JP5586106B1 - Automobile driving safety confirmation method and surveillance camera support pole used in the method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide road information necessary for safe driving to an automobile driver.
Two monitoring cameras 2a and 2b are mounted back-to-back on the front end of a monitoring camera support pole 3 provided in front of an automobile 1, and the monitoring camera support pole 3 is extended in conjunction with a brake operation of the automobile 1. Taking a range of a certain angle of view on both sides of the vehicle 1 including a part of the body of the vehicle 1 from a position a certain distance in front of the front of the vehicle 1, and from the side of the vehicle 1 that is not visible from the windshield A moving image with a certain angle of view is displayed on the monitors 13a and 13b in the automobile 1 as road information, and the positional relationship between the vehicle body of the vehicle and the object on the road is determined based on the position of the vehicle. The relative speed between the vehicle and the object on the road is provided to the driver as road information.
[Selection] Figure 4

Description

  The present invention relates to a method for providing road information necessary for safe driving to an automobile driver and a surveillance camera support pole provided with a surveillance camera used in the method.

  In order to prevent the collision of automobiles, for example, the collision of cars or passersby between cars, conventional road reflectors are usually installed at intersections and curves with poor visibility. The road reflector is generally called a curve mirror. Although the curved mirror was installed with the aim of eliminating the danger of blind spots by projecting the blind spots of road curves and intersections with a mirror, in reality, some blind spots in the traveling direction within the range reflected in the mirror (convex mirror) It is only an aid to check the situation. Depending on the structure, installation angle, and installation environment of the mirror, it may look very different from the actual situation.

  On the road in front of a curve or intersection, it is indispensable to stop or slow down for safety even if it is not instructed by a road sign, and to actually check the state of the curve and the intersection with the naked eye. is there. However, for safe driving, the situation ahead of the dead road must be information that the driver wants to know. Therefore, there is an attempt to utilize a surveillance camera as an attempt to provide the driver with the situation ahead of the blind spot. In Patent Document 1, as shown in FIG. 8, the antenna rod is extended to a length of about 1 m from the front to the front of the car body by operating the operation button beside the driver's seat before the intersection. Describes a device for photographing the inside of an intersection with a camera attached to the tip thereof and notifying the driver. Patent Document 2 discloses two wide-angle cameras 12A and 12B at the front of the vehicle C as shown in FIG. When the vehicle C is at least in front of the intersection, the objects moving in the fields of view θa and θb are photographed with the wide-angle cameras 12A and 12B. A device that informs the driver is described.

  The former (Patent Document 1) attempts to show a curve or intersection in the direction of travel that cannot be seen with the naked eye from the inside of the vehicle through the windshield by being obstructed by the front curve of the vehicle body or an obstacle at the intersection. It is not suitable for curve mirrors in terms of providing road information faster.

  In the former proposal (Patent Document 1), the reason why “the length of the antenna rod is about 1 m” is not explained. Probably, the situation from 1 meter ahead of the car is driven through the windshield. Although it can be seen from the seat, the left and right situation of the intersection ahead of 1 meter ahead is a blind spot from the driver's seat. It seems to be based on the idea of using it.

  On the other hand, according to the latter (Patent Document 2), information on a wide angle range including the front of the bumper both ends or the front of the bumper which is a part of the vehicle body that cannot be seen from the driver's seat can be obtained. A part of the vehicle cannot be projected on the camera, and when there are pedestrians, curbs, or other obstacles passing through the edge of the road, the position of the obstacles based on the body of the vehicle cannot be confirmed. It is important to protect automobile accidents not only from traffic accidents at the beginning of automobiles and bicycles, but also from contact accidents with pedestrians, curbs and other obstacles that pass through the edges of roads. In order to prevent a contact accident with an obstacle, information on the positional relationship between the vehicle body of the own vehicle and the object is necessary based on the position of the own vehicle.

  Moreover, as described in Patent Document 1, it is also possible to obtain information on the left and right roads ahead of the vehicle body that cannot be seen through the windshield by being obstructed by obstacles at the front of the vehicle body or at intersections. However, when a projecting object as long as 1 m is suddenly projected on the road, it collides with a pedestrian or bicycle crossing the front of the vehicle, especially walking or running on the edge of the road. Risk of contact.

  In Patent Document 2, it is explained that the information data obtained by the surveillance camera is processed and the brake is automatically applied when it is determined that a measure for avoiding the collision is necessary. The automatic braking in the face of this should be done as a final emergency measure. First, an effort must be made to ensure driving safety at the discretion of the driver. Even if the road information that cannot be seen with the naked eye is obtained, even if you enter an intersection with poor visibility without slowing down, it is safe because it will automatically brake in the unlikely event Absent. In any case, you should observe the rule that when you enter an intersection with a curve or poor visibility, you must follow the rule of entering at a low speed while cueing, and only follow the rule to pass the end of the road Information to protect against contact accidents with pedestrians, curbs, and other obstacles is utilized, and the road conditions in the blind spots of the road reflected on the curve mirror can be easily confirmed.

  There is a similar problem for back travel of automobiles. At the time of the back, it is said that careful safety confirmation by visual inspection is necessary without relying only on the mirror, but because the car is made to move forward structurally, the rear blind spot becomes large, A small mini car behind a wagon with a large body enters the blind spot, and it is difficult to check the information behind the body from the driver's seat. Even when using a surveillance camera for back travel, safety can be ensured by using the information of the surveillance camera only by complying with the rule of reversing at a low speed while braking.

Utility Model Registration No. 3142156 JP 2001-101582 A Japanese Patent Laid-Open No. 4-87848

  The problem to be solved is to use the information of the surveillance camera only when you follow the rules of moving forward or backward while applying the brakes when entering an intersection with a bad curve or poor visibility, or when driving in the back of a car. Safety can be ensured, and information on the positional relationship between the vehicle body of the vehicle and the object is necessary when the vehicle is stopped or traveling at a low speed.

  The present invention monitors a range of a certain angle of view including a part of the body of a car from a position at a certain distance from the front or rear surface on the central axis of the car body in conjunction with the brake operation of the car. The position of the object that should avoid collision and contact with the vehicle and the relative position of the moving object relative to the vehicle based on the position of the vehicle body appearing at a fixed position in the obtained image taken with the camera The greatest feature is that the change in speed is displayed as road information on a monitor in the vehicle. At the same time, the surveillance camera support pole is characterized by the use of an elastic material that is gently restored.

  According to the present invention, a side road including the body of the own vehicle is provided by the monitoring camera at the tip of the monitoring camera support pole that automatically protrudes in front of the center of the vehicle in association with the brake operation performed by the driver of the vehicle. As a video taken by the surveillance camera only when the driver performs a brake operation, the situation of the road from the immediate position to the far side of the vehicle that cannot be observed visually is displayed on the monitor. Information on the roads that are displayed and should be noted when stopping or decelerating by braking, such as vehicles, bicycles, and other pedestrian curbs that cross the front of the vehicle based on the position of the vehicle body It is possible to provide the driver with road information about the position of the object on the road that should avoid collision and contact including obstacles, and the relative speed of the moving object with respect to the vehicle. Therefore, if the driver does not perform the brake operation, information on the closest road to be noted while stopping or decelerating cannot be obtained. It is possible to increase the driver's awareness of safety through the fact that a brake operation is necessary for the driver to obtain information on the closest road.

  In addition, even if the protruding length of the pole is slight, it is possible to take a picture of the rear side of the vehicle body according to the length protruding from the vehicle body, and the surveillance camera protrudes from the vehicle body while the vehicle is stopped or moving forward at a low speed. Even if a bicycle or a pedestrian is in contact with the support pole on the road, the surveillance camera support pole bends at the base, so that the impact on the contacted bicycle or pedestrian can be reduced.

(A) is a side view of the motor vehicle which installed the surveillance camera support pole provided with the surveillance camera, (b) is a top view. (A) is sectional drawing which shows the example which the surveillance camera support pole expand | extends by a drive mechanism, (b) is a left view. (A) is sectional drawing which shows the example which a surveillance camera support pole shrink | contracts with a drive mechanism, (b) is a left view. (A) is a figure which shows the structure of the system of this invention when a select lever is thrown into D range (drive), (b) is a system when a select lever is thrown into R range (reverse) FIG. It is a figure which shows the example using a standard lens with an angle of view of about 50 degrees. (A) is sectional drawing of the figure which shows the example in which a 3rd stage pipe bends, (b) is a left view. It is a figure which shows the example which provided the pilot lamp which lights at the front-end | tip of the surveillance camera support pole. (A) is a figure which shows the Example of the structure which raises the surveillance camera support pole at the time of use, and lays down and accommodates it when not in use, (b) is AA sectional drawing of (a). It is a figure which shows the usage example of the apparatus described in patent document 1. FIG. It is a figure which shows the usage example of the apparatus described in patent document 2. FIG.

Examples of the present invention will be described below. In this embodiment, a case where the present invention is applied to an automatic (AT) car will be described, but a manual (MT) car may be used. In FIG. 1, a monitoring camera support pole 3 having a monitoring camera 2 is installed on the front surface of a vehicle body B on a central axis OO of the vehicle body of an automobile 1. The surveillance camera support pole 3 is a pole combined so that a plurality of pipes having different diameters are sequentially fitted in multiple stages so that the surveillance camera can be supported.

  In this embodiment, the plurality of pipes are three-staged, and are distinguished as a first-stage pipe 3a having a relatively small diameter, a second-stage pipe 3b having a medium diameter, and a third-stage pipe 3c having a large diameter, in order from the tip. . This kind of surveillance camera support pole 3 is to be supported by the surveillance camera by remote control from inside the vehicle. In this embodiment, the large diameter pipe is the third stage pipe 3c, and the third stage pipe 3c is attached to the vehicle body B. The surveillance camera is supported by a small-diameter first-stage pipe 3a, in this embodiment, on both sides of the first-stage pipe 3a. An example of a drive mechanism for the surveillance camera support operation is shown in FIG. In FIG. 2, the other end of the drive cord 5 having one end fixed to the take-up drum 4 is inserted into the surveillance camera support pole 3 and fixed to the pointed pipe.

  On the other hand, the center gear 7 is rotated in the forward direction through the speed reduction mechanism by the forward rotation of the electric motor 6, and the rotational force is transmitted to the winding drum 4 through the friction clutch 8, and the winding drum 4 is rotated in the forward direction. To do. By rotating the winding drum 4 in the forward direction, the drive cord 5 is fed out from the winding drum 4 and the small diameter pipe is sequentially pushed out from the large diameter side pipe, and the surveillance camera support pole 3 is extended. The winding drum 4 is caught by the stopper 9, the friction clutch 8 is slip-rotated, and finally a switch (not shown) is operated and stopped.

  Conversely, when the take-up drum 4 is rotated in the reverse direction, the drive cord 5 that has been fed out is taken up by the take-up drum 4, and the small-diameter pipe is sequentially drawn into the large-diameter pipe, and the surveillance camera is shown in FIG. The support pole 3 is reduced, and a switch (not shown) is operated to stop. As this type of surveillance camera support pole, for example, a structure conventionally used as a corner pole for displaying the width of the automobile 1 or an antenna pole for radio reception can be used. The structure of this type of pole is described in Patent Document 3, for example.

The surveillance cameras 2 are mounted back-to-back on both sides of the first stage pipe 3a of the surveillance camera support pole 3 as a pair. In the present invention, the pipe of the surveillance camera support pole 3, especially the third stage pipe 3 c is maintained with a certain shape such as silicon rubber, and when pressurized, a pipe made of an elastic material that deforms in the pressurizing direction and gradually recovers. It is important to use. When installing the pipe, it is desirable that when the surveillance camera support pipe is reduced, it is assembled to the vehicle body so that the surveillance camera support pipe including the camera is not exposed to the outer surface of the vehicle body as much as possible.

  The surveillance cameras 2a and 2b need to be positioned so that at least both front side portions of the vehicle body B are reflected in the image sensor of the camera. Although the projection length of the surveillance camera support pole 3 depends on the focal length (angle of view) of the camera lens, the projection length of the surveillance camera support pole 3 should be as short as possible, for example, about 15 cm or less. desirable. A field angle of a wide-angle lens is generally 100 ° to 60 °, and a standard lens is generally 50 ° to 25 °. Some super-wide-angle lenses or fish-eye lenses have a field angle of 180 ° at the maximum and wider than that, but this is not desirable because the image becomes more difficult to see as the field angle increases. The projection length of the surveillance camera support pole 3 is 15 cm, the wide angle is within a range of 50 °, and the front and side surfaces of the vehicle body B from the vicinity of the vehicle body B within the range of the angle of view including a part of the front bumper which is a part of the vehicle body B. It is possible to photograph within a certain range.

  FIG. 4A shows the system configuration. The drive mechanism of the surveillance cameras 2a and 2b and the surveillance camera support pole 3 and the controller 11a are connected through a drive cord 5 inserted into the pipe of the surveillance camera support pole 3. In this embodiment, when the select lever is in the D range (drive) (when the forward gear is selected by the shift lever in the MT vehicle) (referred to as the state where the vehicle is set to forward), the contact of the switch SW21 Is open, and the contact of the switch SW22 is configured. In this state, the switch SW1 contacts are configured by depressing the pedal of the brake 10, the power supply 12 is supplied to the controller 11a to extend the monitoring camera support pole 3a, the monitoring camera 2 is activated, and the vehicle 1 A moving image shot starting from the position of the bumper that is a part of the vehicle body B is displayed on the screens of the monitors 13a and 13b in the driver's seat. The moving images displayed on the monitors 13a and 13b are moving images within a wide-angle range captured by the left and right surveillance cameras 2a and 2b. This is a video of the road. The driver observes the situation within the wide-angle range of the lens from the front end of the vehicle 1 through the moving images of the monitors 13a and 13b with reference to the position of the bumper on the front surface of the vehicle 1 in addition to the range visible through the windshield. be able to. The position of the body B (position of the bumper) of a part of the own vehicle in the obtained image is always constant. Accordingly, the driver can read the position of the target object from which the host vehicle should avoid collision and contact and the change in the relative speed of the moving target object with respect to the own vehicle as road information based on the position of the host vehicle. . The activation of the surveillance cameras 2a and 2b does not necessarily have to be interlocked with the brake operation. The surveillance camera support pole 3 is kept in a state of being slightly protruded from the bumper while being contracted, and is always kept in an operating state. It is also possible to display the moving image on the monitors 13a and 13b.

  As described above, the example in which the entire length of the pole is expanded and contracted as the surveillance camera support pole has been described. In short, the surveillance camera support pole only needs to protrude the surveillance cameras 2a and 2b to the front of the automobile when in use and can be stored on the vehicle body B side when not needed. Therefore, the structure is not necessarily limited to a structure that changes the length of the pole. In the example shown in FIG. 8, the surveillance camera support pole 3 is normally stored on its side as shown by the broken line 3 ', and when used, the surveillance cameras 2a and 2b are stood up in the direction of the arrow as shown by the solid line 3 to It is an example protruding to the front of B. In FIG. 8 (a), the surveillance camera support pole 3 is supported by an arm 19 projecting from a part of the peripheral surface of a rotating shaft 18 that is rotatably supported by a bearing 17, and the arm 19 is in the circumferential direction of the bearing 17. The surveillance camera support pole 3 is fitted into the projecting portion of the arm 19 projecting from the groove 20.

  The rotating shaft 18 is directly connected to the rotating shaft 22 of the electric motor (servo motor) 6 through the flexible shaft 21. The electric motor 6 rotates, for example, 90 ° in the forward and reverse directions when the power is turned on, and rotates the rotating shaft 18 integrally, thereby changing the posture of the monitoring camera support pole 3 supported by the arm 19 to a right angle direction. As shown in FIG. 8B, the bearing 17 is fixed to a part of the vehicle body B of the automobile, and the vehicle body B is in a standing posture or a sideways posture with the surveillance camera support pole 3 facing the front of the vehicle body B. Hold parallel to the front of the. In this example, the surveillance camera support pole 3 is a small-diameter first-stage pipe 3a, a medium-diameter second-stage pipe 3b, and a large-diameter third-stage pipe 3c as in the previous embodiment, and at least the surveillance camera support pole. The large-diameter third-stage pipe 3c serving as the base of the pipe 3 is made of a material having elasticity such as silicon rubber that is gently restored, and the surveillance cameras 2a and 2b are connected to the small-diameter first-stage pipe 3a. The point attached to both sides is the same as the previous embodiment.

  In this embodiment, the length of the surveillance camera support pole 3 can be manually expanded and contracted, and an appropriate overhang length can be set so that a part of the vehicle body B is reflected in the video of the surveillance camera according to the width of the vehicle. According to this embodiment, since the rotary shaft 18 of the bearing 17 and the rotary shaft 22 of the electric motor 6 are directly connected by the flexible shaft 21, even when there is an obstacle between the surveillance camera support pole 3 and the electric motor 6. By bending the flexible shaft 21 as appropriate, the obstacle can be bypassed and the rotating shaft 18 of the bearing 17 and the electric motor 6 can be connected.

  The electric motor 6 is a drive mechanism for the surveillance camera support pole 3 as in the previous embodiment. The drive mechanism is controlled by a brake operation, and the surveillance camera support pole 3 is normally placed parallel to the front of the vehicle body B in a lying position as shown by the broken line, but when the brake is applied, the surveillance camera support pole 3 As shown by a solid line, 3 is in a standing posture toward the front of the vehicle body, and the video of the surveillance camera is displayed on the monitor inside the vehicle. In this embodiment, it is desirable to stop the operation of the surveillance camera when the surveillance camera support pole 3 is placed in parallel to the front of the vehicle body B in a lying position.

  When entering an intersection or a curve, an image of an object that should avoid collision or contact with the vehicle such as a car, bicycle, pedestrian or other obstacle is captured on the screen of the monitor 13a, 13b. Information on the relationship between the object including bicycles, pedestrians, and other obstacles and the body of the own vehicle, and information on the relative speed between the object and the own vehicle is important. The driver can use this information for safe driving.

For example when using the angle standard lens of approximately 50 ° as shown in FIG. 5, the compact car, towards approximately 50cm range of the front of the vehicle body B without direct view from the driver's seat is blocked by the hood laterally The road condition can be displayed over a wide area. When entering the intersection with poor visibility, if the surveillance camera support pole 3 on which the surveillance cameras 2a and 2b are installed is short, the field of view on the left and right buildings of the intersection is larger than that of the surveillance camera support pole 3 being long. The discovery of the object on the intersecting road is delayed, but by proceeding slowly while applying the brake 10 (so-called cueing), the video of the displayed monitors 13a and 13b and the windshield The front and left and right sides of the vehicle body B are visually confirmed to enable safe driving.

Since the surveillance camera support pole 3 is pushed out in front of the vehicle body by the driver's braking operation, the vehicle stops or decelerates against a bicycle or pedestrian crossing the front of the vehicle on the intersecting road. Whether the monitoring camera support pole 3 changes the monitoring camera support. Even if a pedestrian crossing the intersection should come into contact with the surveillance camera support pole 3, the third stage pipe 3c is bent as shown in FIG. 5, and no impact is applied to the pedestrian. By providing a pilot lamp 15 that is lit as shown in FIG. 6 at the tip of the surveillance camera support pole 3, safety during night driving can be further enhanced.

Furthermore, by installing a surveillance camera support pole 23 equipped with a surveillance camera on the rear of the automobile on the center of the vehicle body B, it is possible to prevent so-called automobile back accidents that frequently occur in garages and building parking lots. . As for the rear camera monitoring cameras 2c and 2d, two cameras are mounted back to back on both sides of the distal end of the monitoring camera support pole 23 as in the front shooting, and the monitoring camera support pole 23 is installed at the center of the rear surface of the vehicle body B. 3 and 4, the drive mechanism of the rear photographing surveillance cameras 2 c and 2 d and the surveillance camera support pole 23 and the controller 11 b are connected through a drive cord 5 inserted into the pipe of the surveillance camera support pole 23.

  When the vehicle is traveling backward, the select lever 14 is put into the R range (reverse) as shown in FIG. 4B (the reverse gear is selected by the shift lever in the MT vehicle) (the vehicle is set to reverse) The switch SW21 is configured and the switch SW22 is opened, and the contact of the switch SW1 is configured by the depression of the pedal of the brake 10, so that the power supply 12 is supplied to the controller 11b and the power supply 12 to the controller 11a. Is switched off, and the monitors 13a and 13b in the driver's seat are switched to the images of the rear photographing surveillance cameras 2c and 2d.

Controller 11b is the same monitoring camera support poles 23 is extended or erected started, rear photographing a surveillance camera 2c, 2d starts, the floor surface and the adjacent space in the vicinity of the surface and rear side edges after the motor vehicle as a starting point Take a picture. The moving image is displayed on the monitors 13a and 13b in the driver's seat. In this way, a certain angle of view on both sides of the vehicle including a part of the vehicle body from a position away from the rear surface of the vehicle in conjunction with the brake operation of the vehicle and the operation of the selection lever to the R range is provided. if shooting range surveillance camera, display a moving range of the side and rear fixed angle of view on the monitor of the motor vehicle from the nearest in automotive vehicles invisible positions of the surface and rear side edges after the motor vehicle as a starting point can do.

In the state where the car is set to reverse, the driver reads the situation of the rear and both sides from the monitor image, for example, if it is in the garage, reads the wall surface of the garage, the position of the car parked on both sides, and The stop position is adjusted to prevent a so-called automobile back accident.
According to the present invention, when the vehicle is moved backward, information cannot be obtained from the surveillance camera unless the brake is applied, that is, whether the vehicle is in a forward state or a reverse state, Information required for safe driving cannot be obtained unless the brake operation is performed as an action to seek safety by will.

  In the present invention, since the surveillance camera does not operate unless the driver performs the brake operation on his / her own intention, if he wants to obtain information on the road conditions in the immediate vicinity of his / her vehicle, he / she must follow the rules of traffic safety and It will be necessary to observe stoppage and deceleration once, and it can be provided to ordinary passenger cars to contribute to the reduction of traffic accidents.

DESCRIPTION OF SYMBOLS 1 Car, 2, 2a, 2b, Surveillance camera, 2c, 2d Rear view surveillance camera, 3,23 Surveillance camera support pole, 4 Winding drum, 5 Drive cord, 6 Electric motor, 7 Center gear, 8 Friction clutch, 9 code stopper, 10 a brake, 11a, 11b controller, 12 power supply, 13a, 13b monitor, 14 select lever, 15 pilot lamp, 1 7 bearing, 18 rotation shaft, 19 arm, 20 groove, 21 the flexible shaft rotating shaft, 22 a motor Axis of rotation, B

Claims (4)

The range of constant angle of view of the side, including the part of the body of an automobile from a certain distance away from the front on the central axis of the body of the automobile photographed by a surveillance camera, the resulting images car A vehicle driving safety confirmation method for displaying on a monitor,
Support the surveillance camera on the tip of the surveillance camera support pole on the front of the car,
When the car is set to forward, the surveillance camera support pole is projected to the front of the car body in conjunction with the brake operation of the car, and the car including a part of the car body from a certain distance from the front of the car The range of a certain angle of view on both sides of the vehicle is photographed with a surveillance camera, and the range of a certain angle of view from the side of the vehicle that cannot be seen from the windshield starting from the position of the bumper of the vehicle on the monitor inside the vehicle A driving safety confirmation method for an automobile characterized by displaying a video of A range of a certain angle of view on the center axis of the car body, including a part of the car body, is taken from a position away from the rear surface by a surveillance camera, and the obtained image is used as a monitor inside the car. A method for confirming the driving safety of a car to be displayed,
Support the surveillance camera on the tip of the surveillance camera support pole on the rear of the car,
When the car is set to reverse, the surveillance camera support pole is projected to the rear of the car body in conjunction with the brake operation of the car, and the car including a part of the car body from a certain distance from the rear surface of the car Take a range of a certain angle of view on both sides of the
The vehicle monitor displays a moving image in a range of a certain angle of view from the side and rear of the vehicle that cannot be seen from the inside of the vehicle starting from the positions of the rear surface and both side edges of the vehicle. Driving safety confirmation method. A surveillance camera support poles having a monitoring camera to be used for driving safety confirmation method of a motor vehicle according to any one of claims 1 or 2,
A surveillance camera support pole provided with a surveillance camera, wherein the surveillance camera support pole is a pipe made of a material having elasticity and gradually restoring. A surveillance camera support poles having a monitoring camera to be used for driving safety confirmation method of a motor vehicle according to any one of claims 1 or 2,
The surveillance camera support pole is a combination of a plurality of pipes with different diameters that are sequentially fitted in multiple stages to support the surveillance camera, and is operated by remote control from the inside of the vehicle.
A large-diameter pipe that fits multiple pipes in sequence is supported by the car body,
The surveillance cameras are attached back to back on both sides of a small-diameter pipe at the tip as a pair ,
A surveillance camera support pole equipped with a surveillance camera, characterized in that at least the large-diameter pipe supported on the vehicle body is a pipe made of a material that has elasticity and is slowly restored.

Images