CN115972227B - Intelligent tour inspection robot for park - Google Patents
Intelligent tour inspection robot for park Download PDFInfo
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- CN115972227B CN115972227B CN202310057652.8A CN202310057652A CN115972227B CN 115972227 B CN115972227 B CN 115972227B CN 202310057652 A CN202310057652 A CN 202310057652A CN 115972227 B CN115972227 B CN 115972227B
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- frame
- rear end
- cleaning
- main box
- box frame
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention relates to the field of robots, in particular to an intelligent tour inspection robot for a park, which comprises a movable body, a camera I arranged at the front end of the body, and two cameras II respectively arranged at two sides of the body; and the main module is used for analyzing video information of the camera I and the camera II, the main module controls the body, the main module can send the information to the terminal, and a cleaning mechanism for cleaning the ground is arranged at the rear end of the body. The body comprises a main box frame with hollowed front side and upper side, driving wheels respectively rotating on two sides of the rear end of the main box frame, and an upper cover frame for sealing the front side and the upper side of the main box frame, the cleaning mechanism comprises a fork frame connected to the rear end of the main box frame, and a cleaning roller with the middle part connected to the rear end of the fork frame, and a plurality of cleaning brushes are uniformly arranged on the cleaning roller. The invention cleans fallen leaves falling on the road surface.
Description
Technical Field
The invention relates to the field of robots, in particular to an intelligent tour inspection robot for a park.
Background
The inspection robot can replace or assist human beings to perform inspection, patrol, security protection and the like to work, can accurately execute and stop to a designated place according to path planning and operation requirements, provides infrared temperature measurement, meter reading record and abnormal state alarm functions for inspection equipment, realizes background functions of real-time uploading of inspection data, information display, report generation and the like, and has the characteristics of high inspection efficiency, high stability and reliability and the like.
To the road in gardens scenic spot, there is the fallen leaves to drop on the road surface, and current inspection robot can't clean the fallen leaves that drop on the road surface.
Disclosure of Invention
The invention aims to provide an intelligent tour inspection robot for a park, which is used for cleaning fallen leaves falling on a road surface.
The aim of the invention is achieved by the following technical scheme:
the intelligent tour inspection robot for the park comprises a movable body, a camera I arranged at the front end of the body, and two cameras II respectively arranged at two sides of the body; and the main module is used for analyzing video information of the camera I and the camera II, the main module controls the body, the main module can send the information to the terminal, and a cleaning mechanism for cleaning the ground is arranged at the rear end of the body.
The body comprises a main box frame with hollowed front side and upper side, driving wheels respectively rotating at two sides of the rear end of the main box frame, and an upper cover frame for sealing the front side and the upper side of the main box frame, wherein cameras I are arranged at the front end of the upper cover frame, two cameras II are arranged at two side surfaces of the rear end of the main box frame, a main module is arranged in the main box frame, two runner frames respectively rotating at two sides of the front end of the main box frame, two runners respectively rotating at the lower ends of the two runner frames, and double-headed worms rotating at the lower ends of the main box frame, and the double-headed worms respectively engage and drive the two runner frames.
The cleaning mechanism comprises a fork frame connected to the rear end of the main box frame, and a cleaning roller with the middle part connected to the rear end of the fork frame, wherein a plurality of cleaning brushes are uniformly arranged on the cleaning roller.
The cleaning mechanism further comprises a transmission shaft which rotates on the fork frame, and the transmission shaft is in transmission connection with the cleaning roller.
The cleaning mechanism further comprises a screw rod I vertically rotating at the rear end of the main box frame, a lifting block in threaded connection with the screw rod I, and a linkage plate with two ends respectively connected with the lifting block and the transmission shaft in a rotating mode.
The cleaning mechanism further comprises telescopic frames which respectively slide at two ends of the cleaning roller, a plurality of sliding strips are uniformly fixed on each telescopic frame, brush strips are all fixed at the outer ends of each sliding strip, sliding grooves are formed in the middle of each cleaning brush, the sliding strips respectively slide in the sliding grooves, the inner ends of the sliding strips connected to the same telescopic frame are respectively fixed on the fixing rings, support arm plates are respectively rotated on the two fixing rings, two screw rods II are respectively connected with the two support arm plates in a threaded mode through rotation on the fork frame.
The rear end of main tank frame downside is equipped with the slide case, and the upper end slope of slide case sets up, is equipped with the outer tube in the slide case, is equipped with the inner tube in the outer tube, and the lower extreme of inner tube is equipped with the suction inlet pipe, and the suction inlet pipe is located the slide case, be equipped with two fans of breathing in on the upper cover frame.
The inner pipe is rotated with a screw III which is in threaded connection with the outer pipe.
The rear end of the upper cover frame is provided with a push plate, the upper end of the push plate is provided with an inclined plane which is matched with the upper end of the slide box, the inclined plane is provided with a through opening, the upper end of the rear end of the main box frame is rotated to be provided with a screw IV, and the screw IV is in threaded connection with the upper cover frame.
The rear end of the upper cover frame is provided with two rotating plates in a rotating mode, and a blocking roller is arranged between the two rotating plates.
Drawings
FIG. 1 is a schematic flow diagram of the operational principles of a campus intelligent patrol robot;
fig. 2 and 3 are schematic views of the overall structure of the cleaning mechanism of the intelligent inspection robot in a park in a retracted state;
FIG. 4 is a schematic overall structure diagram of the operation state of a cleaning mechanism of the intelligent tour inspection robot in the park;
FIG. 5 is a schematic partial cross-sectional view of a campus intelligent patrol robot;
fig. 6 and 7 are schematic structural views of the main tank frame;
FIG. 8 is a schematic view of the structure of the wheel;
fig. 9 and 10 are schematic structural views of the upper cover frame;
fig. 11 to 13 are partial schematic structural views of the cleaning mechanism;
FIG. 14 is a schematic view of the structure of the telescoping rack;
FIG. 15 is a schematic view of the structure of the suction nozzle tube.
In the figure:
a main tank frame 101; a drive wheel 102; a slide case 103; an outer tube 104; a camera II 105;
a wheel 201; a rotor frame 202; a double-ended worm 203;
an upper cover frame 301; suction fan 302; a push plate 303; a through-hole 304; screw IV 305; a blocking roller 306; camera i 307; a rotating plate 308;
a fork 401; a drive shaft 402; a lifting block 403; screw I404; a linkage plate 405;
a cleaning roller 501; a chute 502; a sweep 503;
a telescoping rack 601; a slide 602; a fixing ring 603; a support arm plate 604; screw II 605;
an inner tube 701; a suction inlet tube 702; screw III 703.
Detailed Description
As shown in fig. 1-15:
the intelligent tour inspection robot for the park comprises a body, a camera I307, a camera II 105 and a main module;
the body can move, a cleaning mechanism for cleaning the ground is arranged at the rear end of the body, a camera I307 is arranged at the front end of the body, and two cameras II 105 are respectively arranged at two sides of the body; the main module analyzes the video information of the camera i 307 and the camera ii 105, controls the body, and can transmit the information to the terminal.
When the intelligent robot is used, the cameras I307 shoot the environment in front of the body, the two cameras II 105 shoot the environments on two sides of the body, all shooting information is sent to the main module, the main module performs intelligent analysis on the surrounding environment, an instruction is sent to the body to control the body to move, meanwhile, when fallen leaf garbage exists in the environment where the body is located, the cleaning mechanism is controlled to start to clean the moving track of the body, and the main module is matched to control how the body moves, so that the cleaning of fallen leaves in the environment is completed;
the main module is in control body, all the information of making a video recording is all sent to terminal department, and the terminal is equipped with the display, will make a video recording information display, and the managers of being convenient for know the environment that the robot is located, simultaneously, the terminal can send the instruction to the main module, makes the managers can long-range control the body.
As shown in fig. 2-15:
the body comprises a main box frame 101, a driving wheel 102, an upper cover frame 301, a rotating wheel frame 202, a rotating wheel 201 and a double-ended worm 203; the front side and the upside fretwork setting of main tank frame 101, two action wheels 102 rotate respectively in the both sides of main tank frame 101 rear end, and upper cover frame 301 is used for carrying out shutoff to main tank frame 101 front side and upside, camera I307 installs the front end at upper cover frame 301, and two cameras II 105 are installed in the both sides face of main tank frame 101 rear end, and the main module is installed in main tank frame 101, and two runner frames 202 rotate respectively in the both sides of main tank frame 101 front end, and two runner 201 rotate respectively the lower extreme of two runner frames 202, and double-ended worm 203 rotates the lower extreme at main tank frame 101, and double-ended worm 203 meshing respectively drives two runner frames 202.
The two driving wheels 102 and the two rotating wheels 201 are used for supporting the robot to integrally move on the ground, wherein the rear end of the main box frame 101 is provided with two first motors, the two first motors are used for respectively transmitting the two driving wheels 102, when the robot is required to advance or retreat, the main module controls the two first motors to synchronously start, so that the two driving wheels 102 rotate, the robot is enabled to move on the ground through friction between the driving wheels 102 and the ground, when the robot is required to turn, the main module controls a second motor arranged at the lower end of the main box frame 101, the second motor is enabled to drive the double-ended worm 203 to rotate, the double-ended worm 203 synchronously engages with worm gears on the two rotating wheel frames 202, the two rotating wheel frames 202 synchronously rotate in the same direction, and the rotation of the two driving wheels 102 is matched to form the turning movement of the robot.
As shown in fig. 2-15:
the cleaning mechanism comprises a fork 401, a cleaning roller 501 and a cleaning brush 503; the fork 401 is connected to the rear end of the main frame 101, the middle part of the cleaning roller 501 is connected to the rear end of the fork 401, and a plurality of brushes 503 are uniformly arranged on the cleaning roller 501.
When the robot moves, the robot drives the cleaning roller 501 to move through the fork 401, so that the cleaning roller 501 cleans the moving track of the robot at the rear end of the robot.
Further:
the cleaning mechanism further comprises a transmission shaft 402, the transmission shaft 402 rotates on the fork 401, and the transmission shaft 402 is in transmission connection with the cleaning roller 501.
The third motor is installed on the fork 401, and when cleaning, in order to improve cleaning efficiency, the main module controls the third motor to drive the transmission shaft 402 to rotate, the rotating transmission shaft 402 drives the cleaning roller 501 to rotate, so that the cleaning roller 501 drives the cleaning brush 503 to rotate, cleaning to the ground is formed, and cleaning efficiency is improved.
Further:
the cleaning mechanism further comprises a screw rod I404, a lifting block 403 and a linkage plate 405, wherein the screw rod I404 vertically rotates at the rear end of the main box frame 101, the lifting block 403 is in threaded connection with the screw rod I404, and two ends of the linkage plate 405 are respectively in rotational connection with the lifting block 403 and the transmission shaft 402.
The fourth motor is installed to the rear end of main tank frame 101, when needs pack up cleaning roller 501, even when cleaning roller 501 lifts up and breaks away from ground, make the rotation of fourth motor drive screw I404 of main module control, rotatory screw I404 will screw thread drive lifter block 403 rise, make lifter block 403 pass through interlock board 405 drive fork 401 and upwards rotate at the rear end of main tank frame 101, thereby make cleaning roller 501 break away from with ground, reach the purpose of packing up cleaning roller 501, when needs clean the ground, control fourth motor reverse start, can make cleaning roller 501 descend to contact with the ground, reach the purpose of cleaning the ground.
Further:
the cleaning mechanism further comprises telescopic frames 601, sliding strips 602, sliding grooves 502, fixing rings 603, support arm plates 604 and screw rods II 605, the two telescopic frames 601 respectively slide at two ends of the cleaning roller 501, a plurality of sliding strips 602 are uniformly fixed on each telescopic frame 601, brush strips are fixed at the outer ends of each sliding strip 602, sliding grooves 502 are formed in the middle of each cleaning brush 503, the sliding strips 602 respectively slide in the sliding grooves 502, the inner ends of the sliding strips 602 connected to the same telescopic frame 601 are respectively fixed on one fixing ring 603, the support arm plates 604 are respectively rotated on the two fixing rings 603, two screw rods II 605 are respectively connected with the two support arm plates 604 in a threaded mode through the two screw rods II.
Two fifth motors are respectively arranged on two sides of the fork 401, the two fifth motors respectively drive two screw rods II 605 to rotate, when the cleaning width of the cleaning roller 501 needs to be increased, the fifth motors are controlled by a main module to start, the fifth motors drive the screw rods II 605 to rotate, the screw rods II 605 are driven by threads to drive a support arm plate 604 connected with the screw rods II, the support arm plate 604 moves along the screw rods II 605 in the direction away from the fork 401, and then the fixing ring 603 is driven to move outwards, so that a plurality of sliding strips 602 slide outwards in a plurality of sliding grooves 502, the brush strips slide out from the middle of the cleaning brush 503 to form extension of the cleaning roller 503, and then the axial cleaning width of the cleaning roller 501 is increased due to the fact that the telescopic frame 601 rotates along with the cleaning roller 501;
the two fifth motors are controlled by the main module respectively, so that the positions of the two telescopic frames 601 can be controlled respectively, and the extension of the two ends of the cleaning roller 501 can be controlled respectively;
wherein, a square rod is arranged at the center of the telescopic frame 601, and square holes matched with the square rod are arranged at two ends of the cleaning roller 501, so that the telescopic frame 601 can slide in the cleaning roller 501, and the cleaning roller 501 can drive the telescopic frame 601 to rotate;
moreover, since the slide bar 602 is located in the chute 502 in the middle of the brush 503, when the slide bar 602 is located in the chute 502, the bristles on the brush bar overlap with the bristles of the brush 503, and the brush bar 602 slides out of the chute 502 when the cleaning roller 501 is extended as the cleaning roller 501 rotates to clean, the bristles on the brush bar extend in the end direction of the bristles of the brush 503, and the cleaning width is increased.
As shown in fig. 2-15:
the slide box 103 is arranged at the rear end of the main box frame 101, the upper end of the slide box 103 is obliquely arranged, the outer tube 104 is arranged in the slide box 103, the inner tube 701 is arranged in the outer tube 104, the suction port tube 702 is fixed at the lower end of the inner tube 701, the suction port tube 702 is arranged in the slide box 103, and the two suction fans 302 are arranged on the upper cover frame 301.
After the robot is controlled to move through the main module and cleaning of the ground is completed, collecting fallen leaves on the ground, continuing to control the robot to move, enabling the lower end openings of the suction inlet pipes 702 to be aligned with the concentrated fallen leaves, starting the two suction fans 302, enabling the started two suction fans 302 to suck air into an inner cavity formed by the main box frame 101 and the upper cover frame 301, enabling the inner cavity to suck air of the suction inlet pipes 702 through the outer pipe 104 and the inner pipe 701, enabling air at the lower end openings of the suction inlet pipes 702 to enter the inner cavity, enabling the collected fallen leaves to enter the suction inlet pipes 702 along with the air from the lower end openings of the suction inlet pipes 702, and then enter the inner cavity through the inner pipe 701 and the outer pipe 104, enabling the fallen leaves to be blocked in the inner cavity by a blocking net at the suction fan 302, and enabling the air to flow out through the blocking net;
through the inclined arrangement of the upper end of the sliding box 103, fallen leaves fall on the inclined surface of the upper end of the sliding box 103 after entering the inner cavity from the outer pipe 104, and the fallen leaves automatically slide onto the main box frame 101 of the inner cavity from the inclined surface.
Further:
screw iii 703 rotates on the inner tube 701, and screw iii 703 is screwed to the outer tube 104.
The sixth motor is installed on the inner tube 701, the sixth motor is controlled to be started by the main module, the sixth motor drives the screw rod III 703 to rotate, and then the screw rod III 703 and the outer tube 104 are in threaded transmission, so that the screw rod III 703 drives the inner tube 701 to slide downwards in the outer tube 104, and the distance between the lower end of the suction inlet tube 702 and the ground is adjusted, namely the distance between the collected fallen leaves at the opening of the suction inlet tube 702 is adjusted, and the robot can suck all the fallen leaves conveniently.
As shown in fig. 2-15:
the push plate 303 is disposed at the rear end of the upper cover frame 301, an inclined plane is disposed at the upper end of the push plate 303 and is matched with the upper end of the slide box 103, a through opening 304 is disposed on the inclined plane, the screw rod iv 305 rotates at the upper end of the rear end of the main box frame 101, and the screw rod iv 305 is in threaded connection with the upper cover frame 301.
When the inner cavity is filled with fallen leaves, the main module controls a seventh motor arranged at the rear end of the main box frame 101 to start, so that the seventh motor drives a screw rod IV 305 to rotate, the rotating screw rod IV 305 drives an upper cover frame 301 to move forwards, a gap is formed between the front end of the main box frame 101 and the front end of the upper cover frame 301 when the upper cover frame 301 moves forwards, so that fallen leaves in the inner cavity can slide out of the inner cavity, meanwhile, in the forward moving process of the upper cover frame 301, a push plate 303 is driven to move forwards, the forward moving push plate 303 can push fallen leaves in the inner cavity forwards integrally, so that fallen leaves can fall out completely from the gap between the main box frame 101 and the upper cover frame 301 conveniently, and the gap is larger and larger along with the forward moving of the upper cover frame 301, so that the fallen leaf outflow speed is further accelerated;
the arrangement of the through hole 304 can avoid the sealing of the inner cavity, the push plate 303 is attached to the slide box 103, and the upper end of the outer tube 104 is sealed.
As shown in fig. 2-15:
both rotating plates 308 are rotated at the rear end of the upper cover frame 301, and the blocking roller 306 is disposed between the two rotating plates 308.
Through the arrangement of the blocking roller 306, the blocking roller 306 is influenced by self gravity and can fall to the position of the through hole 304 to block the through hole 304, and when the two suction fans 302 are started, air flow blows the blocking roller 306 up, so that fallen leaves enter the inner cavity, and after the two suction fans 302 are stopped, the blocking roller 306 falls by self gravity to block the through hole 304 to prevent the fallen leaves from falling back to the through hole 304;
meanwhile, through the blocking of the through hole 304 by the blocking roller 306, the falling leaves are prevented from flowing out of the through hole 304 when the push plate 303 pushes the falling leaves.
Claims (5)
1. Intelligent tour inspection robot for park, and is characterized in that: comprises a movable body, a camera I (307) arranged at the front end of the body, and two cameras II (105) respectively arranged at two sides of the body; the main module is used for analyzing video information of the camera I (307) and the camera II (105), the main module is used for controlling a body, the main module can send information to the terminal, and a cleaning mechanism for cleaning the ground is arranged at the rear end of the body;
the body comprises a main box frame (101) with hollowed front and upper sides, two driving wheels (102) respectively rotating at two sides of the front end of the main box frame (101), and an upper cover frame (301) for sealing the front and upper sides of the main box frame (101), wherein a camera I (307) is arranged at the front end of the upper cover frame (301), two cameras II (105) are arranged at two side surfaces of the rear end of the main box frame (101), the main module is arranged in the main box frame (101), two rotating wheel frames (202) respectively rotating at two sides of the front end of the main box frame (101), two rotating wheels (201) respectively rotating at the lower ends of the two rotating wheel frames (202), and a double-headed worm (203) rotating at the lower end of the main box frame (101), wherein the double-headed worm (203) is respectively engaged with the two rotating wheel frames (202);
the cleaning mechanism comprises a fork frame (401) connected to the rear end of the main box frame (101), and a cleaning roller (501) with the middle part connected to the rear end of the fork frame (401), wherein a plurality of cleaning brushes (503) are uniformly arranged on the cleaning roller (501);
the cleaning mechanism further comprises a transmission shaft (402) which rotates on the fork frame (401), and the transmission shaft (402) is in transmission connection with the cleaning roller (501);
the cleaning mechanism also comprises a screw rod I (404) vertically rotating at the rear end of the main box frame (101), and
a lifting block (403) in threaded connection with the screw I (404), and a linkage plate (405) with two ends respectively in rotary connection with the lifting block (403) and the transmission shaft (402);
the cleaning mechanism further comprises two telescopic brackets (601) which respectively slide at two ends of the cleaning roller (501), a plurality of sliding strips (602) are uniformly fixed on each telescopic bracket (601), brush strips are all fixed at the outer ends of each sliding strip (602), sliding grooves (502) are formed in the middle of each cleaning brush (503), the sliding strips (602) respectively slide in the sliding grooves (502), the inner ends of the sliding strips (602) connected to the same telescopic bracket (601) are respectively fixed on a fixed ring (603), support arm plates (604) are respectively rotated on the two fixed rings (603), two screw rods II (605) are respectively connected with the two support arm plates (604) in a threaded mode, and the two screw rods II (605) are respectively rotated on the fork brackets (401).
2. The intelligent tour inspection robot according to claim 1, characterized in that: the rear end of main tank frame (101) downside is equipped with slide case (103), and the upper end slope of slide case (103) sets up, is equipped with outer tube (104) in slide case (103), is equipped with inner tube (701) in outer tube (104), and the lower extreme of inner tube (701) is equipped with suction inlet pipe (702), and suction inlet pipe (702) are located slide case (103), be equipped with two suction fans (302) on upper cover frame (301).
3. The intelligent tour inspection robot according to claim 2, characterized in that: the inner pipe (701) is rotated with a screw III (703), and the screw III (703) is in threaded connection with the outer pipe (104).
4. The intelligent tour inspection robot according to claim 3, characterized in that: the rear end of the upper cover frame (301) is provided with a push plate (303), the upper end of the push plate (303) is provided with an inclined plane matched with the upper end of the sliding box (103), the inclined plane is provided with a through opening (304), the upper end of the rear end of the main box frame (101) is rotated to be provided with a screw IV (305), and the screw IV (305) is in threaded connection with the upper cover frame (301).
5. The intelligent tour inspection robot according to claim 4, characterized in that: the rear end of the upper cover frame (301) rotates with two rotating plates (308), and a blocking roller (306) is arranged between the two rotating plates (308).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310057652.8A CN115972227B (en) | 2023-01-18 | 2023-01-18 | Intelligent tour inspection robot for park |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310057652.8A CN115972227B (en) | 2023-01-18 | 2023-01-18 | Intelligent tour inspection robot for park |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115972227A CN115972227A (en) | 2023-04-18 |
| CN115972227B true CN115972227B (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310057652.8A Active CN115972227B (en) | 2023-01-18 | 2023-01-18 | Intelligent tour inspection robot for park |
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| CN (1) | CN115972227B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116316277A (en) * | 2023-05-19 | 2023-06-23 | 国网湖北省电力有限公司 | Inspection robot for electric power system based on Internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773742B (en) * | 2019-03-21 | 2020-01-17 | 创泽智能机器人股份有限公司 | Service robot with motion control device |
| JP2022037709A (en) * | 2020-08-25 | 2022-03-09 | 株式会社東芝 | Unmanned patrol and inspection apparatus and unmanned patrol and inspection system |
| CN214352456U (en) * | 2020-12-08 | 2021-10-08 | 国网辽宁省电力有限公司电力科学研究院 | GIS cavity internal overhaul maintenance robot |
| CN215701842U (en) * | 2021-06-30 | 2022-02-01 | 福州木鸡郎智能科技有限公司 | Road cleaning device for inspection robot |
| CN114875832A (en) * | 2022-03-30 | 2022-08-09 | 北京中航质民航工程技术有限公司 | Airport pavement safety inspection robot convenient to collect foreign matter |
| CN115198620A (en) * | 2022-08-31 | 2022-10-18 | 成土金 | Traffic planning is with supplementary setting-out device of road construction |
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