JP5082056B2 - Road sweeper - Google Patents

Road sweeper Download PDF

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JP5082056B2
JP5082056B2 JP2006117728A JP2006117728A JP5082056B2 JP 5082056 B2 JP5082056 B2 JP 5082056B2 JP 2006117728 A JP2006117728 A JP 2006117728A JP 2006117728 A JP2006117728 A JP 2006117728A JP 5082056 B2 JP5082056 B2 JP 5082056B2
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cleaning
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JP2007293411A (en
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豊 永江
考司 児玉
元弥 内藤
善和 寺田
靖 川本
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Howa Machinery Ltd
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Description

本発明は、道路の清掃や補修作業に向かう作業車両に関し、特に道路を走行しながら路面上を清掃するようにしてある路面清掃車に関する。   The present invention relates to a work vehicle heading for road cleaning and repair work, and more particularly to a road surface cleaning vehicle configured to clean a road surface while traveling on a road.

高速道路や一般幹線道路を管理する道路管理者から道路の清掃や補修作業を請負業者に委託して行わせることが多い。その場合、指示した場所の道路の清掃や補修作業の作業完了を証明するために、請負業者から作業前後に撮影した写真が提出される。しかし、添付される写真から本当に指示した場所で指示した通りの作業を行なったのか否かを判別することが難しい問題があった。
そこで、特許文献１に記載のように、道路の補修作業に向う作業車両に、車両の位置情報及び時刻情報を検出するＧＰＳ受信装置と、補修前と補修後の道路状況を撮影するカメラと、ＧＰＳ受信装置からの位置情報と時刻情報、カメラによる撮影記録情報が夫々入力される演算処理装置と、演算処理装置に接続され演算処理装置に入力された上記各情報を記憶媒体に記憶させる記憶装置とを備え、補修作業の前後の撮影記憶情報に位置情報と時刻情報を結合させて記憶させたもの（記憶媒体）を道路管理者に提出することで、指示された場所の道路の補修作業の作業完了を明確に証明するようにしたシステムが知られている。また、特許文献２には、カメラによって撮影した道路の状況を動画像情報として出力することが開示されている。特許文献３には、道路を走行しながら路面上を清掃するようにしてある路面清掃車が開示されている。
特開平９−１４７１６３号公報 特開平１１−２５８９８０号公報 特開２００５−３６４７５号公報 In many cases, a road administrator who manages a highway or a general highway entrusts a contractor to clean and repair the road. In that case, in order to prove the completion of the road cleaning and repair work at the designated location, the contractor submits photographs taken before and after the work. However, there is a problem that it is difficult to determine whether or not the work as instructed in the place where the instruction is really instructed from the attached photograph.
Therefore, as described in Patent Document 1, a work vehicle suitable for road repair work, a GPS receiver that detects vehicle position information and time information, a camera that photographs road conditions before and after repair, and Arithmetic processing device to which position information and time information from GPS receiver and shooting record information by camera are input respectively, and a storage device connected to the arithmetic processing device and storing each information input to the arithmetic processing device in a storage medium By providing the road administrator with the storage information (storage medium) combined with the location information and time information stored before and after the repair work, the repair work for the road at the designated location can be performed. Systems are known that clearly demonstrate completion of work. Japanese Patent Application Laid-Open No. 2004-228620 discloses that road conditions photographed by a camera are output as moving image information. Patent Document 3 discloses a road cleaning vehicle that cleans the road surface while traveling on a road.
JP-A-9-147163 Japanese Patent Laid-Open No. 11-258980 JP-A-2005-36475

道路を走行しながら路面上を清掃するようにしてある路面清掃車に特許文献１に記載のシステムを採用した場合、清掃後の道路状況を撮影するためには清掃前の撮影位置に車両を移動させなければならない。よって、道路清掃する場所毎に路面清掃車による撮影用移動時間が道路清掃時間に含まれることで作業効率の低下につながる問題があった。また、清掃後、作業者自身が清掃前の位置に戻りカメラで道路状況を撮影しても良いが、危険が伴うと共に清掃前と撮影角度が異なる問題があった。更に特許文献２のカメラを用いて清掃作業を動画像情報とした場合、清掃後の道路状況を撮影するために、前方の道路を撮影しているカメラを後方の道路を撮影するように反転させなければならない煩わしさがある。そこで本発明の課題は、上記問題点を解決するもので、道路清掃しながらその清掃中の道路の状態を記録するようにした路面清掃車を提供することを目的とする。   When the system described in Patent Document 1 is adopted for a road cleaning vehicle that cleans the road surface while traveling on the road, the vehicle is moved to the shooting position before cleaning in order to photograph the road condition after cleaning. I have to let it. Therefore, there has been a problem that the working time for photographing by the road cleaning vehicle is included in the road cleaning time for each place where the road is cleaned, leading to a reduction in work efficiency. In addition, after cleaning, the operator may return to the position before cleaning and take a picture of the road condition with a camera. However, there is a problem that there is a danger and the photographing angle is different from that before the cleaning. Furthermore, when the cleaning operation is set as moving image information using the camera of Patent Document 2, in order to photograph the road condition after the cleaning, the camera photographing the front road is inverted so as to photograph the rear road. There is annoyance that must be done. SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-described problems, and an object thereof is to provide a road cleaning vehicle that records the state of the road being cleaned while cleaning the road.

本発明の路面清掃車は、塵埃を収容可能なホッパーと、路面上の塵埃をホッパー内に回収可能な清掃装置とを備え、道路を走行しながら路面上を清掃するようにしてある路面清掃車において、車両の緯度、経度の位置データを検出可能な位置検出装置と、清掃する道路の清掃前の道路状況を撮影可能な清掃前用カメラと、清掃する道路の清掃後の道路状況を撮影可能な清掃後用カメラと、前記両カメラから出力される撮影データとその時点で位置検出装置により検出される車両の位置データとを組み合わせた作業データを記録する作業データ記録装置を備え、前記清掃前用カメラは、車両の左側前方の道路状況を撮影可能な左側前方監視カメラと車両の右側前方の道路状況を撮影可能な右側前方監視カメラと、道路清掃する清掃領域の全景を撮影可能な全景用カメラとから成り、清掃後用カメラは車両の左側後方の道路状況を撮影可能な左側後方監視カメラと車両の右側後方の道路状況を撮影可能な右側後方監視カメラとから成り、道路清掃しながらその清掃中の道路の清掃前と清掃後の道路状況を、全景用カメラと道路清掃箇所が道路の左側か右側かによって対応する側の前方監視カメラと後方監視カメラから出力される撮影データと清掃中の車両の位置データとを組み合わせた作業データを記録するようにしたことを特徴とする。 The road surface cleaning vehicle of the present invention includes a hopper that can store dust and a cleaning device that can collect the dust on the road surface in the hopper, and is configured to clean the road surface while traveling on the road. Can detect the position data of the latitude and longitude of the vehicle, the pre-cleaning camera that can capture the road condition before cleaning of the road to be cleaned, and the road condition after cleaning of the road to be cleaned A post-cleaning camera, and a work data recording device for recording work data that combines shooting data output from both cameras and vehicle position data detected by the position detection device at that time, and before the cleaning The camera for the left front monitoring camera that can shoot the road situation ahead of the left side of the vehicle, the right front monitoring camera that can shoot the road situation ahead of the right side of the vehicle, and a panoramic view of the cleaning area to be cleaned Consists of a shadow can panoramic camera, a camera after cleaning consists of a left rear left rear monitoring camera can image the road condition of the right rear of the right rear monitoring camera can image the road condition of the vehicle of the vehicle, While the road is being cleaned, the road conditions before and after the road being cleaned are output from the front-view camera and the rear-view camera on the corresponding side depending on whether the whole-view camera and the road cleaning location are on the left or right side of the road The present invention is characterized in that the operation data combining the shooting data and the position data of the vehicle being cleaned is recorded .

本発明では、位置検出装置と、清掃前用カメラと、清掃後用カメラと、前記両カメラから出力される撮影データとその時点で位置検出装置により検出される車両の位置データとを組み合わせた作業データを記録する作業データ記録装置を備え、前記清掃前用カメラは、車両の左側前方の道路状況を撮影可能な左側前方監視カメラと車両の右側前方の道路状況を撮影可能な右側前方監視カメラと、道路清掃する清掃領域の全景を撮影可能な全景用カメラとから成り、清掃後用カメラは車両の左側後方の道路状況を撮影可能な左側後方監視カメラと車両の右側後方の道路状況を撮影可能な右側後方監視カメラとから成り、道路清掃しながらその清掃中の道路の清掃前と清掃後の道路状況を、全景用カメラと道路清掃箇所が道路の左側か右側かによって対応する側の前方監視カメラと後方監視カメラから出力される撮影データと清掃中の車両の位置データとを組み合わせた作業データを記録するようにしたので、道路清掃する場所毎に路面清掃車の撮影用移動時間が道路清掃時間に含まれないので作業効率が向上することになる。 In the present invention, the position detection device, the pre-cleaning camera, the post-cleaning camera, the shooting data output from the two cameras, and the vehicle position data detected by the position detection device at that time are combined. A work data recording device for recording data, wherein the pre-cleaning camera includes a left front monitoring camera capable of photographing a road condition in front of the left side of the vehicle, and a right front monitoring camera capable of photographing a road condition in front of the right side of the vehicle; , Consisting of a panoramic camera that can capture the entire view of the cleaning area to clean the road, and the post-cleaning camera can shoot the left rear surveillance camera that can capture the road condition behind the left side of the vehicle and the road condition behind the right side of the vehicle such consists of a right-hand rear monitoring camera, the road situation after cleaning before the cleaning of the road of that during the cleaning while road cleaning, on whether the left or right side of the panoramic camera and road cleaning point road Since so as to record the operation data obtained by combining the position data of the vehicle being cleaned and imaging data output from the corresponding side of the front monitoring camera and a rear view camera Te, road sweeper every place to road cleaning Since the moving time for photographing is not included in the road cleaning time, work efficiency is improved .

図１に示す路面清掃車１は、塵埃Ｍを収容可能なホッパー２と、路面３上の塵埃Ｍをホッパー２内に回収可能な清掃装置４とを備え、道路を走行しながら路面３上を清掃するようになっている。本実施形態では、前記清掃装置４は車体１ａの両側に配置された側ブラシ５と吸込口６が路面３と対向するように配置されたピックアップヘッド７とから成る。ピックアップヘッド７の吸込口６に車体１ａに搭載されたブロア装置８の駆動により吸引力を作用させ、側ブラシ５により掃き寄せられた塵埃Ｍをピックアップヘッド７の吸込口６からホッパー２内に回収するようになっている。この車両１には、車両１の緯度、経度の位置データを検出可能な位置検出装置１０と、清掃する道路の清掃前の道路状況を撮影可能な清掃前用カメラ１１と、清掃する道路の清掃後の道路状況を撮影可能な清掃後用カメラ１２と、前記両カメラ１１，１２から出力される撮影データとその時点で位置検出装置１０により検出される車両１の位置データとを組み合わせた作業データを記録する作業データ記録装置１３を備え、道路清掃しながらその清掃中の道路の清掃前と清掃後の道路状況を示す撮影データと清掃中の車両１の位置データとを組み合わせた作業データを記録するようにしてある。また、車両１には作業データ記録装置１３に接続された表示装置１４が設けられ、前記作業データを表示しながら道路清掃を行うようになっている。前記位置検出装置１０は、通信衛星から送信されてくるＧＰＳ信号を受信するものであり、信号に基づいて位置データの他に時刻データや速度データを検出することも可能である。   A road surface cleaning vehicle 1 shown in FIG. 1 includes a hopper 2 that can store dust M and a cleaning device 4 that can collect the dust M on the road surface 3 in the hopper 2. It is supposed to be cleaned. In the present embodiment, the cleaning device 4 includes a side brush 5 disposed on both sides of the vehicle body 1 a and a pickup head 7 disposed so that the suction port 6 faces the road surface 3. A suction force is applied to the suction port 6 of the pickup head 7 by driving a blower device 8 mounted on the vehicle body 1 a, and dust M swept by the side brush 5 is collected from the suction port 6 of the pickup head 7 into the hopper 2. It is supposed to be. The vehicle 1 includes a position detection device 10 capable of detecting position data of latitude and longitude of the vehicle 1, a pre-cleaning camera 11 capable of photographing a road condition before cleaning of the road to be cleaned, and cleaning of the road to be cleaned. Work data that combines a post-cleaning camera 12 that can photograph a road condition afterwards, photographing data output from both the cameras 11 and 12, and position data of the vehicle 1 detected by the position detecting device 10 at that time. The operation data recording device 13 is provided to record the operation data combining the shooting data indicating the road condition before and after the road being cleaned and the position data of the vehicle 1 being cleaned while cleaning the road. I have to do it. Further, the vehicle 1 is provided with a display device 14 connected to the work data recording device 13 so as to clean the road while displaying the work data. The position detection device 10 receives a GPS signal transmitted from a communication satellite, and can detect time data and speed data in addition to position data based on the signal.

前記清掃前用カメラ１１は車両１前方の道路状況を撮影可能な複数の前方監視カメラ１１Ａと道路清掃する清掃領域の全景を撮影可能な全景用カメラ１１Ｂとから成り、清掃後用カメラ１２は車両１後方の道路状況を撮影可能な複数の後方監視カメラ１２Ａから成る。前記前方監視カメラ１１Ａは、車両１の左側前方の道路状況を撮影可能な左側前方監視カメラ１１Ａ１と車両１の右側前方の道路状況を撮影可能な右側前方監視カメラ１１Ａ２とから成り、後方監視カメラ１２Ａは、車両１の左側後方の道路状況を撮影可能な左側後方監視カメラ１２Ａ１と車両１の右側後方の道路状況を撮影可能な右側後方監視カメラ１２Ａ２とから成る。また、図示しない制御手段により、道路清掃箇所が道路の左側か右側かによって対応する側の前方監視カメラ１１Ａと後方監視カメラ１２Ａから撮影データが出力されるようになっている。尚、本実施形態では、清掃前用カメラ１１と清掃後用カメラ１２から動画像の撮影データが出力されるが、静止画像の撮影データを出力するカメラであってもよい。   The pre-cleaning camera 11 comprises a plurality of front monitoring cameras 11A capable of photographing the road conditions ahead of the vehicle 1 and a panoramic camera 11B capable of photographing the entire view of the cleaning area to be cleaned. The post-cleaning camera 12 is a vehicle. 1 comprises a plurality of rear monitoring cameras 12A capable of photographing the road conditions behind. The front monitoring camera 11A includes a left front monitoring camera 11A1 that can capture a road situation in front of the left side of the vehicle 1 and a right front monitoring camera 11A2 that can capture a road situation in front of the right side of the vehicle 1. Consists of a left rear monitoring camera 12A1 capable of photographing the road condition behind the left side of the vehicle 1 and a right rear monitoring camera 12A2 capable of photographing the road condition behind the right side of the vehicle 1. In addition, photographing data is output from the front monitoring camera 11A and the rear monitoring camera 12A on the corresponding side depending on whether the road cleaning part is the left side or the right side of the road by a control means (not shown). In this embodiment, moving image shooting data is output from the pre-cleaning camera 11 and the post-cleaning camera 12, but a camera that outputs still image shooting data may be used.

上記構成の路面清掃車１を用いて道路清掃を行う場合について説明する。高速道路や一般幹線道路を管理する道路管理者から道路の清掃を委託された業者は、指示された場所の道路清掃の作業完了を証明するために、道路の清掃前と清掃後の道路状況を示す撮影データと清掃中の車両１の位置データとを組み合わせた作業データを提出するようになっている。路面清掃車１が指示された場所の道路に到着すると、車両１に備えた位置検出装置１０、清掃前用カメラ１１、清掃後用カメラ１２、作業データ記録装置１３を夫々作動させる。その後、路面清掃車１によって道路を走行しながら路面３上を清掃すると共に、清掃中の道路の清掃前と清掃後の道路状況を示す撮影データと清掃中の車両１の位置データとを組み合わせた作業データが記録される。その後、作業データは記録媒体１５に書き込まれ、その記録媒体１５が道路管理者に提出されるようになっている。また、作業データに清掃作業中の時刻データや車両１の速度データを組み合わせてもよい。前記清掃前の道路状況を示す撮影データは一方の前方監視カメラ１１Ａから出力される撮影データと全景用カメラ１１Ｂから出力される撮影データであり、清掃後の道路状況を示す撮影データは一方の後方監視カメラ１２Ａから出力される撮影データである。例えば、図２のように道路の左側を清掃する場合には、撮影データは左側前方監視カメラ１１Ａ１、全景用カメラ１１Ｂ、左側後方監視カメラ１２Ａ１から出力されたものである。   A case where road cleaning is performed using the road cleaning vehicle 1 having the above-described configuration will be described. The contractor commissioned by the road manager who manages the highway and general trunk roads should confirm the road conditions before and after the road cleaning to prove the completion of the road cleaning work at the designated location. The work data which combines the photographing data shown and the position data of the vehicle 1 being cleaned is submitted. When the road cleaning vehicle 1 arrives on the road at the designated location, the position detection device 10, the pre-cleaning camera 11, the post-cleaning camera 12, and the work data recording device 13 provided in the vehicle 1 are operated. Thereafter, the road surface 3 is cleaned on the road surface 3 while traveling on the road with the road surface cleaning vehicle 1, and the shooting data indicating the road condition before and after the road being cleaned and the position data of the vehicle 1 being cleaned are combined. Work data is recorded. Thereafter, the work data is written to the recording medium 15, and the recording medium 15 is submitted to the road administrator. Further, time data during cleaning work and speed data of the vehicle 1 may be combined with the work data. The shooting data indicating the road condition before cleaning is the shooting data output from one front monitoring camera 11A and the shooting data output from the panoramic camera 11B, and the shooting data indicating the road condition after cleaning is the rear of one. This is shooting data output from the monitoring camera 12A. For example, when the left side of the road is cleaned as shown in FIG. 2, the photographing data is output from the left front monitoring camera 11A1, the panoramic camera 11B, and the left rear monitoring camera 12A1.

従って、道路清掃しながらその清掃中の道路の清掃前と清掃後の道路状況を示す撮影データと清掃中の車両１の位置データとを組み合わせた作業データを記録することから、従来のように、道路清掃する場所毎に路面清掃車１の撮影用移動時間が道路清掃時間に含まれないので、無駄な時間が削除され作業効率を向上させることができる。更に、作業者自身が清掃前の位置に戻りカメラで道路状況を撮影するような危険作業が行なわれることがない。また、前記撮影データは、車両１前方の道路状況を撮影可能な複数の前方監視カメラ１１Ａと道路清掃する清掃領域の全景を撮影可能な全景用カメラ１１Ｂと、車両１後方の道路状況を撮影可能な複数の後方監視カメラ１２Ａから出力されるので、従来のように、前方の道路状況を撮影しているカメラを後方の道路状況を撮影するように反転させて清掃後の道路状況を撮影する必要がないから、清掃後、別の道路の清掃場所に路面清掃車１を速やかに移動させることができる。また、清掃場所の中に道路の左側を清掃する場合と道路の右側を清掃する場合があっても、確実に道路清掃箇所の撮影データを記録することができる。更に、前記作業データに時刻データや速度データを組み合わせることで、清掃する時刻における路上駐車の車両数や塵埃Ｍ量の把握及び、路面清掃車１の最適な作業速度を管理することができる。   Accordingly, while recording the work data that combines the shooting data indicating the road condition before and after the cleaning of the road being cleaned and the position data of the vehicle 1 being cleaned while cleaning the road, Since the moving time for photographing of the road cleaning vehicle 1 is not included in the road cleaning time for each place where the road is cleaned, useless time is deleted and work efficiency can be improved. Furthermore, there is no danger that the worker himself returns to the position before cleaning and photographs the road situation with the camera. Further, the photographing data can photograph a plurality of front monitoring cameras 11A capable of photographing a road situation in front of the vehicle 1, a panoramic camera 11B capable of photographing a whole view of a cleaning area to be cleaned, and a road situation behind the vehicle 1. Since it is output from a plurality of rear monitoring cameras 12A, it is necessary to invert the camera that is photographing the road situation ahead so as to photograph the road situation behind and photograph the road situation after cleaning. Therefore, after cleaning, the road cleaning vehicle 1 can be quickly moved to another road cleaning place. Moreover, even when the left side of the road is cleaned or the right side of the road is cleaned in the cleaning place, it is possible to reliably record the shooting data of the road cleaning place. Furthermore, by combining time data and speed data with the work data, it is possible to grasp the number of vehicles parked on the road and the amount of dust M at the time of cleaning, and to manage the optimum work speed of the road cleaning vehicle 1.

本発明の路面清掃車の側面図である。It is a side view of the road surface cleaning car of the present invention. 図１の平面図であって、道路の左側を清掃する状態を示す図である。It is a top view of FIG. 1, Comprising: It is a figure which shows the state which cleans the left side of a road. システムの構成図である。It is a block diagram of a system.

符号の説明Explanation of symbols

１ 路面清掃車
２ ホッパー
３ 路面
４ 清掃装置
１０ 位置検出装置
１１ 清掃前用カメラ
１１Ａ 前方監視カメラ
１１Ａ１ 左側前方監視カメラ
１１Ａ２ 右側前方監視カメラ
１１Ｂ 全景用カメラ
１２ 清掃後用カメラ
１２Ａ 後方監視カメラ
１２Ａ１ 左側後方監視カメラ
１２Ａ２ 右側後方監視カメラ
１３ 作業データ記録装置
Ｍ 塵埃 DESCRIPTION OF SYMBOLS 1 Road surface cleaning vehicle 2 Hopper 3 Road surface 4 Cleaning apparatus 10 Position detection apparatus 11 Camera before cleaning 11A Front monitoring camera 11A1 Left front monitoring camera 11A2 Right front monitoring camera 11B Panoramic camera 12 Cleaning camera 12A Rear monitoring camera 12A1 Left rear Surveillance camera 12A2 Right side rear surveillance camera 13 Work data recording device M Dust

Claims (1)

塵埃を収容可能なホッパーと、路面上の塵埃をホッパー内に回収可能な清掃装置とを備え、道路を走行しながら路面上を清掃するようにしてある路面清掃車において、車両の緯度、経度の位置データを検出可能な位置検出装置と、清掃する道路の清掃前の道路状況を撮影可能な清掃前用カメラと、清掃する道路の清掃後の道路状況を撮影可能な清掃後用カメラと、前記両カメラから出力される撮影データとその時点で位置検出装置により検出される車両の位置データとを組み合わせた作業データを記録する作業データ記録装置を備え、前記清掃前用カメラは、車両の左側前方の道路状況を撮影可能な左側前方監視カメラと車両の右側前方の道路状況を撮影可能な右側前方監視カメラと、道路清掃する清掃領域の全景を撮影可能な全景用カメラとから成り、清掃後用カメラは車両の左側後方の道路状況を撮影可能な左側後方監視カメラと車両の右側後方の道路状況を撮影可能な右側後方監視カメラとから成り、道路清掃しながらその清掃中の道路の清掃前と清掃後の道路状況を、全景用カメラと道路清掃箇所が道路の左側か右側かによって対応する側の前方監視カメラと後方監視カメラから出力される撮影データと清掃中の車両の位置データとを組み合わせた作業データを記録するようにしたことを特徴とする路面清掃車。 A road cleaning vehicle having a hopper capable of storing dust and a cleaning device capable of collecting dust on the road surface in the hopper and cleaning the road surface while traveling on a road. A position detection device capable of detecting position data, a pre-cleaning camera capable of photographing the road condition before cleaning of the road to be cleaned, a post-cleaning camera capable of photographing the road condition after cleaning of the road to be cleaned, and A work data recording device that records work data that combines shooting data output from both cameras and vehicle position data detected by the position detection device at that time, and the pre-cleaning camera is located on the left side of the vehicle. Left front monitoring camera that can shoot the road conditions of the vehicle, right front monitoring camera that can shoot the road conditions ahead of the right side of the vehicle, and a panoramic camera that can shoot the entire view of the cleaning area to clean the road From made, the camera after cleaning consists of a left rear left rear monitoring camera can image the road condition of the right rear of the right rear monitoring camera can image the road condition of the vehicle of the vehicle, during its cleaning with street sweepers The road conditions before and after cleaning of the road, depending on whether the panoramic camera and the road cleaning location are on the left or right side of the road, the shooting data output from the front monitoring camera and the rear monitoring camera , and the vehicle being cleaned A road sweeper characterized by recording work data in combination with position data.
JP2006117728A 2006-04-21 2006-04-21 Road sweeper Active JP5082056B2 (en)

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