CN113446487A - Early warning monitoring device for road engineering operation - Google Patents

Early warning monitoring device for road engineering operation Download PDF

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Publication number
CN113446487A
CN113446487A CN202110570179.4A CN202110570179A CN113446487A CN 113446487 A CN113446487 A CN 113446487A CN 202110570179 A CN202110570179 A CN 202110570179A CN 113446487 A CN113446487 A CN 113446487A
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CN
China
Prior art keywords
fixedly connected
early warning
box body
monitoring device
lifting shell
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.)
Pending
Application number
CN202110570179.4A
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Chinese (zh)
Inventor
吴婉晶
齐赛
王子雷
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Individual
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Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN202110570179.4A priority Critical patent/CN113446487A/en
Publication of CN113446487A publication Critical patent/CN113446487A/en
Pending legal-status Critical Current

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/18Heads with mechanism for moving the apparatus relatively to the stand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20Undercarriages with or without wheels
    • F16M11/24Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • F16M11/28Undercarriages for supports with one single telescoping pillar
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/42Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/695Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Emergency Alarm Devices (AREA)

Abstract

The invention discloses an early warning monitoring device for road engineering operation, which comprises a bottom plate, wherein four corners of the bottom plate are fixedly connected with moving wheels, the top of the bottom plate is fixedly connected with a first box body, an inner cavity of the first box body is provided with a lifting shell, the bottom of one side of the inner wall of the lifting shell is fixedly connected with a thread block, and the bottom of the inner wall of the first box body is fixedly connected with a first stepping motor. According to the invention, the lifting shell, the thread block, the first stepping motor, the threaded rod, the limiting plate, the second box body, the second stepping motor, the first helical gear, the second helical gear, the rotating rod, the rotating plate, the early warning monitor, the sliding chute, the sliding block and the bearing are matched with each other, so that the advantage of adjusting the height and the monitoring angle of the early warning monitor is achieved, the early warning monitor can be freely adjusted in the monitoring angle and the monitoring angle when used, the use of a user is facilitated, and the use requirements of the user can be met.

Description

Early warning monitoring device for road engineering operation
Technical Field
The invention relates to the technical field of road engineering, in particular to an early warning monitoring device for road engineering operation.
Background
Highway engineering refers to works such as reconnaissance, measurement, design, construction, maintenance, management of highway structure, and highway engineering structure includes: roadbed, road surface, bridge, culvert, tunnel, drainage system, safety protection facility, greening and traffic monitoring facility, and house, workshop and other service facilities used for construction, maintenance and monitoring, the new construction or reconstruction task of the road is determined according to the road network planning, the road construction of a country should be combined with the transportation of railway, waterway, aviation, etc. to comprehensively consider its role and status in the intermodal transportation, according to the needs of politics, military, economy, people's life, etc. and combining with the geographical environment conditions, the road network planning divided by grades in the whole country is formulated, and is divided from the aspect of administration into four grades of national road, provincial road, county road, countryside road, etc., in addition, the interior of major industrial and mining enterprises and forestry departments also has respective road planning as necessary, the division boundary and method of each national road grade and their corresponding standards are different, the national road planning of China is mastered by the state, and the road planning below province is mastered by local governments at all levels.
Road engineering is when carrying out the operation, need use early warning monitoring device, and current early warning monitoring device has following shortcoming: the existing early warning monitoring device does not have an adjustable function, so that when the early warning monitoring device is used, the monitoring angle is fixed, the early warning monitoring device cannot be freely monitored, the height of the early warning monitoring device cannot be adjusted, and the early warning monitoring device cannot be used by an inconvenient user and cannot meet the use requirements of the user.
Disclosure of Invention
The invention aims to provide an early warning monitoring device for road engineering operation, which has the advantages of being capable of adjusting the height and the monitoring angle of the early warning monitoring device and solves the problem that the monitoring angle and the height of the early warning monitoring device cannot be freely adjusted because the monitoring angle is fixed when the early warning monitoring device is used because the traditional early warning monitoring device does not have the function of adjusting.
In order to achieve the purpose, the invention provides the following technical scheme: an early warning monitoring device for road engineering operation comprises a bottom plate, wherein moving wheels are fixedly connected with four corners of the bottom plate, a first box body is fixedly connected with the top of the bottom plate, a lifting shell is arranged in an inner cavity of the first box body, a thread block is fixedly connected with the bottom of one side of the inner wall of the lifting shell, a first stepping motor is fixedly connected with the bottom of the inner wall of the first box body, a threaded rod is fixedly connected with the output end of the first stepping motor, the top of the threaded rod penetrates through the inner cavity of the lifting shell and is fixedly connected with a limiting plate, the surface of the threaded rod is in threaded connection with the inner cavity of the thread block, the top of the lifting shell penetrates through the top of the first box body and is fixedly connected with a second box body, a second stepping motor is fixedly connected with the right side of the inner wall of the second box body, and a first helical gear is fixedly connected with the output end of the second stepping motor, the surface meshing of first helical gear has the second helical gear, the axle center department fixedly connected with dwang of second helical gear, the top of dwang runs through to the top and the fixedly connected with rotor plate of second box, the top fixed mounting of rotor plate has the early warning watch-dog.
Preferably, the sliding grooves are formed in the two sides of the inner wall of the first box body, the sliding blocks are connected to the inner cavities of the sliding grooves in a sliding mode, and the inner sides of the sliding blocks are fixedly connected with the bottom of the outer side of the lifting shell.
Preferably, the bottom end of the rotating rod is sleeved with a bearing, and the bottom of the bearing is fixedly connected with the center of the bottom of the inner wall of the second box body.
Preferably, the bottoms of the two sides of the early warning monitor are fixedly connected with mounting blocks, and the tops of the mounting blocks are fixedly mounted with the tops of the rotating plates through bolts.
Preferably, a first through groove is formed in the top of the first box body, the diameter of the inner cavity of the first through groove is larger than that of the lifting shell, a second through groove is formed in the top of the second box body, and the diameter of the inner cavity of the second through groove is larger than that of the rotating rod.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the lifting shell, the thread block, the first stepping motor, the threaded rod, the limiting plate, the second box body, the second stepping motor, the first helical gear, the second helical gear, the rotating rod, the rotating plate, the early warning monitor, the sliding chute, the sliding block and the bearing are matched with each other, so that the advantage of adjusting the height and the monitoring angle of the early warning monitor is achieved, the early warning monitor can be freely adjusted in the monitoring angle and the monitoring angle when used, the use of a user is facilitated, and the use requirements of the user can be met.
2. The lifting shell is arranged to play a role in conveniently driving the second box body to lift, the thread block and the threaded rod are arranged to play a role in conveniently driving the lifting shell to lift, the limiting plate is arranged to limit the thread block and prevent the thread block from being separated from the surface of the threaded rod, the first helical gear and the second helical gear are arranged to play a role in conveniently driving the rotating rod to rotate, the sliding groove and the sliding block are arranged to play a role in stabilizing the lifting shell during moving, and the bearing is arranged to play a role in stabilizing the rotating rod during rotating.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged sectional view of the internal structure of the first casing according to the present invention;
FIG. 3 is an enlarged sectional view of the inner structure of the second casing according to the present invention.
In the figure: 1. a base plate; 2. a moving wheel; 3. a first case; 4. a lifting shell; 5. a thread block; 6. a first stepper motor; 7. a threaded rod; 8. a limiting plate; 9. a second case; 10. a second stepping motor; 11. a first helical gear; 12. a second helical gear; 13. rotating the rod; 14. a rotating plate; 15. an early warning monitor; 16. a chute; 17. a slider; 18. and a bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description herein, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings to facilitate the description of the patent and to simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be considered limiting of the patent. In the description of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1-3, an early warning monitoring device for road engineering operation comprises a bottom plate 1, moving wheels 2 are fixedly connected to four corners of the bottom plate 1, a first box 3 is fixedly connected to the top of the bottom plate 1, a lifting shell 4 is arranged in an inner cavity of the first box 3, a thread block 5 is fixedly connected to the bottom of one side of the inner wall of the lifting shell 4, a first step motor 6 is fixedly connected to the bottom of the inner wall of the first box 3, a threaded rod 7 is fixedly connected to the output end of the first step motor 6, the top of the threaded rod 7 penetrates through the inner cavity of the lifting shell 4 and is fixedly connected to a limiting plate 8, the surface of the threaded rod 7 is in threaded connection with the inner cavity of the thread block 5, the top of the lifting shell 4 penetrates through the top of the first box 3 and is fixedly connected to a second box 9, a second step motor 10 is fixedly connected to the right side of the inner wall of the second box 9, a first bevel gear 11 is fixedly connected to the output end of the second step motor 10, the surface of the first helical gear 11 is engaged with a second helical gear 12, the axis of the second helical gear 12 is fixedly connected with a rotating rod 13, the top of the rotating rod 13 penetrates to the top of the second box body 9 and is fixedly connected with a rotating plate 14, the top of the rotating plate 14 is fixedly provided with an early warning monitor 15, both sides of the inner wall of the first box body 3 are provided with sliding chutes 16, the inner cavity of each sliding chute 16 is slidably connected with a sliding block 17, the inner side of each sliding block 17 is fixedly connected with the bottom of the outer side of the lifting shell 4, the bottom end of the rotating rod 13 is sleeved with a bearing 18, the bottom of each bearing 18 is fixedly connected with the center of the bottom of the inner wall of the second box body 9, the bottoms of both sides of the early warning monitor 15 are fixedly connected with mounting blocks, the tops of the mounting blocks are fixedly mounted with the top of the rotating plate 14 through bolts, the top of the first box body 3 is provided with a first through groove, and the diameter of the inner cavity of the first through groove is larger than that of the lifting shell 4, the second through groove is formed in the top of the second box body 9, the diameter of an inner cavity of the second through groove is larger than that of the rotating rod 13, the lifting shell 4 is arranged, the effect of conveniently driving the second box body 9 to lift is achieved, the effect of conveniently driving the lifting shell 4 to lift is achieved by arranging the threaded block 5 and the threaded rod 7, the limiting plate 8 is arranged, the limiting effect is achieved on the threaded block 5, the threaded block 5 is prevented from being separated from the surface of the threaded rod 7, the effect of conveniently driving the rotating rod 13 to rotate is achieved by arranging the first helical gear 11 and the second helical gear 12, the effect of stably driving the rotating rod 13 is achieved by arranging the sliding groove 16 and the sliding block 17, the lifting shell 4 is stably moved by arranging the bearing 18, the lifting shell 4, the threaded block 5, the first step motor 6, the threaded rod 7, the limiting plate 8, the second box body 9 and the second step motor 10 are arranged, First helical gear 11, second helical gear 12, dwang 13, rotor plate 14, early warning watch-dog 15, spout 16, slider 17 and bearing 18 mutually support, have reached the advantage to early warning monitoring device height-adjustable and control angle, make early warning monitoring device when using, can be free carry out control angle and altitude mixture control to early warning monitoring device, the person of facilitating the use uses, can satisfy user's user demand.
When the device is used, the first stepping motor 6 is firstly opened through an external controller, the first stepping motor 6 is started to drive the threaded rod 7 and the limiting plate 8 to start rotating, the threaded rod 7 rotates to drive the threaded block 5 to start moving on the surface of the threaded rod 7 through threads, the threaded block 5 moves to drive the lifting shell 4 to start moving, the lifting shell 4 moves to drive the sliding block 17 to slide in the inner cavity of the sliding groove 16, so that the lifting shell 4 moves stably, meanwhile, the lifting shell 4 moves to push the second box body 9, the rotating plate 14 and the early warning monitor 15 to adjust the height, then, the second stepping motor 10 is opened through the external controller, the second stepping motor 10 is started to drive the first helical gear 11 to start rotating, the first helical gear 11 rotates to drive the second helical gear 12 to start rotating through teeth, the second helical gear 12 rotates to drive the rotating rod 13 to start rotating in the inner cavity of the bearing 18, so that the rotating rod 13 rotates stably, meanwhile, the rotating rod 13 rotates to drive the rotating plate 14 and the early warning monitor 15 to adjust the monitoring angle, so that the advantage of adjusting the height and the monitoring angle of the early warning monitoring device is achieved.
All the components in the invention are universal standard components or components known by those skilled in the art, the structure and principle of the components can be known by technical manuals or conventional experimental methods, meanwhile, the standard components used in the application document can be purchased from the market, the components in the application document can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each component adopts the conventional means of mature bolts, rivets, welding and the like in the prior art, the machinery, the components and equipment adopt the conventional models in the prior art, the control mode is automatically controlled through a controller, the control circuit of the controller can be realized through simple programming of those skilled in the art, the components belong to the common knowledge in the art, and the application document is mainly used for protecting mechanical devices, so the detailed explanation of the control mode and circuit connection is omitted, no specific description is made here, and the peripheral controller mentioned in the specification may play a role of controlling the electric elements mentioned herein, and the peripheral controller is a conventionally known device.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides an early warning monitoring device that road engineering operation was used, includes bottom plate (1), its characterized in that: the four corners of the bottom plate (1) are fixedly connected with moving wheels (2), the top of the bottom plate (1) is fixedly connected with a first box body (3), an inner cavity of the first box body (3) is provided with a lifting shell (4), the bottom of one side of the inner wall of the lifting shell (4) is fixedly connected with a thread block (5), the bottom of the inner wall of the first box body (3) is fixedly connected with a first stepping motor (6), the output end of the first stepping motor (6) is fixedly connected with a threaded rod (7), the top of the threaded rod (7) penetrates through the inner cavity of the lifting shell (4) and is fixedly connected with a limiting plate (8), the surface of the threaded rod (7) is in threaded connection with the inner cavity of the thread block (5), the top of the lifting shell (4) penetrates through the top of the first box body (3) and is fixedly connected with a second box body (9), the right side of the inner wall of the second box body (9) is fixedly connected with a second stepping motor (10), the output end of the second stepping motor (10) is fixedly connected with a first helical gear (11), the surface of the first helical gear (11) is meshed with a second helical gear (12), the axis of the second helical gear (12) is fixedly connected with a rotating rod (13), the top of the rotating rod (13) penetrates through to the top of the second box body (9) and is fixedly connected with a rotating plate (14), and the top of the rotating plate (14) is fixedly provided with an early warning monitor (15).
2. The early warning and monitoring device for road engineering operation according to claim 1, wherein: spout (16) have all been seted up to the both sides of first box (3) inner wall, the inner chamber sliding connection of spout (16) has slider (17), the inboard bottom fixed connection in the outside with lift shell (4) of slider (17).
3. The early warning and monitoring device for road engineering operation according to claim 1, wherein: the bottom of dwang (13) has cup jointed bearing (18), the center department fixed connection of the bottom and second box (9) inner wall bottom of bearing (18).
4. The early warning and monitoring device for road engineering operation according to claim 1, wherein: the bottom of both sides of the early warning monitor (15) is fixedly connected with an installation block, and the top of the installation block is fixedly installed with the top of the rotating plate (14) through a bolt.
5. The early warning and monitoring device for road engineering operation according to claim 1, wherein: a first through groove is formed in the top of the first box body (3), the diameter of the inner cavity of the first through groove is larger than that of the lifting shell (4), a second through groove is formed in the top of the second box body (9), and the diameter of the inner cavity of the second through groove is larger than that of the rotating rod (13).
CN202110570179.4A 2021-05-25 2021-05-25 Early warning monitoring device for road engineering operation Pending CN113446487A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110570179.4A CN113446487A (en) 2021-05-25 2021-05-25 Early warning monitoring device for road engineering operation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110570179.4A CN113446487A (en) 2021-05-25 2021-05-25 Early warning monitoring device for road engineering operation

Publications (1)

Publication Number Publication Date
CN113446487A true CN113446487A (en) 2021-09-28

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Application Number Title Priority Date Filing Date
CN202110570179.4A Pending CN113446487A (en) 2021-05-25 2021-05-25 Early warning monitoring device for road engineering operation

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114135780A (en) * 2021-11-18 2022-03-04 北京七彩宏盛科技有限公司 Informationized monitoring device for smart city

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN210266524U (en) * 2019-03-13 2020-04-07 浙江传媒学院 Sound control track robot camera device
CN210890787U (en) * 2019-11-15 2020-06-30 扬州华威电子科技有限公司 Monitoring security device convenient to adjust
CN210958531U (en) * 2020-03-18 2020-07-07 毛燕江 Monitoring device for public safety production working site
CN111711792A (en) * 2020-06-17 2020-09-25 江苏海网信息系统集成有限公司 Novel information network is control for science and technology device
CN111998184A (en) * 2020-08-14 2020-11-27 河南工程学院 Tunnel internal surrounding rock breaking monitoring equipment and monitoring method thereof
CN212805465U (en) * 2020-09-10 2021-03-26 贠翥 Searchlighting device for underground mine exploration

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN210266524U (en) * 2019-03-13 2020-04-07 浙江传媒学院 Sound control track robot camera device
CN210890787U (en) * 2019-11-15 2020-06-30 扬州华威电子科技有限公司 Monitoring security device convenient to adjust
CN210958531U (en) * 2020-03-18 2020-07-07 毛燕江 Monitoring device for public safety production working site
CN111711792A (en) * 2020-06-17 2020-09-25 江苏海网信息系统集成有限公司 Novel information network is control for science and technology device
CN111998184A (en) * 2020-08-14 2020-11-27 河南工程学院 Tunnel internal surrounding rock breaking monitoring equipment and monitoring method thereof
CN212805465U (en) * 2020-09-10 2021-03-26 贠翥 Searchlighting device for underground mine exploration

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114135780A (en) * 2021-11-18 2022-03-04 北京七彩宏盛科技有限公司 Informationized monitoring device for smart city

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Application publication date: 20210928