JP7272920B2 - garbage truck - Google Patents

Description

The present invention comprises a garbage storage box for storing garbage, and a garbage insertion box having a garbage loading device that is connected to the garbage storage box and pushes the garbage thrown in from the garbage insertion port into the garbage storage box. Regarding collection vehicles .

Conventionally, for example, as in Patent Document 1, a garbage inlet safety device in a garbage collection vehicle equipped with a raking member for raking the garbage thrown in from the garbage inlet into the inside of the garbage inlet box, A sensor for detecting the relative distance between the garbage inlet and the worker, a stop device for emergency stop of the raking member, and the raking member crossing the garbage inlet in the raking direction and detected by the sensor. It is known to have a control device that activates the stopping device when the relative distance is less than or equal to a predetermined distance and deactivates the stopping device otherwise.

JP-A-2006-36466

As illustrated in FIG. 5, in the garbage truck 101 of Patent Document 1, only the relative distance between the transmitter 111 attached near the garbage inlet and the receiver 110 attached to the worker 150 is measured. , the detection range is circular. On the other hand, the dangerous area A1 where the stopping device is to be operated has a rectangular shape substantially along the periphery of the garbage inlet when viewed from above. In FIG. 5, the range of the dangerous area A1 is indicated by hatching. Conventionally, when the detection range is set according to the rear end position of the dangerous area A1 in the longitudinal direction of the vehicle, it becomes a small semicircular detection range A01 surrounded by a thick broken line in FIG. There is a problem that a large undetectable area A02 (dangerous area A1-semicircular detection area A01) is created on the outside in the vehicle width direction. Further, conventionally, when the detection range is set according to the left and right end positions of the dangerous area A1 in the vehicle width direction, the large semicircular detection range A03 indicated by the thick broken line in FIG. However, there is a problem that the detection range extends to a wide area A04 (semicircular detection range A03-danger area A1, indicated by cross hatching). For this reason, conventionally, it has been difficult to operate the stopping device accurately in accordance with the danger area A1.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and an object of the present invention is to specify a detection range to reliably detect a worker's position, thereby improving safety.

In order to achieve the above object, the present invention identifies the direction and distance of the worker from the signal received by the communication device.

Specifically, in the first invention, there is a garbage storage box for storing garbage, and a garbage loading device connected to the garbage storage box and pushing the garbage introduced from the garbage inlet into the garbage storage box. For a garbage truck equipped with a garbage dump box and
The above garbage truck is
A first communication device provided for the worker who loads the garbage,
A second communicator provided in the garbage throwing box and transmitting or receiving a signal to the first communicator;
a position specifying unit that specifies the direction and distance of the worker with respect to the second communicator based on communication between the first communicator and the second communicator;
A control unit that controls the stop or operation of the garbage loading device based on the information of the position specifying unit;
A storage unit in which the garbage inlet and / or the detection area behind the garbage inlet is set and saved,
The detection area is set by a predetermined threshold range in which the direction and the distance are paired;
The location determining unit calculates a measurement from the direction and the distance and determines whether the measurement falls within the threshold range;
The control unit is configured to stop or activate the garbage loader upon being informed by the position specifying unit that the measured value is within the threshold range.

According to the above configuration, in addition to the relative distance between the garbage inlet and the worker, the direction in which the worker is present can be detected, so a more optimal detection range can be set according to the shape of the garbage inlet. This makes it possible to reliably control the operation and stop of the garbage loading device according to the position of the operator.

In the second invention, in the first invention,
Either one of the first communication device and the second communication device is provided with a plurality of antennas, and short-range wireless communication is performed between the first communication device and the second communication device. ing.

According to the above configuration, it is possible to accurately detect the direction of arrival of radio waves from the amount of delay of radio waves in a plurality of antennas.

In a third invention, in the second invention,
The position specifying unit is configured to calculate the measured value from the radio field strength obtained by the first communication device or the second communication device and the angle obtained from the signals transmitted or received by the plurality of antennas. ing.

According to the above configuration, the distance from the second communication device to the first communication device (worker) is calculated based on the obtained radio wave intensity, and the distance from the second communication device to the first communication device is calculated based on the obtained angle. The direction to the communicator (worker) is calculated. Then, the position of the worker is specified by the paired measurement value of the distance and the direction. For example, if the position of the specified worker is too close to the garbage inlet, the garbage loading device can be stopped, and if the worker leaves there, the operation stop state of the garbage loading device can be canceled. can ensure the safety of

In the fourth invention, in the third invention,
Further equipped with an automatic tailgate opening and closing device that automatically operates the tailgate that opens and closes the garbage inlet,
The detection area has a gate opening area that opens the tailgate,
The position specifying unit calculates the measured value from the radio wave intensity obtained by the first communication device or the second communication device and the angle obtained from the signals transmitted or received by the plurality of antennas, and calculates the measured value is within the second threshold range corresponding to the gate open area,
The controller is configured to open the tailgate upon being informed by the locator that the measured value falls within the second threshold range.

According to the above configuration, by opening the automatic tailgate according to whether the position of the detected worker is within the second threshold range, for example, when the worker approaches the garbage inlet, the worker If the automatic tailgate can be opened without the need for opening the automatic tailgate, the garbage can be easily loaded.

In the fifth invention, in the third or fourth invention,
The position specifying unit calculates the measured value from the radio wave intensity obtained by the first communication device or the second communication device and the angle obtained from the signals transmitted or received by the plurality of antennas, and calculates the measured value is within the third threshold range;
The control unit, based on being informed from the position specifying unit that the measured value does not fall within the third threshold range, stops the garbage loading device in operation and the garbage loading device. It is configured to perform control that disables the operation of

According to the above configuration, when the worker leaves the area corresponding to the third threshold, a person other than the worker cannot touch the garbage loading device in operation, and the garbage loading device Even if you try to activate it, you cannot operate it, so it is possible to ensure safety when a person other than the operator approaches the garbage inlet.

In the sixth invention, a garbage storage box for storing garbage, a garbage storage box connected to the garbage storage box and having a garbage loading device for pushing the trash thrown in from the garbage inlet into the garbage storage box, A control device for a garbage truck control method comprising:
The control method of the above garbage truck is
A pairing step in which the worker operates the first communication device carried by standing at the approach work limit position and pairs with the second communication device provided in the garbage throwing box;
a distance from the second communication device to the worker based on the radio field intensity measurement value in the pairing process detected by the second communication device;
a direction of the worker with respect to the second communicator from communication between the first communicator and the second communicator;
and setting a paired value of the distance and the direction at the approach work limit position as a reference point;
a detection area setting step of setting a rectangular detection area including a reference line extending in the vehicle width direction through the reference point based on a predetermined threshold range;
After the detection area setting step, the second communication device measures the distance and the direction of the worker in operation from the first communication device, and whether the measured value falls within the threshold range. a monitoring step for monitoring
The monitoring step includes an emergency stop step of stopping the garbage loading device when the distance and the direction with respect to the first communication device are within the threshold range.

According to the above configuration, the operator can arbitrarily set the approach work limit position at which the worker wants to stop the operation of the garbage loading device, and the detection area can be set according to the set approach work limit position. can be set easily. Moreover, it is possible to reliably stop the garbage loading device in accordance with the detection area, and the control method can be excellent in convenience and safety.

In the seventh invention, in the sixth invention,
and an operation permitting step of canceling the operation stop state of the garbage loading device when the distance and the direction from the first communication device change from within the threshold range to outside the threshold range.

According to the above configuration, once the operation of the garbage loading device is stopped due to the worker getting too close to the garbage loading device, when the worker descends to a safe position, the operation is stopped without the need for operator's operation. can be released, the control method can be more convenient and safer.

As described above, according to the present invention, by specifying the direction and distance of the worker from the signal received by the communication device, the detection range is specified, the position of the worker is reliably detected, and safety is ensured. can be improved.

It is a top view showing the garbage throwing box in which the 1st communication device and the 2nd communication device are in a communication state about the garbage truck which concerns on one Embodiment of this invention. It is a side view which shows the refuse throwing box in which the 1st communication device and the 2nd communication device are in a communication state. FIG. 2 is a schematic diagram for explaining a radio wave direction-of-arrival estimation method using an array antenna; It is a flowchart which shows the control method of a garbage truck. FIG. 10 is a plan view showing a conventional trash box in communication; FIG. 10 is a plan view showing a conventional trash box in communication;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.

1 and 2 show the rear part of the garbage truck 1 of the embodiment of the present invention. (none of them are shown), and a garbage throwing box 5 having a garbage loading device 3 which is connected to this garbage housing box and pushes the garbage thrown in from the dust throwing port 2 into the dust housing box. Although the structure of the garbage loading device 3 is not particularly limited, for example, a pushing plate or the like is driven by a hydraulic actuator, and the driving of the hydraulic actuator is controlled on/off by an electromagnetic valve or the like. An operation unit 9 for the operator 50 to operate the garbage loading device 3 is provided on the side of the garbage inlet 2 in the garbage throwing box 5 .

And this garbage collection vehicle 1 is provided with the worker 50 who loads the garbage 51 into the garbage inlet 2, and is provided with the signal transmitter 10 as a 1st communication device. In this embodiment, the signal transmitter 10 is a transmitter that uses short-range wireless communication such as Bluetooth (registered trademark) 5.1, and because it is small and consumes low power, it can be used for several years even with a button battery.

On the other hand, the garbage truck 1 is provided with a signal receiver 11 as a second communication device for receiving a signal from the signal transmitter 10 at the upper edge of the garbage inlet 2 in the garbage throwing box 5, for example. The position where the signal receiver 11 is provided is not particularly limited as long as it is in the vicinity of the garbage inlet 2, but in this embodiment, it is provided near the back eye camera 7 in the center of the left and right. The signal receiver 11 is provided with a plurality of antennas 11a, as shown in FIG. The signal received by the signal receiver 11 is sent to, for example, the position specifying unit 6 to specify the direction and distance of the worker 50 .

Specifically, three or more (N) antennas 11a are arranged at regular intervals d (that is, they are array antennas), and an incoming radio wave from the signal transmitter 10 is directed at an angle θ with respect to the antenna 11a. When it arrives, there is a path difference l (l=d sin θ). Since the path difference l appears as a delay of the received signal, the position specifying unit 6 calculates the angle θ from the amount of delay of the radio wave at each antenna 11a. Also, the position specifying unit 6 estimates the distance X to the signal transmitter 10 from the radio wave intensity E. FIG. That is, the position specifying unit 6 calculates the measured value from the direction (angle θ) and distance X (radio field intensity E). Specifically, the position specifying unit 6 obtains the measured value (X, θ). Further, the position specifying unit 6 is configured to determine whether or not the measured value (X, θ) is within the threshold range (detection area).

The control unit 4 is configured to control the operation and stop of the garbage loading device 3 based on information on the angle θ and the position X of the position specifying unit 6 . Although detailed explanation is omitted, the control unit 4 is made up of a microcomputer including, for example, a CPU, etc., and by controlling an electromagnetic valve, etc., can control the entire garbage storage box including the garbage loading device 3 and the garbage insertion box. is configured as The position specifying unit 6 may be included in the control unit 4 . The garbage truck 1 is provided with a storage unit 8 in which the garbage inlet 2 and/or the detection areas A1, A2, ... behind the garbage inlet 2 are set and saved. The storage unit 8 may also be included in the control unit 4 . The detection areas A1, A2, . The detection areas A1, A2, .

The dangerous area A1 is an area where a part of the body may come into contact with the garbage loading device 3 while the worker 50 is carrying out the garbage loading work, and has a rectangular shape in plan view. The tailgate open area A2 is a rectangular area wider than that in plan view. The loading area A3 is a rectangular area wider than the tailgate open area A2 in plan view, and when the worker 50 leaves the area, the garbage loading device 3 in operation by a person other than the worker 50 , and the operation part 9 of the garbage loading device 3 cannot be operated. The size of the loading area A3 may be the same as that of the tailgate open area A2.

Although details will be described later, the control unit 4 determines from the position specifying unit 6 whether or not the measured values (X, θ) are within the first threshold range of the dangerous area A1 and the third threshold range of the loading area A3. It is configured to stop or operate the garbage loading device 3 based on what has been communicated.

In addition, the garbage throwing box 5 is provided with an automatic tailgate 15 having a rectangular shape in a rear view that automatically opens and closes the garbage throwing port 2 . Although not shown in detail, the garbage truck 1 has an automatic tailgate opening and closing device 16 that automatically operates an automatic tailgate 15 that opens and closes the garbage inlet 2. This automatic tailgate opening and closing device 16 has an electric motor 16a , a belt 16b driven by this, a limit switch, etc., and the electric motor 16a is rotated forward or reverse based on the signal from the control unit 4 to open and close the automatic tailgate 15.

As mentioned above, the sensing area also has a gate opening area A2 that causes the automatic tailgate 15 to open. The position specifying unit 6 calculates a measured value (X, θ) from the radio wave intensity E obtained by the position specifying unit 6 or the signal transmitter 10 and the angle θ obtained from the signals transmitted or received by the plurality of antennas 11a. At the same time, it is determined whether or not this measured value (X, θ) is within the second threshold range of the gate open area A2. Then, the control unit 4, based on the notification from the position specifying unit 6 that the measured values (X, θ) are within the second threshold range of the gate open area A2, automatically closes the tailgate. 15 is configured to open.

－Control method of garbage truck－
Next, FIG. 4 is also used and demonstrated concretely about the control method of the garbage truck 1 which concerns on this embodiment.

First, in the pairing step S01, the worker 50 stands at the approach work limit position, operates the signal transmitter 10 to be carried, and pairs with the signal receiver 11 provided in the trash box 5. This approach work limit position is, for example, when the worker 50 approaches the garbage inlet 2 and throws in the garbage 51 as shown in FIG. Let 3 be the position where you want to stop the operation. In this embodiment, as shown in FIG. 3, the arrival direction (angle θ) of radio waves can be accurately detected from the amount of delay of radio waves in the plurality of antennas 11a.

Next, in the reference point setting step S02, the distance X0 from the signal receiver 11 to the signal transmitter 10 of the worker 50 based on the radio wave intensity measurement value E0 detected by the signal receiver 11 in the pairing step, and the signal transmitter 10 and the direction (angle .theta.0) of the operator with reference to the signal receiver 11 is stored in the storage unit 8 and set as a reference point (X0, .theta.0).

Next, after the reference point setting step S02, in the detection area setting step S03, a rectangular dangerous area A1 including a reference line L0 extending in the vehicle width direction through the reference point (X0, θ0) is defined within a predetermined first threshold range. set based on Specifically, when the signal transmitter 10 communicates with the signal receiver 11 at a certain location in the danger area A1, the distance X1 from the signal receiver 11 to the signal transmitter 10 and the direction (angle θ1) (X1, .theta.1) is obtained, and the first threshold range is the range that this value (X1, .theta.1) can take when considering the entire danger area A1.

The reference line L0 is a line that overlaps the rear edge of the rectangular dangerous area A1 in the vehicle front-rear direction. The position of the reference line L0 is adjusted in the longitudinal direction of the vehicle by changing the location where the operator 50 pairs the signal receiver 11 and the signal transmitter 10 . That is, the position of the side of the rear end in the vehicle front-rear direction of the dangerous area A1 can be adjusted in the vehicle front-rear direction. On the other hand, in the present embodiment, the positions of the front edge in the vehicle front-rear direction and the left and right edges in the vehicle width direction of the rectangular dangerous area A1 are set in advance. The sides of the vehicle width direction left and right ends of the dangerous area A1 are set according to the left and right width of the garbage inlet 2.

The tailgate open area A2 (the (corresponding to the second threshold range) and the loading area A3 (corresponding to the third threshold range) may be set, or may be set in advance and stored in the storage unit 8 .

In this embodiment, in addition to the distance X obtained from the radio wave intensity E between the garbage inlet 2 and the worker 50, the direction (angle θ) in which the worker 50 exists can be detected, so the garbage inlet 2 A more optimal detection range can be set according to the approximately rectangular shape of the .

Next, after the detection area setting step S03, in the monitoring step S04, the signal receiver 11 detects the measured values (X, θ ) and monitor whether the measured value (X, θ) falls within any of the first threshold range, the second threshold range, and the third threshold range.

Next, in step S05, the position specifying unit 6 determines whether the measured value (X, θ) indicating the position of the worker is outside the loading area A3 (whether it is within the third threshold range). do.

When it is determined that the measured value (X, θ) is outside the loading area A3 (outside the third threshold range), the position specifying unit 6 determines that the worker 50 is far from the garbage inlet 2. do. This determination result is transmitted from the position specifying unit 6 to the control unit 4, and the process proceeds to step S06.

In the operation stop process of step S06, the control unit 4 stops the garbage loading device 3 in operation at the regular stop position of the loading cycle. As a result, it is possible to prevent an accident in which a person other than the worker 50 approaches the garbage inlet 2 and gets caught while the worker 50 is away from the garbage inlet 2. After the operation stop process of step S06, it progresses to step S13.

On the other hand, if it is determined in step S05 that the measured value (X, θ) is within the loading area A3 (within the range of the third threshold value), the process proceeds to step S07.

In step S07, the position specifying unit 6 determines whether the measured value (X, θ) is outside the preset tailgate open area A2 (whether it is within the second threshold range).

When determining that the measured value (X, θ) is outside the tailgate open area A2 (outside the second threshold range), the position specifying unit 6 determines that the operator 50 has moved outside the tailgate open area A2. judge that it did. This determination result is transmitted from the position specifying unit 6 to the control unit 4, and the process proceeds to step S08.

In the tailgate closing step of step S08, the controller 4 causes the automatic tailgate 15 to close. Also in this case, it is possible to prevent an accident that a person other than the worker 50 approaches the garbage inlet 2 and gets caught while the worker 50 is away from the garbage inlet 2. After the tailgate closing step of step S08, the process proceeds to step S13.

On the other hand, when it is determined in step S07 that the measured values (X, θ) are in the tailgate open area A2 (within the second threshold range), the position specifying unit 6 detects that the operator is in the tailgate open area A2. judged to have entered. This determination result is transmitted from the position specifying unit 6 to the control unit 4, and the process proceeds to step S09.

In the tailgate opening step of step S09, the control unit 4 automatically opens the closed automatic tailgate 15, and the process proceeds to step S10.

In step S10, the position specifying unit 6 determines whether the measured value (X, θ) is outside the danger area A1 (whether it is within the first threshold range).

When it is determined that the measured value (X, θ) is outside the dangerous area A1, the position specifying unit 6 moves the worker to a position where there is no risk that part of the body of the worker 50 will come into contact with the garbage loading device 3. 50 away to determine that safety is ensured. The determination result is transmitted from the position specifying section 6 to the control section 4, and the process proceeds to step S11.

In the operation permission step of step S11, the control unit 4 cancels the operation stop state of the garbage loading device 3 that was stopped in the middle of the loading cycle, and restarts the operation. After the operation permission process of step S11, it progresses to step S13.

On the other hand, when it is determined in step S10 that the measured values (X, θ) are in the danger area A1 (within the first threshold range), the position specifying unit 6 determines that the worker 50 has entered the danger area A1. to decide. The determination result is transmitted from the position specifying section 6 to the control section 4, and the process proceeds to step S12.

In the emergency stop process of step S12, the control unit 4 makes an emergency stop of the garbage loading device 3 in operation in the middle of the loading cycle. After that, the process proceeds to step S13.

In step S13, the control unit 4 determines whether or not the garbage loading operation has ended. Specifically, the control unit 4 determines whether the PTO (power take-off device) connected to the power source of the garbage loading device 3 is turned off. If the PTO is not off, the process returns to the monitoring step of step S04, and the processes of steps S05 to S12 are repeated.

For example, it is assumed that the position specifying unit 6 determines that the measured values (X, θ) are within the first threshold range in step S10 and that the garbage loading device 3 is stopped during operation in step S12. After that, when the position specifying unit 6 determines that the measured value (X, θ) is outside the first threshold range in step S10 of the repeated next process, the operation stop state of the garbage loading device 3 is released. be done. Then, the garbage loading device 3 resumes its operation from the emergency stop.

On the other hand, when the control unit 4 determines that the PTO is off in step S13, the process ends.

In this embodiment, in addition to the relative distance (distance X) between the garbage inlet 2 and the worker 50, the direction (angle θ) in which the worker 50 exists can be detected. , a more optimal detection range can be set. As a result, it is possible to reliably control the operation and stop of the garbage loading device 3 according to the position of the worker 50 .

In this embodiment, the distance to the signal transmitter 10 of the worker 50 is calculated from the radio wave intensity obtained by the signal receiver 11, and the position of the worker 50 is reliably specified by combining the obtained angle θ. If the position of this specified worker 50 is too close to the garbage inlet 2 (within the dangerous area A1), the garbage loading device 3 is stopped, and when it leaves (outside the dangerous area A1), garbage loading The safety of the operator 50 can be ensured because the operation stop state of the device 3 can be released.

In this embodiment, by opening and closing the automatic tailgate 15 according to whether the position of the detected worker 50 is within the second threshold range, when the worker 50 leaves the garbage inlet 2 ( Outside the tailgate open area A2), the automatic tailgate 15 is closed to ensure safety when a person other than the worker 50 approaches the garbage inlet 2, and conversely, the worker 50 approaches the garbage inlet 2. Occasionally (within the tailgate open area A2), the automatic tailgate 15 is opened without the need for the operator to open the automatic tailgate 15, so the garbage 51 can be easily loaded.

Therefore, according to the garbage truck 1 according to the present embodiment, it is possible to specify the detection range, reliably detect the position of the worker 50, and improve safety.

(Other embodiments)
The present invention may be configured as follows for the above embodiment.

That is, in the above-described embodiment, the worker 50 possesses the signal transmitter 10 as the first communication device, and the signal receiver 11 as the second communication device is provided near the garbage inlet 2. A signal transmitter 10 as a first communication device may be provided near the inlet 2, and the worker 50 may carry a signal receiver 11 as a second communication device.

Further, in the above embodiment, the plurality of antennas 11a are provided on the signal receiver 11, but they may be provided on the signal transmitter side. In this case, the control unit 4 calculates a measured value from the radio wave intensity obtained by the signal receiver 11 from the signal transmitter 10 and the angle obtained from the signals transmitted by the plurality of antennas, and the measured value is a predetermined product. It may be configured to stop or activate the garbage loader 3 or to open and close the automatic tailgate 15 when the loader threshold is exceeded or fallen below.

Further, in the above-described embodiment, the signal transmitter 10 is shown to be placed around the chest of the worker 50, but the signal transmitter 10 may be embedded in a wearable object attached to the head, limbs, or the like of the worker 50. , the worker 50 side can arbitrarily decide which part should be protected with priority.

Furthermore, in the above embodiment, the automatic tailgate 15 is opened and closed at the position of the worker 50, and the operation and stop of the garbage loading device 3 are controlled. may be linked.

The above embodiments are essentially preferable examples, and are not intended to limit the scope of the present invention, its applications, or uses.

1 Garbage truck
2 Garbage inlet
3 Garbage loading device
4 control unit
5 Garbage bin
6 Position specifying part
7 back eye camera
8 memory
9 Operation part
10 signal transmitter (first communication device)
11 signal receiver (second communication device)
11a antenna
15 Automatic tailgate
16 Automatic tailgate opener
16a electric motor
16b belt
50 workers
51 Garbage
A1 Hazardous area (detection area)
A2 Tailgate open area (detection area)
A3 Loadable area (detection area)
L0 reference line

Claims (4)

A garbage collection vehicle comprising: a garbage storage box for accommodating garbage; and a garbage collection box connected to the garbage storage box and having a garbage loading device for pushing the garbage thrown in from a garbage inlet into the garbage storage box. and
A first communication device provided for the worker who loads the garbage,
A second communicator provided in the garbage throwing box and transmitting or receiving a signal to the first communicator;
a position specifying unit that specifies the direction and distance of the worker with respect to the second communicator based on communication between the first communicator and the second communicator;
A control unit that controls the stop or operation of the garbage loading device based on the information of the position specifying unit;
A storage unit in which the garbage inlet and/or the detection area behind the garbage inlet is set and saved;
An automatic tailgate opening and closing device that automatically operates the tailgate that opens and closes the garbage inlet ,
The detection area is set by a predetermined threshold range in which the direction and the distance are paired;
The location determining unit calculates a measurement from the direction and the distance and determines whether the measurement falls within the threshold range;
The control unit is configured to stop or operate the garbage loading device based on being informed from the position specifying unit that the measured value is within the threshold range,
The locator calculates the measured value from the direction and the distance and determines whether the measured value falls within a second threshold range corresponding to a gate opening area for opening the tailgate. judge,
The control unit is configured to open the tailgate based on being informed by the location determination unit that the measured value is within the second threshold range.
A garbage truck characterized by: In the garbage truck according to claim 1,
Either one of the first communication device and the second communication device is provided with a plurality of antennas, and short-range wireless communication is performed between the first communication device and the second communication device. A garbage truck, characterized in that In the garbage truck according to claim 2,
The position specifying unit is configured to calculate the measured value from the radio field strength obtained by the first communication device or the second communication device and the angle obtained from the signals transmitted or received by the plurality of antennas. A garbage truck, characterized in that In the garbage truck according to claim 3 ,
The position specifying unit calculates the measured value from the radio wave intensity obtained by the first communication device or the second communication device and the angle obtained from the signals transmitted or received by the plurality of antennas, and calculates the measured value is within the third threshold range;
The control unit, based on being informed from the position specifying unit that the measured value does not fall within the third threshold range, stops the garbage loading device in operation and the garbage loading device. Garbage truck characterized by being configured to perform control to disable the operation of.

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