CN108320468A - A kind of sensor Internet of Things highway barrier collision warning system - Google Patents
A kind of sensor Internet of Things highway barrier collision warning system Download PDFInfo
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- CN108320468A CN108320468A CN201810159933.3A CN201810159933A CN108320468A CN 108320468 A CN108320468 A CN 108320468A CN 201810159933 A CN201810159933 A CN 201810159933A CN 108320468 A CN108320468 A CN 108320468A
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- collision warning
- warning system
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- highway barrier
- highway
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- 230000004888 barrier function Effects 0.000 title claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 8
- 241000984082 Amoreuxia Species 0.000 claims abstract description 7
- 229910001220 stainless steel Inorganic materials 0.000 claims description 18
- 239000010935 stainless steel Substances 0.000 claims description 18
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 17
- 229910052744 lithium Inorganic materials 0.000 claims description 17
- 239000004033 plastic Substances 0.000 claims description 15
- 229920003023 plastic Polymers 0.000 claims description 15
- 239000003292 glue Substances 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000013461 design Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 108010003272 Hyaluronate lyase Proteins 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
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- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F15/00—Safety arrangements for slowing, redirecting or stopping errant vehicles, e.g. guard posts or bollards; Arrangements for reducing damage to roadside structures due to vehicular impact
- E01F15/02—Continuous barriers extending along roads or between traffic lanes
- E01F15/04—Continuous barriers extending along roads or between traffic lanes essentially made of longitudinal beams or rigid strips supported above ground at spaced points
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/604—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings
- E01F9/615—Upright bodies, e.g. marker posts or bollards; Supports for road signs specially adapted for particular signalling purposes, e.g. for indicating curves, road works or pedestrian crossings illuminated
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/658—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing
- E01F9/669—Upright bodies, e.g. marker posts or bollards; Supports for road signs characterised by means for fixing for fastening to safety barriers or the like
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
Abstract
The present invention relates to a kind of highway barrier collision warning systems, including：Fence sytsem, gateway, monitoring system；Fence sytsem and monitoring system are communicated by gateway；Fence sytsem includes：Corrugated guardrail, vibrating sensor, yellow noctilucence show item, highway both sides fixed column；The antenna plate communicated with gateway is installed in vibrating sensor；The noctilucence of yellow shows that item is fixed on corrugated guardrail；Corrugated guardrail is fixed in the fixed column on highway both sides by the vibrating sensor；Gateway is communicated using LoRa communication protocols；Monitoring system includes alarm, is alarmed when fence sytsem has collision.The present invention can alarm within the first time of collision, and the noctilucence of yellow shows that item is fixed on corrugated guardrail ontology, it is possible to reduce the generation of collision；It mounts and dismounts very convenient.
Description
Technical field
The present invention relates to a kind of alarm systems, and in particular to a kind of fence sytsem and monitoring system are led to by gateway
News；Monitoring system includes alarm, when fence sytsem has the highway barrier collision warning system of collision alarm.
Background technology
With being continuously increased for domestic highway total kilometrage, China has been increasingly becoming possesses highway mileage in the world
Longest country.High-speed transit, which surprisingly invariably accompanies, impact and damages highway guardrail, and the accident on remote section periphery
Cannot more be found in time because of unattended, to guardrail using complete set wireless supervisory control system can more added with
Effect implements monitoring and alarm to highway division, finds and handles relevant road segments traffic accident, reduce the loss of traffic accident.
Invention content
In view of the above-mentioned problems, the main purpose of the present invention is to provide a kind of fence sytsem and monitoring system by gateway into
Row communication；Monitoring system includes alarm, when fence sytsem has the highway barrier collision warning system of collision alarm.
The present invention is to solve above-mentioned technical problem by following technical proposals：A kind of highway barrier collision warning system
System, the highway barrier collision warning system include：Fence sytsem, gateway, monitoring system；Fence sytsem and monitoring system pass through
Gateway is communicated.
The fence sytsem includes：Corrugated guardrail, vibrating sensor, the noctilucence display item of yellow, highway both sides
Fixed column；The antenna plate communicated with gateway is installed in vibrating sensor；The noctilucence of yellow shows that item is fixed on waveform
On guardrail；Corrugated guardrail is fixed in the fixed column on highway both sides by the vibrating sensor；Gateway is logical using LoRa
Believe protocol；Monitoring system includes alarm, is alarmed when fence sytsem has collision.
In specific embodiments of the present invention, vibrating sensor includes：Plastic head covering, signal plate, antenna plate, lithium electricity
Pond, stainless steel casing；Plastic head covering and stainless steel casing form a closed space, and signal plate, antenna plate, lithium battery is close
Envelope is mounted in closed space；Signal plate and antenna plate parallel arrangement；Stainless steel casing is set on one end far from Plastic head covering
It is equipped with thread segment.
In specific embodiments of the present invention, connected by spring between the lithium battery and stainless steel casing.
In specific embodiments of the present invention, the signal plate and antenna plate are fixed on stainless steel casing by Screw
On.
In specific embodiments of the present invention, the Screw is plastics or rubber screw.
In specific embodiments of the present invention, the length of the thread segment is the 1/3- of entire vibrating sensor length
2/3。
In specific embodiments of the present invention, form and stainless steel casing card that the Plastic head covering is engaged by bayonet
Together.
In specific embodiments of the present invention, there are gap, the width in the gap between the signal plate and antenna plate
Ranging from 1-5 millimeters of degree.
In specific embodiments of the present invention, the lithium battery is operating temperature -40~85 DEG C, size φ
16mmx35mm, capacity 1500mAh, the lithium battery of self discharge in 10 years≤20%.
In specific embodiments of the present invention, the gateway supplies in such a way that solar panel adds accumulator to combine
Electricity.
The positive effect of the present invention is that：Highway barrier collision warning system provided by the invention, fence sytsem and
Monitoring system is communicated by gateway；Monitoring system includes alarm, when fence sytsem has collision alarm.
Using the corrugated guardrail of vibrating sensor, the antenna plate communicated with gateway is installed in vibrating sensor, it can
To alarm within the first time of collision, the noctilucence of yellow shows that item is fixed on corrugated guardrail ontology, it is possible to reduce collision
Occur；Vibrating sensing is designed to completely the same with corrugated guardrail plate fixing screws appearance and size, in-site installation only needs to unload
Original plain screw is changed to vibrating sensor, and sensor itself has fastening function, can be referred to as " intelligent screw ".
With the reliable gun iron link of waveform protective plate after screw-driving, and field erected difficulty is greatly reduced.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the structural schematic diagram of the corrugated guardrail using vibrating sensor in the present invention.
Fig. 3 is the internal structure schematic diagram of the vibrating sensor in the present invention.
Specific implementation mode
Present pre-ferred embodiments are provided below in conjunction with the accompanying drawings, with the technical solution that the present invention will be described in detail.
Fig. 1 is the overall structure diagram of the present invention, and Fig. 2 is the corrugated guardrail using vibrating sensor in the present invention
Structural schematic diagram；As shown in Figs. 1-2：Highway barrier collision warning system provided by the invention, including：Fence sytsem 1, gateway 2,
Monitoring system 3；Fence sytsem 1 and monitoring system 3 are communicated by gateway 2；Fence sytsem 1 includes：Corrugated guardrail 101 shakes
Move sensor 102, the noctilucence of yellow shows item 103, the fixed column 104 on highway both sides；It is equipped in vibrating sensor 102
The antenna plate 1023 communicated with gateway 2；The noctilucence of yellow shows that item 103 is fixed on corrugated guardrail 101；Adjacent yellow
Noctilucence show stripe pitch be 20-100 meters.Corrugated guardrail 101 is fixed on the fixed column on highway both sides by vibrating sensor
On 104；Gateway 2 is communicated using LoRa communication protocols；Monitoring system 3 includes alarm, is reported when fence sytsem has collision
It is alert.
Fig. 3 is the internal structure schematic diagram of the vibrating sensor in the present invention；As shown in Figure 3：Vibrating sensor 102 wraps
It includes：Plastic head covering 1021, signal plate 1022, antenna plate 1023, lithium battery 1024, stainless steel casing 1025；Plastic head covering 1021
A closed space is formed with stainless steel casing 1025, by signal plate 1022, antenna plate 1023, the sealing installation of lithium battery 1024
In closed space；Signal plate 1022 and antenna plate 1023 are arranged in parallel；Stainless steel casing 1025 is far from Plastic head covering 1021
One end on be provided with thread segment 1026.It is connected by spring 1027 between lithium battery 1024 and stainless steel casing 1025, signal
Plate and antenna plate are fixed on by Screw 1028 on stainless steel casing, and Screw 1028 is plastics or rubber screw.
The length of thread segment 1026 is the 1/3-2/3 of entire vibrating sensor length, and Plastic head covering is blocked by bayonet 1029
The form of conjunction is stuck with stainless steel casing, and there are gap 4, the width ranges in the gap 4 between signal plate and antenna plate
It is 1-5 millimeters.
Lithium battery 1024 in the present invention is operating temperature -40~85 DEG C, size φ 16mmx35mm, capacity 1500mAh,
The lithium battery of self discharge in 10 years≤20%.Gateway 2 in the present invention is powered in such a way that solar panel adds accumulator to combine.
In the present invention, vibrating sensing is designed to, scene peace completely the same with corrugated guardrail plate fixing screws appearance and size
Dress only needs to unload original plain screw, is changed to vibrating sensor, sensor itself has fastening function, can be referred to as
" intelligent screw ".With the reliable gun iron link of waveform protective plate after screw-driving, and field erected difficulty is greatly reduced.
In the present invention, each number for fixing the vibrating sensor of column kit is 4-8.
Part of the present invention design is i.e. in view of the producing cost of sensor, and in line with simple and reliable, function is embodied as circuit design
Principle is formed with MCU+LoRa modules+three, vibration sensing core part.Selected component is in the market largely in the production used
Product, product reliability are verified extensively, and can reduce procurement price and difficulty simultaneously.Shelling machine also fully considers machine
The difficulty and efficiency and material price etc. factor of bed processing, the price that module estimates thousand at present are 300~500 yuan or so.
The present invention takes the integrated mode of LoRa+NB-IOT (3G/4G) in the wireless transmission stage, takes two kinds of wireless modes
Advantage obtains maximum network stabilization and transmittability with lower cost.
It being communicated using LoRa between vibrating sensor and gateway, LoRa is operated in 1GHz unauthorized frequency ranges below, therefore
Using when do not need additional payment.LoRa is asynchronous communications protocol, that is to say, that node can be according to concrete application scene demand
Long or short sleep is carried out, is best selection for maintenance-free battery power supply.LoRa and LoRaWAN agreements, it is dry in processing
Disturb, be network overlapped, scalability etc. has unique characteristic, while LoRa is by using high spreading factor, by low capacity
Data are transferred out by large-scale radio-frequency spectrum.Spreading factor is higher, and most evidences can be from being considered as noise originally
Signal in extract.For example, LoRa transmission powers are 100mW (20dBm), and receiving terminal sensitivity is -129dBm, always
Link budget be 149dB.Comparatively, possessing the wireless skills of GFSK of sensitivity -110dBm (this has been its fabulous data)
Art needs the power (37dBm) of 5W to can be only achieved identical link budget.In practice, most GFSK wireless technologys receive
End sensitivity can reach -103dBm, and in this situation, transmitting terminal tranmitting frequency is necessary for 46dBm or about 36W, Cai Nengda
To the link budget similar with LoRa.Therefore, using LoRa technologies, we can obtain wider array of transmission with low transmitting power
Range and distance, this low-power consumption wide area technology is exactly needed for us.
Communication is communicated using NB-IOT (3G/4G) between gateway and public network, reliable and stable by means of having mobile operator
The network coverage, reduce project itself remote networking input.
The design consideration economy and maintainability of gateway of the present invention, scheme proposals 5~6km of each gateway covering radius,
8~10km is spaced between two gateways.As soon as estimating the highway of section 200km in this way, 20 or so gateways can cover, i.e.,
Make have maintenance task amount in the future, it will not be very big.
Gateway power supply using solar energy+accumulator combination, using the scheme of similar highway video monitoring,
About 10 meters of high metallic rods are installed in roadside, and solar electric power supply system and gateway are installed on bar, in this way can be by gateway
In a higher position of Relative Vibration sensor, have very to the communication distance and radio signal quality of gateway and vibrating sensor
Big help.
There is still a need for considering outdoor working environment, gateway is different from vibrating sensor for the design of gateway, the function of gateway compared with
More, circuit is complicated, and size also bigger can face and dismantle the case where safeguarding, therefore Gateway External uses the outdoor metal waterproof of standard
Box, while in the internal sensor for increasing environment parameter, including temperature, humidity, air pressure (sealing) etc., these environment parameters
High in the clouds can be sent together, improve the efficiency of gateway maintenance work.
In the specific implementation process of the present invention, if necessary to the true and reliable impression collision process of vibrating sensor,
Vibrating sensor must reliably be rigidly connected with corrugated guardrail plate, it is contemplated that the irregular shape of corrugated guardrail plate, and scene
Construction punching difficulty etc., the present invention vibrating sensing is designed to it is completely the same with corrugated guardrail plate fixing screws appearance and size, it is existing
Installation only needs to unload original plain screw, is changed to vibrating sensor, sensor itself has fastening function, can be with
Referred to as " intelligent screw ".With the reliable gun iron link of waveform protective plate after screw-driving, and field erected difficulty is greatly reduced.
The signal plate of vibrating sensor in the present invention carries acceleration sensitive core, MCU, LoRa module etc., usually shakes
Dynamic sensor is in extremely low power dissipation state, MCU and LoRa modules are in power-down state, and after collision is arrived, vibrating sensor needs
Wake up MCU and LoRa modules, data bits it is faster, to just more complete, the current actual measurement of the signal capture of entire collision process
Time be about 20ms.
Freeway net spreads all over the country, after monitoring of layouting, it is difficult to there are enough manpowers to go to give replacing sensor battery, in conjunction with
The technology requirement of natural gas taximeter, needs battery energy continuous work 10 years or more to be changed without, therefore this present invention vibrating sensor
Low power dissipation design it is particularly important, through investigation learn, disposable lithium cell be able to maintain that 10 years or more self discharge be less than 20%,
And can under -40~85 DEG C of environment steady operation, can meet be installed to screw inside dimension lithium battery capacity be 3000mAh, warp
It calculates, meets the requirement of 10 year working time and the standby continuous work electric current of sensor is needed to be less than 35uA, this programme is hard at present
Part design actual measurement standby current is 10uA, is less than theoretical value thresholding, disclosure satisfy that the demand of low maintenance after a wide range of layout.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention, the claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of highway barrier collision warning system, it is characterised in that：The highway barrier collision warning system includes：Guardrail system
System, gateway, monitoring system；Fence sytsem and monitoring system are communicated by gateway；
The fence sytsem includes：Corrugated guardrail, vibrating sensor, yellow noctilucence show that item, highway both sides are consolidated
Fixed column；The antenna plate communicated with gateway is installed in vibrating sensor；The noctilucence of yellow shows that item is fixed on corrugated guardrail
On；Corrugated guardrail is fixed in the fixed column on highway both sides by the vibrating sensor；Gateway uses LoRa communication protocols
View communication；Monitoring system includes alarm, is alarmed when fence sytsem has collision.
2. highway barrier collision warning system according to claim 1, it is characterised in that：Vibrating sensor includes：Plastics
Head-shield, signal plate, antenna plate, lithium battery, stainless steel casing；Plastic head covering and stainless steel casing form a closed space,
Signal plate, antenna plate, lithium battery are sealingly mounted in closed space；Signal plate and antenna plate parallel arrangement；Outside stainless steel
Shell is provided with thread segment on one end far from Plastic head covering.
3. highway barrier collision warning system according to claim 2, it is characterised in that：Outside the lithium battery and stainless steel
It is connected by spring between shell.
4. highway barrier collision warning system according to claim 2, it is characterised in that：The signal plate and antenna plate are logical
Screw is crossed to be fixed on stainless steel casing.
5. highway barrier collision warning system according to claim 4, it is characterised in that：The Screw is plastics or rubber
Glue screw.
6. highway barrier collision warning system according to claim 2, it is characterised in that：The length of the thread segment is whole
The 1/3-2/3 of a vibrating sensor length.
7. highway barrier collision warning system according to claim 2, it is characterised in that：The Plastic head covering passes through bayonet
The form of engaging is stuck with stainless steel casing.
8. highway barrier collision warning system according to claim 2, it is characterised in that：The signal plate and antenna plate it
Between there are gap, the width range in the gap is 1-5 millimeters.
9. highway barrier collision warning system according to claim 2, it is characterised in that：The lithium battery is work temperature
- 40~85 DEG C, size φ 16mmx35mm, capacity 1500mAh of degree, the lithium battery of self discharge in 10 years≤20%.
10. highway barrier collision warning system according to claim 4, it is characterised in that：The gateway uses solar energy
The mode that solar panel adds accumulator to combine is powered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810159933.3A CN108320468B (en) | 2018-02-26 | 2018-02-26 | Sensor internet of things highway guardrail collision alarm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810159933.3A CN108320468B (en) | 2018-02-26 | 2018-02-26 | Sensor internet of things highway guardrail collision alarm system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108320468A true CN108320468A (en) | 2018-07-24 |
| CN108320468B CN108320468B (en) | 2023-12-05 |
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|---|---|---|---|
| CN201810159933.3A Active CN108320468B (en) | 2018-02-26 | 2018-02-26 | Sensor internet of things highway guardrail collision alarm system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653133A (en) * | 2018-12-17 | 2019-04-19 | 四川陆通检测科技有限公司 | A kind of fence upright with decrease of noise functions |
| CN110275472A (en) * | 2019-07-22 | 2019-09-24 | 福建中宝万通物联网科技有限公司 | A kind of highway corrugated guardrail vibration alarm battery power saving system and its power-saving method |
| CN111047839A (en) * | 2019-05-08 | 2020-04-21 | 上海越德卫星导航科技股份有限公司 | Novel road isolated column monitoring system |
| CN113066309A (en) * | 2021-03-18 | 2021-07-02 | 上海埃基特智能科技有限公司 | Intelligent guardrail remote collision monitoring system with acousto-optic early warning function |
| CN113123264A (en) * | 2021-05-20 | 2021-07-16 | 广西北投交通养护科技集团有限公司 | Guardrail collision early warning system and control method thereof |
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