head region.Can by the way of cruiser installs vehicle-mounted monitoring system
To realize removable monitoring, it is to avoid monitoring blind spot.But traffic accident once occurs on a highway, when road is blocked
Cruiser cannot be introduced into, it is impossible to obtain the real-time condition of road traffic in time.The shifting suitable for highway is also occurred in that at present
Dynamic formula patrol system, but its camera is fixed, it is impossible to change its shooting angle, so that certain blind area is caused, and can not
Guardrail is securely adjacent to, is travelled unstable, it is impossible to break the barriers very well.
The content of the invention
The purpose of the present invention is that there is provided a kind of highway law enforcement patrol plane, Ke Yigu in view of the shortcomings of the prior art
Be scheduled on guardrail and can be moved forward and backward on guardrail, camera is installed on patrol plane, can to high-speed road conditions multi-angle monitoring,
Suitable for high-speed road conditions monitoring.The road conditions in any section on highway can be monitored by the present invention, without traffic police
Reach the spot just violation can be travelled and be parked cars and carry out capturing evidence obtaining and by wireless network real-time informing to car owner.It is special
Got congestion in highway, traffic police, which cannot be introduced into system when reaching the spot, to enter scene with smooth, pass through people
Work changes camera shooting angle, in real time by the situation at scene and the license plate number and vehicle location of illegal occupancy emergency vehicles to scheme
The form of piece or video is sent on the receiving device of traffic police, facilitates traffic police to go and find out what's going on, and is implemented rescue and is dredged work.
The present invention includes frame, supervising device, control unit, power set, mobile devices and auxiliary fixing device；It is described
Power is transmitted to driven gear shaft by the direct current generator of power set；Described mobile devices include the unilateral wheel of power, upper transmission list
Cincture and the unilateral wheel of underdrive；The unilateral wheel of described power is connected with driven gear shaft by key；The described unilateral wheel of upper transmission
Frame top is hinged on, bottom of the frame is hinged with two unilateral wheels of underdrive；The unilateral wheel of power, the unilateral wheel of upper transmission and under
The end face for being driven unilateral wheel is equipped with flange.
Described auxiliary fixing device include preceding upper auxiliary wheel, front lower auxiliary wheel, afterwards upper auxiliary wheel, descend auxiliary wheel afterwards, it is preceding
Major axis, rear major axis, and be fixed in frame preceding upper damper, front lower damper, upper damper and descend damper afterwards afterwards；Institute
The upper and lower end of major axis is hinged with preceding upper damper and front lower damper respectively before stating, the upper and lower end of rear major axis respectively with it is rear on subtract
Shake device and rear lower damper are hinged；The two ends of major axis before described preceding upper auxiliary wheel and front lower auxiliary wheel are supported on by bearing；
Described rear upper auxiliary wheel and rear lower auxiliary wheel are supported on the two ends of rear major axis by bearing.
Described supervising device includes electric platform, camera, infrared detector and alarm；Described electric platform bag
Include base, all switch blocks and elevation angle regulating block；Base is fixed on frame top, and all switch blocks constitute the week rotated around vertical axes with base
Turn pair, elevation angle regulating block constitutes the swinging pair swung around trunnion axis with all switch blocks, and camera is fixed on the regulating block of the elevation angle, the elevation angle
Regulating block regulation camera realizes 0~90 ° of elevation angle or the angle of depression；The central controller life of described electric platform reception control unit
Order, and adjust the shooting angle of camera, camera collection road conditions data；Described alarm and infrared detector is solid
It is scheduled on frame top；The signal detected is passed to central controller by infrared detector.
Described control unit includes box body and the central controller, travelling control unit, the power supply that are integrated in box body
Administrative unit, GPS locator, graphics processing unit, memory cell and alarm unit；Described box body is fixed on upper rack；
Central controller is used to receiving and sending control command；Described travelling control unit is connected with central controller, for controlling
The direct current generator operating of power set；Described GPS locator is connected with central controller, for positioning；At described image
Manage camera of the unit respectively with central controller, GPS locator and supervising device to be connected, for handling camera collection
Video and picture；Described memory cell is connected with central controller, data and image for storing camera collection
Video and picture that processing unit processes are crossed；Described PMU is connected with central controller, for powering；Described
Alarm unit is connected to the alarm of central controller and supervising device, receives the alarm command of central controller, and to alarm
Device assigns alarm command, when infrared detector detects forcible entry signal alarm.
Described power set include battery, direct current generator, driving gear, driven gear, driving gear shaft and driven
Gear shaft；Described battery is powered to direct current generator；Described direct current generator is fixed with frame, driving gear shaft and driven tooth
Wheel shaft is supported on bearing spider by bearing, and bearing supporting and fixing is in frame；Described driving gear shaft and direct current
The output shaft of machine is connected by shaft coupling；Described driving gear is connected with driving gear shaft by key；Described driven gear
It is connected, and is engaged with driving gear by key with driven gear shaft.
Described PMU includes alarm, power-off protector and overcurrent protection device.
Described central controller is connected with mobile device by wireless network, during described mobile device is transferred and received
Controller data is entreated, and sends control signals to central controller.
Described mobile device and central controller is all connected to background management system, and connected mode is wifi wireless networks
Network, mobile network, internet or USB interface；Described background management system send control command sum for receiving Data Concurrent
According to mobile device and central controller.
Described mobile device is mobile phone or tablet personal computer.
The beneficial effects of the invention are as follows：
1st, the present invention stable on guardrail can be travelled, and can also be cleared the jumps, motor-driven with certain cushioning effect
Flexibility is strong, and camera can accomplish that 360 ° shoot without dead angle, and captured information passes background management system back by network
Merged, shared, analyzed, accomplish science early warning.
2nd, overall monitor, is gone on patrol automatically by the present invention on freeway guardrail, can remotely grasp the current feelings in section
Condition, especially meets traffic congestion, when police strength can not rush towards scene, the present invention can quickly reach the spot, and pass live view back in time.
3rd, illegal occupancy Emergency Vehicle Lane behavior evidence obtaining function, needs to put into substantial amounts of money by fixed candid photograph equipment evidence obtaining
Gold, equipment, irregular driving people also tend to take various methods to avoid fixed candid photograph equipment, and the application of the present invention can make up
Artificial evidence obtaining and the deficiency of fixed candid photograph equipment evidence obtaining.
4th, the present invention can walk neither to occupy and use space, unexpected hair can be reduced again by remote control on guardrail
It is raw.
5th, the present invention securely can be adjacent on guardrail：Damping device and unilateral wheel construction are used so that mechanism is pressed on shield
On column, and with cushioning effect, the difficulty of mechanism stable and traveling is brought to eliminate guardrail out-of-flatness, and travel wheel and used
Unilateral wheel construction (flanged structure) can prevent explosive separation；The contact area of four traveling wheels and corrugated guardrail is relatively large,
Traveling is more steady.
6th, camera of the invention is connected in frame by electric platform so that patrol plane multi-faceted can be clapped without dead angle
Take the photograph, be more prone to photograph clearly such as license plate number evidence violating the regulations when running into barrier.
Brief description of the drawings
Fig. 1 is assembling schematic diagram of the invention；
Fig. 2 is overall structure stereogram of the invention；
Fig. 3 is Fig. 1 left view；
Fig. 4 is frame in the present invention and is assemblied in the schematic diagram of part in frame；
Fig. 5 is the systematic schematic diagram of control unit in the present invention；
Fig. 6 is the structural perspective of guardrail.
Embodiment
Below in conjunction with the accompanying drawings and example the invention will be further described.
As shown in Fig. 1,2,3 and 4, a kind of highway law enforcement patrol plane, including frame 3, supervising device, control list
Member, power set, mobile devices and auxiliary fixing device.
Power set include battery 26, direct current generator 24, driving gear 4, driven gear 7, driving gear shaft 5 and driven
Gear shaft 6；Battery 26 is powered to direct current generator 24；Direct current generator 24 is fixed with frame 3, driving gear shaft 5 and driven gear
Axle 6 is supported on bearing spider by bearing, and bearing supporting and fixing is in frame 3；Driving gear shaft 5 and direct current generator 24
Output shaft is connected by shaft coupling；Driving gear 4 is connected with driving gear shaft 5 by key；Driven gear 7 and driven gear shaft 6
Connected, and engaged with driving gear 4 by key.
As shown in Fig. 1,2,3 and 6, it is unilateral that mobile devices include the unilateral wheel 21 of power, the upper unilateral wheel 20 of transmission and underdrive
Wheel 13；The unilateral wheel 21 of power is connected with driven gear shaft 6 by key, receives the power from direct current generator；The upper unilateral wheel of transmission
20 are hinged on the top of frame 3；The unilateral wheel 21 of power and the upper unilateral wheel 20 of transmission press against the top of guardrail, the unilateral He of wheel 21 of power
The flange of the upper unilateral end face of wheel 20 of transmission is attached to the top-side of guardrail；The bottom of frame 3 is hinged with two unilateral wheels of underdrive
13, the unilateral wheel 13 of underdrive compresses guardrail bottom, and the flange of the unilateral end face of wheel 13 of underdrive is attached to the bottom sides of guardrail.
Auxiliary fixing device includes preceding upper auxiliary wheel 18, afterwards front lower auxiliary wheel 16, upper auxiliary wheel 9, afterwards lower auxiliary wheel 11, preceding
Major axis 17, rear major axis 10, and be fixed in frame 3 preceding upper damper 19, front lower damper 15, afterwards upper damper 8 and after
Lower damper 12；The upper and lower end of preceding major axis 17 is hinged with preceding upper damper 19 and front lower damper 15 respectively, rear major axis 10
Upper and lower end is hinged with rear upper damper 8 and rear lower damper 12 respectively；Preceding upper auxiliary wheel 18 and front lower auxiliary wheel 16 pass through bearing
The two ends of major axis 17 before being supported on；Upper auxiliary wheel 9 and rear lower auxiliary wheel 11 are supported on the two ends of rear major axis 10 by bearing afterwards；Before
Upper auxiliary wheel 18, afterwards front lower auxiliary wheel 16, upper auxiliary wheel 9 and rear lower auxiliary wheel 11 are compressed at guardrail crest.
As shown in figure 1, supervising device includes electric platform 2, camera 1, infrared detector 23 and alarm 22；Electronic cloud
Platform 2 includes base, all switch blocks and elevation angle regulating block；Base is fixed on the top of frame 3, and all switch blocks are constituted with base to be turned around vertical axes
Dynamic turnover pair, elevation angle regulating block constitutes the swinging pair swung around trunnion axis with all switch blocks, and camera 1 is fixed on elevation angle regulating block
On；All switch blocks can realize that camera 1 circumferentially rotates 0~360 ° in the horizontal plane, and elevation angle regulating block can realize camera 1
90 ° of elevations angle or the angle of depression；Electric platform 2 receives the central controller 27 from control unit and orders and adjust the shooting of camera 1
Angle, camera 1 is used to gather road conditions data；Alarm 22 and infrared detector 23 are fixed by screws in frame 3
Top；The signal detected is passed to central controller 27 by infrared detector 23.
As shown in Fig. 1,2,3,4 and 5, control unit includes box body 25 and the central controller being integrated in box body 25
27th, travelling control unit 28, PMU 29, GPS locator 33, graphics processing unit 31, memory cell 32 and alarm
Unit 30；Box body 25 is fixed by screws in the top of frame 3；Central controller 27 is used to receiving and sending control command；Walking
Control unit 28 is connected with central controller 27, for controlling the direct current generator 24 of power set to operate, so as to realize traveling dress
The walking put；GPS locator 33 is connected with central controller 27, for positioning；Graphics processing unit 31 respectively with central control
The camera 1 of device 27, GPS locator 33 and supervising device is connected, video and picture for handling the collection of camera 1；
Memory cell 32 is connected with central controller 27, and the data and graphics processing unit 31 for storing the collection of camera 1 are handled
The video and picture crossed；PMU 29 is connected with central controller 27, for powering, and PMU 29 includes report
Alert device, power-off protector and overcurrent protection device；Alarm unit 30 is connected to the alarm 22 of central controller 27 and supervising device,
The alarm command of central controller 27 is received, and alarm command is assigned to alarm 22, when infrared detector 23 is detected illegally
Intrusion signal alarm.Central controller 27 can be realized with mobile device 34 (mobile phone, tablet personal computer etc.) by wireless network to be connected
Connect, the data of central controller 27 are transferred and received to mobile device 34, and can send control signals to central controller 27；Movement is set
Background management system 35 is attached to for 34 and central controller 27, main connected mode is wifi wireless networks, mobile network
Network, internet or USB interface；Background management system 35 is used to receive data and send control command and data to set to movement
Standby 34 and central controller 27.
The operation principle of the highway law enforcement patrol plane：
Supervising device and control unit：Background management system 35 and mobile device 34 have teleaction to patrol plane,
According to time needs, background management system 35 may be selected to pass through wifi wireless networks, internet or USB interface and mobile device 34
Connection, in the case where mobile device 34 and background management system 35 are distant, mobile device 34 and background management system 35
It can be in by wifi wireless networks, mobile network, internet connection communication in mobile device 34 and background management system 35
In the case of can connecting, mobile device 34 can use USB interface to be directly connected with background management system 35 by data wire
Carry out data exchange.In use, patrol plane is powered, then the PMU 29 in control box starts in patrol plane
There is not enough power supply or power supply trouble in any cell in the power supply monitoring of each unit, patrol plane, then PMU 29
Correspondingly alarmed and carry out power-off protection, in addition, PMU 29 also has overcurrent protection function, effectively
Ground ensures patrol plane power supply supply and power safety at work, prevents patrol plane caused by powerup issue from damaging, reduces and patrol
Patrol the use cost of machine.Patrol plane in the process of walking, in the case that there is power supply trouble in a certain unit, PMU 29
Correspondingly fault-signal can be sent to central controller 27, fault message is passed to the He of mobile device 34 by central controller 27 again
Background management system 35, the positional information according to the inside GPS locator 33 of patrol plane, traffic police can be directly to GPS and determine
Patrol plane is reclaimed in the position that position device 33 is shown or background management system 35 notifies related personnel to reclaim patrol plane.Needing patrol
In the case that machine is operated to specified location or returns to departure place, background management system 35 and mobile device 34 can be with
Control command is sent to central controller 27, central controller 27 transfers a command to travelling control unit 28, and patrol plane is in walking
The descending specified location of going to of the control of control unit 28 is worked or returned to accordingly departure place.In PMU
When detecting patrol machine not enough power supply, background management system 35 and mobile device 34 can send to central controller 27 and call together
Return control command, start it is quick return to pattern, quick walking is to recalling position.Patrol plane electricity is found in background management system 35
In the case of exhausting, background management system 35 can send control command to mobile device 34, it is desirable to traffic police to patrol plane stop place
Put and take back patrol plane.In the case of power supply is normal, patrol plane is initialized, camera 1 receives central controller 27 and sent
Control signal, and according to the image-capturing resolution of setting, shooting frame number per second and number of pictures to highway hardened verge line or violation
Is shot in the parking stall line of parking, run into the special placement of vehicle, the position that special road conditions or patrol plane can not be reached
When, there are at the top and bottom of electric platform two rotational freedoms, it is possible to achieve horizontal plane inner circumferential rotate 0~360 ° and
90 ° of elevations angle or the angle of depression, the control signal that electric platform reception central controller 27 is sent are made adjustment, and camera 1 was being shot
Vehicle wide-long shot and car plate shooting at close range are carried out in journey simultaneously, and the photo of shooting is sent to graphics processing unit
31, graphics processing unit 31 carries out image recognition processing using conventional image-recognizing method, while graphics processing unit 31 connects
The positional information for the photograph taking that GPS locator 33 is transmitted is received, the picture after processing is entered into row positional information marks and be stored in
Memory cell 32；Infrared detector detection whether there is personnel close to and direction of advance whether have barrier, when infrared detector visit
Measured personnel close to when, transmission signal arrives central controller 27, and central controller 27 is sent to alarm after processing, alarm
Device receives order and alarmed, and it is mobile traffic police to point out the patrol plane, notes avoiding, when infrared detector detects direction of advance
When having barrier, central controller 27 is transmitted signals to, central controller 27 sends a command to travelling control after dealing with
Unit 28, travelling control unit 28 sends order control mobile devices.When patrol plane is in the whole isolation guardrail domain of walk, it is
When shooting situation about parking cars in violation of rules and regulations, central controller 27 sends stopping control signal, walking control to travelling control unit 28
The control of unit 28 patrol plane processed, which is stopped, to be waited, and after violation to appear parks cars, central controller 27 is to travelling control unit 28
Startup control signal is sent, the control patrol plane of travelling control unit 28 walks on.Patrol plane judges whether by camera 1
For scene violating the regulations, determine whether that other people are close or whether run into barrier and whether reach end by infrared detector
Point, judges whether to be in specified location by GPS location.
Power set, mobile devices and auxiliary fixing device：Direct current generator receives the order of travelling control unit 28, OK
Sail device and receive the power from direct current generator by power set, during road is gone on patrol, realize and advance, retreat, more
The action such as barrier and stopping, if patrol plane runs into the obstruction that can not be crossed over or walked in the isolation guardrail end, Neng Gouting
Only or return.Battery 26 is powered to direct current generator 24, and the long-range signal that sends controls direct current generator by central controller 27
24 rotating and output torque；Direct current generator 24 passes torque to driving gear shaft 5, driving gear shaft by shaft coupling
Driving gear 4 is passed torque to by key connection, driving gear 4 passes torque to driven gear 7, driven tooth by engagement
Wheel 7 passes torque to driven gear shaft 6 by key, and driven gear shaft 6, which connects, passes torque to the unilateral wheel 21 of power, power list
Cincture 21 bears the gravity of frame 3 and self gravitation is pressed on guardrail top, passes through the frictional force scroll forward and backward between guardrail；
The upper unilateral wheel 20 of transmission and the unilateral wheel 13 of underdrive are pressed on guardrail, and because frictional force is rolled on guardrail；Power list
The flange of cincture 21 is attached to the top-side of guardrail, and the flange of the upper unilateral wheel 20 of transmission and the unilateral wheel 13 of underdrive is attached to guardrail
Bottom sides, to prevent patrol plane from sliding on the inside of the guardrail；Preceding upper auxiliary wheel 18, front lower auxiliary wheel 16, the and of auxiliary wheel 9 upper afterwards
Auxiliary wheel 11 is descended to be fitted at the crest of guardrail afterwards, to prevent patrol plane from toppling over to guardrail outside；It is preceding upper damper 19, front lower
Damper 15, rear upper damper 8 and rear lower damper 12 alleviate the left and right vibrations of patrol plane.
Claims (1)
1. a kind of highway law enforcement patrol plane, including frame, supervising device, control unit, power set, mobile devices and
Auxiliary fixing device, it is characterised in that：
Power is transmitted to driven gear shaft by the direct current generator of the power set；Described mobile devices include the unilateral wheel of power,
The upper unilateral wheel of transmission and the unilateral wheel of underdrive；The unilateral wheel of described power is connected with driven gear shaft by key；Described upload
Move unilateral wheel and be hinged on frame top, bottom of the frame is hinged with two unilateral wheels of underdrive；The unilateral wheel of power, upper transmission list
The end face of cincture and the unilateral wheel of underdrive is equipped with flange；
Described auxiliary fixing device include preceding upper auxiliary wheel, front lower auxiliary wheel, afterwards upper auxiliary wheel, descend afterwards auxiliary wheel, preceding major axis,
Major axis afterwards, and be fixed in frame preceding upper damper, front lower damper, upper damper and descend damper afterwards afterwards；Before described
The upper and lower end of major axis is hinged with preceding upper damper and front lower damper respectively, the upper and lower end of rear major axis respectively with rear upper damper
It is hinged with rear lower damper；The two ends of major axis before described preceding upper auxiliary wheel and front lower auxiliary wheel are supported on by bearing；It is described
Rear upper auxiliary wheel and rear lower auxiliary wheel the two ends of rear major axis are supported on by bearing；
Described supervising device includes electric platform, camera, infrared detector and alarm；Described electric platform includes bottom
Seat, all switch blocks and elevation angle regulating block；Base is fixed on frame top, and all switch blocks constitute the turnover rotated around vertical axes with base
Pair, elevation angle regulating block constitutes the swinging pair swung around trunnion axis with all switch blocks, and camera is fixed on the regulating block of the elevation angle, and the elevation angle is adjusted
Locking nub regulation camera realizes 0~90 ° of elevation angle or the angle of depression；The central controller life of described electric platform reception control unit
Order, and adjust the shooting angle of camera, camera collection road conditions data；Described alarm and infrared detector is solid
It is scheduled on frame top；The signal detected is passed to central controller by infrared detector；
Described control unit includes box body and the central controller, travelling control unit, the power management that are integrated in box body
Unit, GPS locator, graphics processing unit, memory cell and alarm unit；Described box body is fixed on upper rack；Center
Controller is used to receiving and sending control command；Described travelling control unit is connected with central controller, for controlling power
The direct current generator operating of device；Described GPS locator is connected with central controller, for positioning；Described image procossing list
Camera of the member respectively with central controller, GPS locator and supervising device is connected, for handling regarding for camera collection
Frequency and picture；Described memory cell is connected with central controller, data and image procossing for storing camera collection
Video and picture that cell processing is crossed；Described PMU is connected with central controller, for powering；Described alarm
Unit is connected to the alarm of central controller and supervising device, receives the alarm command of central controller, and under alarm
Up to alarm command, when infrared detector detects forcible entry signal alarm；
Described power set include battery, direct current generator, driving gear, driven gear, driving gear shaft and driven gear
Axle；Described battery is powered to direct current generator；Described direct current generator is fixed with frame, driving gear shaft and driven gear shaft
It is supported on by bearing on bearing spider, bearing supporting and fixing is in frame；Described driving gear shaft and direct current generator
Output shaft is connected by shaft coupling；Described driving gear is connected with driving gear shaft by key；Described driven gear with from
Movable gear shaft is connected by key, and is engaged with driving gear；
Described PMU includes alarm, power-off protector and overcurrent protection device；
Described central controller is connected with mobile device by wireless network, and center control is transferred and received to described mobile device
Device data processed, and send control signals to central controller；
Described mobile device and central controller is all connected to background management system, and connected mode is wifi wireless networks, moved
Dynamic network, internet or USB interface；Described background management system send control command and data to shifting for receiving Data Concurrent
Dynamic equipment and central controller；
Described mobile device is mobile phone or tablet personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650743.8A CN105206058B (en) | 2015-10-09 | 2015-10-09 | A kind of highway law enforcement patrol plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650743.8A CN105206058B (en) | 2015-10-09 | 2015-10-09 | A kind of highway law enforcement patrol plane |
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| Publication Number | Publication Date |
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| CN105206058A CN105206058A (en) | 2015-12-30 |
| CN105206058B true CN105206058B (en) | 2017-10-27 |
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| CN201510650743.8A Active CN105206058B (en) | 2015-10-09 | 2015-10-09 | A kind of highway law enforcement patrol plane |
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| CN110065078B (en) * | 2019-04-29 | 2022-03-29 | 盐城工学院 | Special robot for highway pavement inspection |
| CN111469943A (en) * | 2020-05-23 | 2020-07-31 | 长春大学 | Modularized foundation trolley running on waveform guardrail |
| CN111785081A (en) * | 2020-05-27 | 2020-10-16 | 诠航科技有限公司 | Guard bar patrol machine |
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| CN113767770A (en) * | 2021-09-02 | 2021-12-10 | 诠航科技有限公司 | Guard bar patrol machine |
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