JPS5870166A - Method for measuring traveling time of vehicle - Google Patents
Method for measuring traveling time of vehicleInfo
- Publication number
- JPS5870166A JPS5870166A JP16835181A JP16835181A JPS5870166A JP S5870166 A JPS5870166 A JP S5870166A JP 16835181 A JP16835181 A JP 16835181A JP 16835181 A JP16835181 A JP 16835181A JP S5870166 A JPS5870166 A JP S5870166A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- picture
- center
- image
- binary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 22
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- KPQZUUQMTUIKBP-UHFFFAOYSA-N 1-(2-methyl-5-nitro-1-imidazolyl)-2-propanol Chemical compound CC(O)CN1C(C)=NC=C1[N+]([O-])=O KPQZUUQMTUIKBP-UHFFFAOYSA-N 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は、複数の観測地点にテレビカメラの如きイメ
ージセンサを配設し、観測地点を通過する車両のサンプ
リング車番の画像情報を比較照合することを特色とする
、道路交通における車両の走行時間計測方法に関するも
ので、交通管制システムの制御効果の向上に寄与するこ
とを目的としている。DETAILED DESCRIPTION OF THE INVENTION The present invention is characterized by disposing image sensors such as television cameras at a plurality of observation points and comparing and collating image information of sampled car numbers of vehicles passing through the observation points. It relates to a method for measuring vehicle travel time in road traffic, and is intended to contribute to improving the control effectiveness of traffic control systems.
全国の主要都市を中心とした交通管制センターは、自動
車交通流の点、411面の最適制御を行なうことにより
、車の走行時間を減少し、マクa的な経済効果、排気ガ
ス等公害の減少、交通事故の低減に多大の効果を発揮し
ている。こノ交通管制システムは1ソフトウエアによル
各種の制御方策を有しているが、その制御効果の評価指
数である車の走行時間を測定する有効な手段が存在しな
いため、最適な制御演算法と最適な評価がなされ難い現
状である。Traffic control centers located mainly in major cities across the country perform optimal control of vehicle traffic flow in 411 aspects, thereby reducing vehicle travel time, achieving macro-economic effects, and reducing pollution such as exhaust gas. , has been highly effective in reducing traffic accidents. Although this traffic control system has various control measures using one software, there is no effective means to measure vehicle travel time, which is an evaluation index of control effectiveness, so it is difficult to find the optimal control calculation. The current situation is that it is difficult to make an optimal evaluation based on the law.
いま、車両の走行時間を計測する従来の方法の−、二を
述べると、第1図に示すように1車両の走行路りの2地
点A、Bにそれぞれ人を配し1着目した車両Cの車番、
車種1色等を携帯無線機AI’*E1で連絡することに
より、A、Ba点間の距離lを走行する車両Cの走行時
間を測定する人手による方法、または車と路上との間に
双方向の無線通信路を有する場合には、第2図に示すよ
うに、走行路りの2地点A、Bにそれぞれ路上無線機A
2.B2を配設し、車両Cより特定のコードcoを路上
機A2 t B2を経由して交通管制センタMに送り、
A、B2点間の距離lを走行する車両Cの走行時間を算
定する径路誘導システムを利用する方法等がある。Now, to explain the second part of the conventional method of measuring the traveling time of a vehicle, as shown in Fig. 1, a person is placed at two points A and B on the route of one vehicle, and the vehicle C is focused on. car number,
A manual method of measuring the traveling time of vehicle C traveling distance l between points A and Ba by communicating the vehicle type, color, etc. using the portable radio AI'*E1, or a method of measuring the travel time of vehicle C traveling distance l between points A and Ba, or by communicating both the vehicle and the road. In the case of having a wireless communication channel for both directions, as shown in Fig. 2, roadside radio equipment A is installed at two points A and B on the road.
2. B2 is installed, and a specific code co is sent from the vehicle C to the traffic control center M via the roadside machine A2 t B2.
There is a method of using a route guidance system that calculates the traveling time of vehicle C traveling distance l between two points A and B.
しかし、上記人手による方法は、交通管制システムのリ
アルタイム計測には使用できないし、第2図の径路誘導
システムによる方法は、車載無線機を多数の車両に設置
しなければならないので実用化には向かないなど、それ
ぞれ欠点がある。However, the manual method described above cannot be used for real-time measurement of traffic control systems, and the method using the route guidance system shown in Figure 2 is not suitable for practical use because it requires installing in-vehicle radio equipment in many vehicles. Each has its own drawbacks, such as being short-lived.
本発明は、例えばテレビカメラの如き実用化の域にある
イメージセンサを利用して、交通管制システムにおける
車両走行時間を測定する手法を提供するもので、例えば
、第3図に示す車両走行路りの2地点A、Eにイメージ
センサI8A、 ISBをそれぞれ配設し、前記各地点
に到来する車両の車番を画像情報として、処理装置A3
またはB3を介してそれぞれ交通管制センタ(以下単に
センタという)Mに送り、センタMでA、B2地点での
画像情報を比較照合することにより、着目車両CがA、
B2点間の距1lIlを走行した時間を算定するように
したものである。The present invention provides a method for measuring vehicle travel time in a traffic control system by using an image sensor that is in the realm of practical use, such as a television camera. Image sensors I8A and ISB are installed at two points A and E, respectively, and the processing device A3 uses the vehicle numbers of vehicles arriving at each point as image information.
Alternatively, the images are sent to the traffic control center (hereinafter simply referred to as the center) M via B3, and the center M compares and collates the image information at points A and B2, so that the vehicle C of interest is A,
The time taken to travel the distance 1lIl between two points B is calculated.
以下、本発明による走行時間計測方法の実施例を図面と
共に説明する〇
第4図は、第3図の走行路りの1車線幅を3.5朔とす
る左方から右方に向う一車線の地点Aに、該車線の略中
央上方5mの位置にイメージセンサISAを配設し、そ
の車両検知ラインDLを該車線上に設定した軟部を示す
斜視図である。イメージセンサISAにテレビカメラを
使用するものとすると、車両検知ラインDLに到来した
車両Cのテレビカメラによる画像情報は、第5図のよう
に示される。このような画像は走査型テレビカメラの場
合、時間1/30 sec ニl tI rft (0
割合で得られる。車両Cが検知ラインDLに到来したこ
とを画像上で検出すると、そのときの1画面の画像情報
を画像メモリに記憶する。Hereinafter, an embodiment of the traveling time measuring method according to the present invention will be explained with reference to the drawings. Figure 4 shows a single lane running from the left to the right on the traveling road shown in Figure 3, where the width of each lane is 3.5 mm. 2 is a perspective view showing a soft part in which an image sensor ISA is disposed at a position 5 m above the approximate center of the lane at point A, and its vehicle detection line DL is set on the lane. FIG. If a television camera is used as the image sensor ISA, image information obtained by the television camera of the vehicle C that has arrived at the vehicle detection line DL is shown as shown in FIG. In the case of a scanning television camera, such an image takes a time of 1/30 sec nil tI rft (0
Obtained as a percentage. When it is detected on the image that the vehicle C has arrived at the detection line DL, one screen of image information at that time is stored in the image memory.
ただし、本方法の場合、全画面を総て記憶する必要はな
い。すなわち、第5図に示す検知ラインDLとDLから
の高さくイ)の線およびナンバープレー)NPを包含す
る両側の線(ロ)および(ハ)で囲まれた部分の画像情
報を、高速A−D(アナログ−デジタル)変換して記憶
すれば十分である。車両Cの前部に取付けられているナ
ンバープレートNPは普通車の場合、30=40cm+
。However, in the case of this method, it is not necessary to memorize the entire screen. That is, the image information of the portion surrounded by the detection line DL and the line (a) at the height from DL and the line (b) and (c) on both sides that include the number play) NP shown in FIG. -D (analog-digital) conversion and storage is sufficient. The license plate NP attached to the front of vehicle C is 30 = 40 cm + in the case of a regular car.
.
大形車の場合60〜70CI11の範囲にあって概略一
定している。また車両への取付部は、車両の中心から左
右の何れに対しても±l cm以内と考えてよい。さら
に取付傾斜角も±10〜20°の範囲にある。In the case of large vehicles, it is approximately constant in the range of 60 to 70 CI11. Furthermore, the attachment point to the vehicle can be considered to be within ±l cm from the center of the vehicle to either the left or right. Furthermore, the mounting inclination angle is also in the range of ±10 to 20°.
上記の理由から、車両の検知情報をもとに、第5図の画
像のうちからナンバープレー)NPの含まれる部分画像
のみを切り取り、記憶するようにする。そのため、第4
図のイメージセンサI8Aのように1個のテレビカメラ
を設置し1−車線を監視するものとする。第4図に示し
たように車線幅を5.5mとし、一画面を512×51
2の画素分解能で構成すると、070m71画素の分解
能となる。なお、ナンバープレートの大きさは無数にあ
るものではなく、一般には数種類に分類される。第6図
にナンバープレートNPの大きさの1例を示す。同図に
示すように文字の肉厚が12wIなので一分解能を上げ
るため、第5図の画像を第7図に示す如・くズームアツ
ブする必要がある。そこで、車線幅3.511の第5図
の画像をズームアツプしてLIIIXIIllの面を表
わす画像に拡大し、これを512x512画素の分解能
で構成すると、略0.2 cm X 0.2 cm71
画素の分解能となり、十分であるー。For the above reasons, based on the vehicle detection information, only the partial image containing the number play (NP) is cut out from the image shown in FIG. 5 and stored. Therefore, the fourth
Assume that one television camera is installed to monitor the 1st lane, like the image sensor I8A in the figure. As shown in Figure 4, the lane width is 5.5m, and one screen is 512 x 51
When configured with a pixel resolution of 2, the resolution is 070m71 pixels. Note that license plates do not have an infinite number of sizes, but are generally classified into several types. FIG. 6 shows an example of the size of the license plate NP. As shown in the figure, the thickness of the characters is 12wI, so in order to increase the resolution by one level, it is necessary to zoom in on the image in FIG. 5 as shown in FIG. 7. Therefore, if we zoom in on the image in Figure 5 with a lane width of 3.511 and enlarge it to an image representing the surface of LIIIXIIll, and configure this with a resolution of 512 x 512 pixels, it will be approximately 0.2 cm x 0.2 cm71
It has a pixel resolution, which is sufficient.
つぎに、上記拡大画像のうちがら、ナンバープレー)N
Pの部分のみをっぎのようにして抽出する。すなわち1
ナンバー少レートNPの白の部分は輝度が高いので、こ
の部分を論理値子”1″とし、黒の文字部分を−HI
I+とすると、第8図に示すようにナンバープレートの
2値画像が得られる。この2値化された輝度を、第3図
に示した処理装置A3における輝度のスライスレベルで
処理し、2値に符号化処理された画像を高速伝送回線を
通してセンタMに送信する■同様の処理過程を経て、B
地点からも到来車両ごとにナンバープレートの2値化情
報がセンタMに送られてくる。センタMではA、B両地
点から送られてくる画像情報をもとにしてナンバープレ
ートの照合を行ない、地点Aを通過した車両が地点Bを
通過する時刻を知り、車両CのA−、B両地点間走行時
間を計測するのである。Next, out of the enlarged image above, number play) N
Extract only the P part as shown below. i.e. 1
The white part of the number low rate NP has high brightness, so this part is set to the logic value "1", and the black text part is set to -HI.
If I+, a binary image of the license plate is obtained as shown in FIG. This binarized luminance is processed at the luminance slice level in the processing device A3 shown in Fig. 3, and the binary encoded image is transmitted to the center M through a high-speed transmission line ■Similar processing After the process, B
Binarized license plate information is sent to the center M for each arriving vehicle from the location. Center M verifies the license plate based on the image information sent from both points A and B, learns the time when the vehicle that passed point A will pass point B, and identifies the time when the vehicle that passed point A will pass point B. It measures the travel time between the two points.
上記の場合、本発明の方法では、ナンバープレートの文
字、数字を解読するという複雑な処理は行なわないで、
第9図および第10図によって説明するように、ナンバ
ープレートのサイズを規格化して直接パターンのマツチ
ングをとるようにする。サイズを規格化するとは、一般
にナンバープレートは縦:横−1=2の比率のものが7
0〜80%と圧倒的に多いので、縦。In the above case, the method of the present invention does not involve the complicated process of decoding the letters and numbers on the license plate.
As will be explained with reference to FIGS. 9 and 10, the size of license plates is standardized to directly match patterns. Standardizing the size means that license plates generally have a ratio of height: width - 1 = 2.
It is overwhelmingly 0-80%, so it is vertical.
横を同一比率で網目状に細分化し、細分化の総和が等し
くなるようにしておくのである。The horizontal parts are subdivided into meshes at the same ratio, so that the total sum of the subdivisions is equal.
つぎに、第9図について述べると、同図の(5)。Next, referring to FIG. 9, (5) in the same figure.
■)は共に同一ナンバープレートの画像で、同図(4)
を地点Aでの撮影画像NPa、同図CB)を地点Bでの
撮影画像NPbとする。ところで、第3図のイメージセ
ンサISA、 ISBに順次走査型ノテレビカメラを用
いる場合、一画面の走査時間は約1/30 secであ
るが、ナンバープレート部分の走査はその115、すな
わち約1/150 secで完了する。車両の走行速度
を6 o Mhとすると、前記走査時間中に車両は略I
Qcm移動することになる。しかし、これを51++の
設置高さのカメラで前方10〜15fNの車両を撮影す
れば、パターン照合上に差支えない画像が得られる。従
って、第9図(4)、Φ)の画像面積は必ずしも等しい
ものではなく、異なるものとしなければならない。しか
し、・両者が相似形であることはいうまでもない。■) are both images of the same license plate, and (4) in the same figure
Let be the photographed image NPa at point A, and let CB in the figure be the photographed image NPb at point B. By the way, when a progressive scanning TV camera is used for the image sensors ISA and ISB in Fig. 3, the scanning time for one screen is approximately 1/30 sec, but the scanning time for the license plate portion is 115 seconds, or approximately 1/30 sec. Completes in 150 seconds. Assuming that the traveling speed of the vehicle is 6 o Mh, the vehicle will be approximately I during the scanning time.
It will move Qcm. However, if a camera with a height of 51++ is used to photograph the vehicle at a distance of 10 to 15 fN in front of the vehicle, an image suitable for pattern matching can be obtained. Therefore, the image areas of FIG. 9(4), Φ) are not necessarily equal and must be different. However, it goes without saying that the two are similar.
それ故、第9図(1)、@にそれぞれ破線の網目で示す
ように、各画面NP21.NPbを相似面積に比例した
面積で細分すると、それぞれの細分数の和は等しく、従
って、同図(4)の網目の交点”1pa2 t a5
* ””と、同図ノ)ノ網目(7)交点b1.b2゜
bs+・・・はそれぞれ対応しており、それらの総和は
互に等しい。そこで、画像NPa、NPbの互に対応す
る点a1とbl 、 a2とb2.a3とb5゜・・・
について、輝度の2値化論理値の相互の乗算を施し1全
画面についてそれらの総和DO=Σaibiを求めるの
である。第10図はその処理過程を示すフローチャート
で、規格化された画像NPa、 NPbからの対応点の
論理値の積aibiを求め、その総和DOがスレショル
ドレベル以上であれば、画像NPaとNPbのパターン
の一致が確認されることを示している。Therefore, each screen NP21. When NPb is subdivided into areas proportional to the similar areas, the sum of each subdivision number is equal, so the intersection of the meshes in Figure (4) ``1pa2 t a5''
* "" and the mesh (7) of the same figure intersect b1. b2゜bs+... correspond to each other, and their sums are equal to each other. Therefore, mutually corresponding points a1 and bl, a2 and b2 . a3 and b5゜...
Then, the binarized logical values of brightness are multiplied with each other to obtain their sum DO=Σaibi for one entire screen. FIG. 10 is a flowchart showing the processing process. The product aibi of the logical values of corresponding points from the standardized images NPa and NPb is calculated, and if the sum DO is above the threshold level, the pattern of the images NPa and NPb is determined. indicates that a match is confirmed.
以上の実施例で説明したように、本発明の方法によれば
、車番を解読するという高度な技術を用いなくても、車
番のパターンのマツチング′を求めることによって車両
の走行時間計測が可能である。As explained in the above embodiments, according to the method of the present invention, vehicle running time can be measured by finding the matching of car number patterns without using advanced technology for decoding car numbers. It is possible.
なお、B地点が多車線あるときは、イメージセンサをW
数個設置し、その映像信号を切換えて順次処理してもよ
い。また一般に、ナンバ−プレートの汚れ、歪、ボケ等
、S/Nを劣化させる原因は極めて多いので、車番その
もの・を解読することは困難な点があるが、本発明のよ
うにナンバープレートのパターン照合による方法であれ
ば、そのような困難は解消される。さらに走行時間の計
測に際しては、到来車両の全車両に対して適用する必要
はなく、サンプリング車両に対して適用できればよいの
で、明瞭に認識できる車番を選択すれば、本方法の効果
は一層発揮される。In addition, when point B has multiple lanes, the image sensor is
Several units may be installed and the video signals may be switched and sequentially processed. In general, there are many causes of deterioration of S/N such as dirt, distortion, and blurring of the license plate, so it is difficult to decipher the car number itself. A method based on pattern matching eliminates such difficulties. Furthermore, when measuring the travel time, it is not necessary to apply it to all arriving vehicles, but only to a sampling of vehicles, so if you select a vehicle number that can be clearly recognized, the effectiveness of this method will be further enhanced. be done.
第1図は人手による車両走行時間計測方法の1例を示す
説明図、第2図は車上と路上間の双方向無線通信路を利
用する車両走行時間計測方法の1例を示す説明図、第3
図以下は本発明車両走行時間計測方法の実施例を示すも
ので、第3図は装置配設状態の概要を示す説明図、第ヰ
図は車両検知ラインを設定するイメージセしす配設の略
示図、第5図は検知ラインに到来した車両の画像略図、
第6図はナンバープレートの大きさを示す1例図、第7
図は第5図の車両画像のズームアツプ図、第8図はナン
バープレート輝度の2値化の説明図、第9図はナンバー
プレートのサイズ規格化の説明用図、第10図はナンバ
ープレートのパターン確認処理過程を示すフローチャー
トである。
L:車両走行路、A、B:所要地点、I8A。
ISB :イメージセンサ、DL :車両検知ライン、
C:車両、NPCナンバープレート、 NPa、 NP
b:ナンバープレートパターン。
特許出願人
日本信号株式会社
代 理 人
市 川 理 吉
第1図
第2I21
第3図
、〈′FIG. 1 is an explanatory diagram showing an example of a method for measuring vehicle travel time manually; FIG. 2 is an explanatory diagram showing an example of a method for measuring vehicle travel time using a two-way wireless communication channel between the vehicle and the road; Third
The following figures show an embodiment of the vehicle running time measuring method of the present invention. Fig. 3 is an explanatory diagram showing an overview of the equipment arrangement state, and Fig. 3 shows the arrangement of the image sensor for setting the vehicle detection line. A schematic diagram, FIG. 5 is a schematic image diagram of a vehicle that has arrived at the detection line,
Figure 6 is an example of the size of a license plate, Figure 7 is an example of the size of a license plate.
The figure is a zoomed-up view of the vehicle image in Figure 5, Figure 8 is an explanatory diagram of binarization of license plate brightness, Figure 9 is an explanatory diagram of standardization of license plate size, and Figure 10 is a license plate pattern. It is a flowchart showing a confirmation processing process. L: Vehicle driving route, A, B: Required point, I8A. ISB: Image sensor, DL: Vehicle detection line,
C: Vehicle, NPC license plate, NPa, NP
b: License plate pattern. Patent Applicant: Nippon Signal Co., Ltd. Attorney: Rikichi Kawa, Figure 1, Figure 2I21, Figure 3,
Claims (1)
ージセンサを配設して車両検知ラインを設定し、前記検
知ラインに到来する車両の前記イメージセンサによる撮
影画像から該車両のナンバープレート画像を抽出し、か
つ抽出された画像の輝度を2値の論理値に変換して照合
可能に規格化し、前記複数地点から得られる規格化され
た車両のナンバープレートパターンを照合することによ
り、前記複数地点間の車両走、 行時間の計測を可能
にしたことを特徴とする車両の走行時間計測方法。A vehicle detection line is set by disposing an image sensor at a plurality of required positions on a vehicle travel route, and a license plate image of a vehicle is extracted from an image taken by the image sensor of a vehicle arriving at the detection line. The brightness of the extracted image is then converted to a binary logical value and standardized to enable matching, and the standardized vehicle license plate patterns obtained from the plurality of points are compared. A method for measuring vehicle travel time, characterized in that it is possible to measure vehicle travel and traveling time.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP16835181A JPS5870166A (en) | 1981-10-21 | 1981-10-21 | Method for measuring traveling time of vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP16835181A JPS5870166A (en) | 1981-10-21 | 1981-10-21 | Method for measuring traveling time of vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS5870166A true JPS5870166A (en) | 1983-04-26 |
JPH0373820B2 JPH0373820B2 (en) | 1991-11-25 |
Family
ID=15866451
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP16835181A Granted JPS5870166A (en) | 1981-10-21 | 1981-10-21 | Method for measuring traveling time of vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5870166A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009043742A1 (en) * | 2009-09-30 | 2011-04-14 | Jenoptik Robot Gmbh | Procedure for the immediate punishment of a traffic violation |
CN110068702A (en) * | 2019-04-15 | 2019-07-30 | 南方电网科学研究院有限责任公司 | Speed measuring device and method of insulator detection robot |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS48104522A (en) * | 1972-04-13 | 1973-12-27 | ||
JPS5254309U (en) * | 1975-10-15 | 1977-04-19 | ||
JPS5531423A (en) * | 1978-08-25 | 1980-03-05 | Osaka Oxgen Ind Ltd | Deodorization of waste gas |
-
1981
- 1981-10-21 JP JP16835181A patent/JPS5870166A/en active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS48104522A (en) * | 1972-04-13 | 1973-12-27 | ||
JPS5254309U (en) * | 1975-10-15 | 1977-04-19 | ||
JPS5531423A (en) * | 1978-08-25 | 1980-03-05 | Osaka Oxgen Ind Ltd | Deodorization of waste gas |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009043742A1 (en) * | 2009-09-30 | 2011-04-14 | Jenoptik Robot Gmbh | Procedure for the immediate punishment of a traffic violation |
DE102009043742B4 (en) * | 2009-09-30 | 2019-04-18 | Jenoptik Robot Gmbh | Procedure for the immediate punishment of a traffic violation |
CN110068702A (en) * | 2019-04-15 | 2019-07-30 | 南方电网科学研究院有限责任公司 | Speed measuring device and method of insulator detection robot |
Also Published As
Publication number | Publication date |
---|---|
JPH0373820B2 (en) | 1991-11-25 |
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