CN211642099U - Compound monitoring devices of large-scale car blind area - Google Patents
Compound monitoring devices of large-scale car blind area Download PDFInfo
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- CN211642099U CN211642099U CN201922107467.7U CN201922107467U CN211642099U CN 211642099 U CN211642099 U CN 211642099U CN 201922107467 U CN201922107467 U CN 201922107467U CN 211642099 U CN211642099 U CN 211642099U
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- 238000004140 cleaning Methods 0.000 claims description 62
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Abstract
The utility model provides a compound monitoring devices of oversize car blind area, including compound detection sensor system, collecting ring, optical fiber transmission line, central processing system, compound detection sensor system passes through the motor and installs on the vehicle, sets up vehicle rear end both sides and vehicle copilot one side at least, and compound detection sensor system sends the signal transmission to the collecting ring that the scanning ripples will scan, and the collecting ring is with signal transmission to optical fiber transmission line, through optical fiber transmission line transmission to central processing system. The utility model provides a large-scale car blind area monitoring problem, improved the reliability simultaneously by a wide margin, the utility model discloses can also be used to unmanned vehicle, solve unmanned vehicle's range finding and keep away the barrier problem.
Description
Technical Field
The utility model belongs to the technical field of the vehicle detects, especially, relate to a compound monitoring devices of large-scale car blind area.
Background
Most of the existing large-sized vehicles do not monitor blind areas and bring security threats to pedestrians and vehicles in the blind areas. Even if a small part of large-scale vehicles with blind area monitoring devices still have the following defects:
1) monitoring is performed using a single camera. The camera is stained with the dust easily and causes the system monitoring inefficacy, and in the road conditions was moved to large-scale car, the raise dust such as road surface in mud water route, mountain village was big, and the camera just is stained with by the dust very fast and loses the field of vision, causes the device monitoring inefficacy
2) And monitoring by using a camera and an ultrasonic sensor. The camera is easy to be stained with dust and lose the visual field, the detection angle of the ultrasonic sensor is small, and the vehicle body is provided with too many points when the ultrasonic sensor is used on a large vehicle; meanwhile, the ultrasonic sensor has large detection error for objects running at high speed, if the ultrasonic sensor runs on a highway, for the detection of automobiles running at high speed, the sound wave distance measurement cannot follow the real-time change of the automobile distance, and the error is large. Meanwhile, the dust is stuck to seriously affect the detection performance.
The large-scale car body is long, and the existing signal transmission mode is mostly cable run transmission, and signal transmission line is long, causes transmission distortion.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a compound monitoring devices of large-scale car blind area to solve the problem mentioned in the above-mentioned background art.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
the utility model provides a compound monitoring devices of large-scale car blind area, includes compound detection sensor system, collecting ring, optical fiber transmission line, central processing system, compound detection sensor system passes through the motor and installs on the vehicle, sets up vehicle rear end both sides and vehicle copilot one side at least, and compound detection sensor system sends the scanning wave and transmits the signal transmission who scans to the collecting ring, and the collecting ring is with signal transmission to optical fiber transmission line, transmits to central processing system through optical fiber transmission line.
Further, compound detection sensor system includes the casing, is equipped with infrared high-speed camera in the casing, millimeter wave sensor, ultrasonic sensor, laser sensor, millimeter wave receiver, ultrasonic receiver, laser receiver, and image and infrared signal are gathered to infrared high-speed camera, and millimeter wave sensor sends the millimeter wave signal, and millimeter wave receiver receives the millimeter wave of returning the reflection, and ultrasonic sensor sends the ultrasonic wave signal, and ultrasonic receiver receives the ultrasonic wave of returning the reflection, and laser sensor sends laser signal, and laser receiver receives the laser signal of returning the reflection.
Further, the collecting ring comprises a collecting ring rotor and a collecting ring stator, wherein the collecting ring rotor is a rotating part, and the collecting ring stator is a static part; the collecting ring is installed on the composite detection sensor system, the collecting ring rotor is connected with the composite detection sensor system, the collecting ring rotor rotates along with the motor, and the collecting ring stator is fixed on the shell.
Further, the collecting ring is installed on the composite type detection sensor system through bolts but not limited to the bolts.
Furthermore, the central processing system is also arranged in the cab and connected with the display system and the alarm system, the central processing system processes the signals and then displays images and data on the display system, and a driver can observe objects and distance information around the vehicle body through the images displayed by the display system.
Furthermore, the central processing system is also connected with an alarm system, the central processing system judges the distance, if the distance is not within the safe distance, the central processing system controls the alarm system to give an alarm to warn a driver, and if the distance is within the safe distance, the alarm system does not act.
Furthermore, a shell of the composite detection sensor system comprises a shell main body, a shell base and a shell top cover, wherein the motor is arranged on the shell base, the shell main body is bonded with the shell base, the shell top cover is bonded with the shell main body, and the shell surrounds the composite detection sensor system, the motor and the current collector to protect the sensor; and a plug is arranged on the top cover of the shell to realize the quick plug-in connection of the optical fiber transmission line.
Further, the motor is mounted on the housing base through bolts but not limited to bolts.
Furthermore, the shell body is made of a light-transmitting wave-transmitting material, and the outer side of the shell body is coated with a hydrophobic dust-removing coating and is also light-transmitting and wave-transmitting.
Furthermore, the shell is also provided with a cleaning device, the cleaning device is fixed on the shell base and comprises an annular cleaning head, a nozzle, an actuating cylinder, a fixed cylinder and a fixed support, and the fixed cylinder is fixed on the fixed support; the actuating cylinder is sleeved in the fixed cylinder, and can move up and down in the fixed cylinder through hydraulic drive; the annular cleaning head is fixed on the actuating cylinder, cleaning liquid can be stored in the annular cleaning head, and the outer layer of the annular cleaning head is of a soft elastic structure and tightly clamps the shell body; the nozzle is fixed on the annular cleaning head, and the cleaning liquid flows from the annular cleaning head to the nozzle through the pipeline and is sprayed on the shell body; the actuating cylinder is driven to move up and down through hydraulic drive to drive the annular cleaning head to move up and down, the shell body is tightly clamped by the soft elastic structure on the outer layer of the annular cleaning head, and the shell body can be mechanically cleaned when the annular cleaning head moves up and down; the nozzle sprays the cleaning liquid on the shell body, and when the annular cleaning head moves up and down to clean the shell body, the cleaning liquid plays a role in auxiliary cleaning.
Compared with the prior art, a compound monitoring devices of large-scale car blind area have following advantage:
(1) the utility model utilizes the composite detection sensor system, integrates the infrared high-speed camera, the ultrasonic sensor, the millimeter wave sensor and the laser sensor, improves the monitoring precision of the dead zone of the large-scale vehicle, and greatly improves the reliability of the dead zone monitoring system; the shell uses the hydrophobic dust-removing coating, so that the problems that the visual field is lost and the measuring precision of the sensor is influenced because the sensor is stained with water and dust are solved; the utility model comprises a set of mechanical cleaning device, in case the outer side of the shell is stained with water and ash, the mechanical cleaning device can clean the outer side of the shell to remove water and ash; the composite detection sensor system is arranged on the rotating motor and rotates along with the motor, so that the monitoring range is expanded, and the number of points distributed on the vehicle body by the monitoring device is reduced; the light is used for signal transmission, so that the transmission precision is improved, and the distortion in the long-distance transmission process is greatly reduced;
(2) the utility model provides a large-scale car blind area monitoring problem, improved the reliability simultaneously by a wide margin, the utility model discloses can also be used to unmanned vehicle, solve unmanned vehicle's range finding and keep away the barrier problem.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1(a) and fig. 1(b) are schematic structural diagrams of a composite detection sensor system according to an embodiment of the present invention;
fig. 2 is a schematic view of a dead zone and a visible zone of a large vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view of a rear visible area of the large vehicle equipped with the composite monitoring device according to the embodiment of the present invention;
fig. 4 is a schematic view of a collecting ring according to an embodiment of the present invention;
fig. 5 is a schematic view of a composite detection sensor system mounting structure according to an embodiment of the present invention;
fig. 6(a) and fig. 6(b) are schematic structural diagrams of a housing of a composite detection sensor system according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a cleaning device according to an embodiment of the present invention;
fig. 8 is a schematic view of a hydrophobic soot coating according to an embodiment of the present invention.
Description of reference numerals:
1-a composite detection sensor system; 11-infrared high-speed camera; 12-millimeter wave sensor; 13-an ultrasonic sensor; 14-a laser sensor; 15-a millimeter wave receiver; 16-an ultrasonic receiver; 17-a laser receiver; 2, a motor; 21-a second bolt; 3-a collecting ring; 31-a slip ring rotor; 32-a slip ring stator; 33-a first bolt; 4-a shell; 41-a housing body; 42-a housing base; 43-housing top cover; 5-an optical fiber transmission line; 6-a cleaning device; 61-an annular cleaning head; 62-a nozzle; 63-an actuator cylinder; 64-a fixed cylinder; 65-fixing the bracket; 7-a central processing system; 8-a display system; 9-alarm system.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1(a), fig. 1(b) and fig. 2-3, the utility model provides a monitoring device for blind areas of large-sized vehicles, which comprises a composite detection sensor system 1, a motor 2, a collecting ring 3, a shell 4, an optical fiber transmission line 5, a cleaning device 6, a central processing system 7, a display system 8 and an alarm system 9.
The composite detection sensor system 1 is composed of an infrared high-speed camera 11, a millimeter wave sensor 12, an ultrasonic sensor 13, a laser sensor 14, a millimeter wave receiver 15, an ultrasonic receiver 16 and a laser receiver 17; the infrared high-speed camera 11 collects images and infrared signals, can work in a high-speed environment and also can work in a dark environment, and is suitable for the daytime and the night; the millimeter wave sensor 12 sends out millimeter wave signals, the millimeter wave penetrability is strong, the propagation speed is high, fog can penetrate, and the device is suitable for fog days, water vapor, dust raising and high-speed driving environments; the ultrasonic sensor 13 sends out ultrasonic signals, the frequency of the ultrasonic signals is high, the directivity is good, and the positioning and distance measurement are accurate; the laser sensor 14 emits laser signals, the laser precision is high, the resolution is strong, and images can be acquired; the millimeter wave sensor 12, the ultrasonic sensor 13 and the laser sensor 14 jointly acquire a distance signal and a target object signal; the millimeter wave receiver 15 receives the reflected millimeter waves, the ultrasonic wave receiver 16 receives the reflected ultrasonic waves, and the laser receiver 17 receives the reflected laser signals.
As shown in fig. 5, the composite detection sensor system 1 is mounted on the motor 2 by using a bolt but not limited to a bolt, and the motor 2 rotates at a designed rotation speed to drive the composite detection sensor system 1 to rotate, so that the 360-degree periodic scanning function of the composite detection sensor system 1 is realized.
As shown in fig. 4, the slip ring 3 is composed of a slip ring rotor 31 and a slip ring stator 32, wherein the slip ring rotor 31 is a rotating member, and the slip ring stator 32 is a stationary member; the collecting ring 3 is installed on the composite detection sensor system 1 through the bolt 33 but not limited to the bolt, the collecting ring rotor 31 is connected with the composite detection sensor system 1, the collecting ring rotor 31 rotates along with the motor, the collecting ring stator 32 is fixed on the top cover 43 of the shell, and the collecting ring rotor 31 and the collecting ring stator are both fixed parts; the composite detection sensor system 1 transmits the collected signals to the collecting ring rotor 31, the collecting ring rotor 31 transmits the signals to the collecting ring stator 32 through the collecting ring electric brush, then transmits the signals to the data collection module, transmits the signals to the optical fiber transmission line 5 through the data collection module, and then transmits the signals to the central processing system 7 through the optical fiber transmission line 5.
After the central processing system 7 analyzes and processes the signals, images and data are displayed on the display system 8, and a driver can observe objects around the vehicle body and distance information through the images displayed by the display system 8; the central processing system 7 judges the distance, if the distance is not within the safe distance, the central processing system 7 controls the alarm system 9 to give an alarm to warn the driver, and if the distance is within the safe distance, the alarm system 9 does not act.
As shown in fig. 6(a), 6(b), and 8, the housing 4 of the present invention is composed of a housing main body 41, a housing base 42, and a housing top cover 43; the motor 2 is installed on the shell base 42 through the bolts 21 but not limited to the bolts, the shell body 41 is bonded with the shell base 42, the shell top cover 43 is bonded with the shell body 41, and the shell 4 surrounds the composite detection sensor system 1, the motor 2 and the collecting ring 3 to protect the sensor; a plug is arranged on the top cover 43 of the shell, so that the optical fiber transmission line 5 can be quickly plugged; the shell body 41 is made of a light-transmitting wave-transmitting material, and a hydrophobic ash-removing coating is coated on the outer side of the shell body 41 and can transmit light and waves; when water drops splash to the shell body 41, the water drops will slide down automatically due to the hydrophobic outer coating; when the dust falls to the housing body 41, the dust will slide down by itself due to the dust shedding of the outer coating.
As shown in fig. 7, the cleaning device 6 of the present invention is fixed on the base 42 of the housing in a manner not limited to glue; the cleaning device 6 is composed of an annular cleaning head 61, a nozzle 62, an actuating cylinder 63, a fixed cylinder 64 and a fixed bracket 65; the fixed cylinder 64 is fixed on the fixed bracket 65; the actuating cylinder 63 is sleeved in the fixed cylinder 64, and the actuating cylinder 63 can move up and down in the fixed cylinder 64 through hydraulic drive; the annular cleaning head 61 is fixed on the actuating cylinder 63, cleaning liquid can be stored in the annular cleaning head 61, the outer layer of the annular cleaning head 61 is of a soft elastic structure, and the shell body 41 is tightly clamped; a nozzle 62 is fixed to the annular cleaning head 61, and cleaning liquid is sprayed on the housing body 41 through a pipe from the annular cleaning head 61 to the nozzle 62; the actuator cylinder 63 is driven by hydraulic pressure to move up and down to drive the annular cleaning head 61 to move up and down, the shell body 41 is tightly clamped by the soft elastic structure on the outer layer of the annular cleaning head 61, and the shell body 41 can be mechanically cleaned when the annular cleaning head moves up and down; the nozzle 62 sprays the cleaning liquid onto the housing body 41, and the cleaning liquid plays a role of assisting cleaning when the annular cleaning head 61 moves up and down to clean the housing body 41.
The utility model discloses a compound monitoring devices of large-scale car blind area comprises compound detection sensor system, motor, casing, cleaning device, optical fiber transmission line, central processing system, display system, alarm system. The composite detection sensor system is fixed on the motor, rotates along with the rotation of the motor, continuously scans for 360 degrees, covers the periphery of the vehicle body in a monitoring range, comprises a blind area, and successfully eliminates the threat of the blind area to the driving. The composite detection sensor system transmits scanned signals to the optical fiber transmission line through the collecting ring, and then the scanned signals are transmitted to the central processing system through the optical fiber transmission line, and the signals are displayed on the display system after being processed. The safety distance is set, and when objects such as pedestrians and vehicles are located within the safety distance, the warning system gives an alarm to attract the attention of a driver. The composite detection sensor system and the motor are arranged in the shell, the shell plays a role in protecting the radar system and the motor, the shell is made of a light-transmitting and wave-transmitting material, and a hydrophobic and dust-removing coating is coated on the outer layer of the shell, so that the shell is prevented from being wetted with water and being stained with dust to cause interference and misjudgment on monitoring. The casing externally mounted has cleaning device, and in case the casing is stained with water and is stained with the ash, cleaning device will start, carries out the dewatering dusting to the casing, installs the nozzle on the cleaning device, but the nozzle blowout sanitizer is assisted clean.
The utility model utilizes the composite detection sensor system, integrates the infrared high-speed camera, the ultrasonic sensor, the millimeter wave sensor and the laser sensor, improves the monitoring precision and the reliability of the dead zone of the large-scale vehicle, is suitable for daytime, night, foggy day, flying ash, high-speed running and remote distance measurement, and has strong environmental adaptability; the outer side of the shell adopts a hydrophobic dust-removing coating, so that the problem that the sensor is wetted and dust-stained to influence the monitoring effect and even cause the sensor to fail is successfully solved; the detection sensor system continuously rotates 360 degrees along with the motor, so that the single-point monitoring range is expanded, and the distribution number of the monitoring devices on the vehicle body is effectively reduced; the optical fiber is used for signal transmission, so that signal distortion in the transmission process is greatly reduced; casing externally mounted machinery cleaning device is stained with water to the casing and is stained with the ash and provide mechanical cleaning ability, improves by a wide margin the utility model discloses a reliability.
The utility model discloses not only successfully solved large-scale car blind area monitoring problem, improved the reliability simultaneously by a wide margin, the utility model discloses can also be used for unmanned vehicle, solve unmanned vehicle's range finding and keep away the barrier problem.
It should be noted that the electronic components such as the sensor, the collecting ring, and the central processing system used in the present invention all adopt the existing products, the connection relationship between the components is also a connection relationship commonly used in the field, and the selection and connection relationship of the components are not the innovation point of the present application.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a compound monitoring devices of large-scale car blind area which characterized in that: including compound detection sensor system, collecting ring, optical fiber transmission line, central processing system, compound detection sensor system passes through the motor and installs on the vehicle, sets up vehicle rear end both sides and vehicle copilot one side at least, and compound detection sensor system sends the scanning wave and transmits the signal transmission who scans to collecting ring, and collecting ring transmits signal transmission to optical fiber transmission line, transmits to central processing system through optical fiber transmission line.
2. The compound monitoring devices of large car blind area of claim 1, characterized in that: the composite detection sensor system comprises a shell, wherein an infrared high-speed camera, a millimeter wave sensor, an ultrasonic sensor, a laser sensor, a millimeter wave receiver, an ultrasonic receiver and a laser receiver are arranged in the shell, the infrared high-speed camera collects images and infrared signals, the millimeter wave sensor sends millimeter wave signals, the millimeter wave receiver receives the reflected millimeter waves, the ultrasonic sensor sends ultrasonic signals, the ultrasonic receiver receives the reflected ultrasonic waves, the laser sensor sends laser signals, and the laser receiver receives the reflected laser signals.
3. The compound monitoring devices of large car blind area of claim 1, characterized in that: the collecting ring comprises a collecting ring rotor and a collecting ring stator, wherein the collecting ring rotor is a rotating part, and the collecting ring stator is a static part; the collecting ring is installed on the composite detection sensor system, the collecting ring rotor is connected with the composite detection sensor system, the collecting ring rotor rotates along with the motor, and the collecting ring stator is fixed on the shell.
4. The composite monitoring device for the blind area of the large vehicle as claimed in claim 3, wherein: the collector ring is mounted on the composite detection sensor system through bolts but not limited to bolts.
5. The compound monitoring devices of large car blind area of claim 1, characterized in that: the central processing system is also arranged in the cab and connected with the display system and the alarm system, the central processing system processes the signals and then displays images and data on the display system, and a driver can observe objects and distance information around the vehicle body through the images displayed by the display system.
6. The compound monitoring devices of large car blind area of claim 5, characterized in that: the central processing system is also connected with an alarm system, the central processing system judges the distance, if the distance is not within the safe distance, the central processing system controls the alarm system to give an alarm to warn a driver, and if the distance is within the safe distance, the alarm system does not act.
7. The compound monitoring devices of large car blind area of claim 2, characterized in that: the shell of the composite detection sensor system comprises a shell main body, a shell base and a shell top cover, wherein a motor is arranged on the shell base, the shell main body is bonded with the shell base, the shell top cover is bonded with the shell main body, and the shell surrounds the composite detection sensor system, the motor and a collector to protect a sensor; and a plug is arranged on the top cover of the shell to realize the quick plug-in connection of the optical fiber transmission line.
8. The compound monitoring devices of large car blind area of claim 7, characterized in that: the motor is mounted on the housing base by bolts but not limited to bolts.
9. The compound monitoring devices of large car blind area of claim 7, characterized in that: the shell body is made of a light-transmitting wave-transmitting material, and the outer side of the shell body is coated with a hydrophobic ash-removing coating and is also light-transmitting and wave-transmitting.
10. The compound monitoring devices of large car blind area of claim 7, characterized in that: the cleaning device is fixed on the shell base and comprises an annular cleaning head, a nozzle, an actuating cylinder, a fixed cylinder and a fixed support, and the fixed cylinder is fixed on the fixed support; the actuating cylinder is sleeved in the fixed cylinder, and can move up and down in the fixed cylinder through hydraulic drive; the annular cleaning head is fixed on the actuating cylinder, cleaning liquid can be stored in the annular cleaning head, and the outer layer of the annular cleaning head is of a soft elastic structure and tightly clamps the shell body; the nozzle is fixed on the annular cleaning head, and the cleaning liquid flows from the annular cleaning head to the nozzle through the pipeline and is sprayed on the shell body; the actuating cylinder is driven to move up and down through hydraulic drive to drive the annular cleaning head to move up and down, the shell body is tightly clamped by the soft elastic structure on the outer layer of the annular cleaning head, and the shell body can be mechanically cleaned when the annular cleaning head moves up and down; the nozzle sprays the cleaning liquid on the shell body, and when the annular cleaning head moves up and down to clean the shell body, the cleaning liquid plays a role in auxiliary cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922107467.7U CN211642099U (en) | 2019-11-29 | 2019-11-29 | Compound monitoring devices of large-scale car blind area |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922107467.7U CN211642099U (en) | 2019-11-29 | 2019-11-29 | Compound monitoring devices of large-scale car blind area |
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| CN211642099U true CN211642099U (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922107467.7U Expired - Fee Related CN211642099U (en) | 2019-11-29 | 2019-11-29 | Compound monitoring devices of large-scale car blind area |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861605A (en) * | 2019-11-29 | 2020-03-06 | 中汽研（常州）汽车工程研究院有限公司 | Large-scale vehicle blind area composite monitoring device and method |
| CN112827104A (en) * | 2021-01-08 | 2021-05-25 | 刘兴友 | Tunnel fire-fighting device |
-
2019
- 2019-11-29 CN CN201922107467.7U patent/CN211642099U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861605A (en) * | 2019-11-29 | 2020-03-06 | 中汽研（常州）汽车工程研究院有限公司 | Large-scale vehicle blind area composite monitoring device and method |
| CN112827104A (en) * | 2021-01-08 | 2021-05-25 | 刘兴友 | Tunnel fire-fighting device |
| CN112827104B (en) * | 2021-01-08 | 2022-03-22 | 刘兴友 | Tunnel fire-fighting device |
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