JP2018154463A - Garbage collector and emergency shut-down system mounted in the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To more reliably stop an operation of a garbage loading device when it is determined that a person H is in a dangerous area, by making a camera 7 photograph the vicinity of a garbage slot 4 of a garbage collector 100 and performing image processing.SOLUTION: A garbage collector 100 according to the present invention comprises a control device PLC that is energized by an energization line K3 when a garbage loading device performs a garbage loading operation. An image processing unit 8 interposed in the energization line K3 comprises an energization interrupting part (a central processing part CPU and a relay switch SW4) for interrupting the passage of an electric current through the control device PLC, when it is determined that a person H is in a dangerous area, on the basis of image data from a camera 7.SELECTED DRAWING: Figure 4

Description

  The present invention recognizes an operator in the vicinity of a dust inlet of a garbage truck by image processing technology, and stops the operation of the dust loading device when it is determined that the person is in a dangerous area. It relates to an emergency stop device.

  Conventionally, garbage collection vehicles have been equipped with a dust loading device in the dust throwing box provided at the rear of the chassis, and the dust thrown into the dust throwing box is put on a rotating plate or loading. It is scraped with a plate and loaded into the trash storage box. In addition, in order to prevent workers who put dust into the dust input port from being inadvertently caught in the dust loading device, there are various monitoring systems that monitor people in the vicinity of the dust input port. Proposed.

  For example, in the monitoring system described in Patent Document 1, a camera as an image pickup unit is provided at the upper rear portion of the dust box, and a lower dust inlet and a predetermined area behind it are photographed. If the image data captured by the camera is transmitted to the image processing device during the operation of the dust loading device and it is determined that a person has entered the entry prohibition area set in advance in the image, A stop command signal is transmitted to the control device of the loading device.

Japanese Patent No. 4283568

  In the monitoring system of the conventional example, the control device for the dust loading device and the image processing device are connected by electrical wiring, and the control device for the dust loading device that receives the stop command signal from the image processing device. Controls to switch the electromagnetic clutch of the PTO device to the disconnected state. The PTO device takes out the output of the engine and activates the hydraulic pump of the dust loading device, and the operation of the dust loading device can be stopped by switching the electromagnetic clutch to the disconnected state.

  However, in the monitoring system as described above, if there is any malfunction in the wiring between the image processing apparatus and the control apparatus, the stop command signal may not be received by the control apparatus. In addition, some abnormality may occur in the control device itself, and in these cases, the electromagnetic clutch of the PTO device cannot be properly controlled, and the dust loading device may not be stopped. .

  Focusing on this point, an object of the present invention is to more reliably stop the operation of the dust loading device according to the determination result of the image processing.

  If the person recognition device of the present invention takes a picture of the vicinity of the dust inlet of the garbage truck with a camera and determines that there is a person in a predetermined area near the dust inlet by the image processing device that receives the image data. Suppose an emergency stop device for a garbage truck that stops the operation of the dust loading device.

  The garbage truck is equipped with a control device for controlling the operation of the dust loading device, and is energized by a predetermined energizing line when the dust loading device is loading dust. In addition, it is configured to stop the dust loading device when the energization is interrupted. In this case, the image processing apparatus is provided in the energization line, and further includes an energization interrupting unit that interrupts energization to the control apparatus when it is determined that there is a person in the predetermined area.

  In the emergency stop device configured as described above, when the dust loading device is loaded by the control device, the control device is normally energized by the energization line. If the image processing apparatus determines that there is a person in a predetermined area (for example, equivalent to the entry prohibition area in Patent Document 1) near the dust inlet, the power supply interruption of the image processing apparatus interposed in the power supply line is performed. The power to the control device is cut off by the unit.

  When the energization is cut off, the control device stops the operation of the dust loading device. In particular, if the operation of the control device is stopped, even if an abnormality occurs in the control device itself, the operation of the dust loading device can be stopped without being affected by it. Further, since the image processing apparatus is interposed in the energization line so as to cut off the energization, a problem of wiring between the image processing apparatus and the control apparatus does not become a problem. Therefore, the operation of the dust loading device can be stopped more reliably.

  Preferably, as the energization cut-off unit that cuts off the energization as described above, the image processing apparatus includes a switch interposed in the energization line and opens the switch when it is determined that there is a person in a predetermined area. And a shut-off control unit that shuts off energization. The energization line may be an energization line in which an emergency stop button switch of a dust loading device is interposed, for example.

  That is, generally, in a garbage collection vehicle, an emergency stop button or the like is disposed in the vicinity of a dust inlet at the rear of the vehicle body, and a switch that is opened and closed according to the operation is provided in an energization line to the control device. . Therefore, an emergency stop energization line originally provided in the control system can be used by providing an image processing apparatus as described above in the energization line in which these switches are provided. A stop device can be configured.

  In other words, the present invention is a garbage truck equipped with the emergency stop device according to any one of claims 1 to 3. In this case, the dust loading device is provided in the inside of a dust box where the dust slot is opened on the back, and the camera is disposed on the back of the dust box above the dust slot. The image processing apparatus also includes an image output unit that displays a determination result that there is a person in a predetermined area together with an image photographed by the camera on a monitor disposed around the driver's seat.

  In such a garbage collection vehicle, the operation of the dust loading device can be more reliably stopped by the emergency stop device as described above. Further, the existing back camera can be used as a camera for image processing, and the cost can be reduced. Then, by displaying the image processing result on the back camera monitor, the driver can be promptly notified of the emergency stop of the refuse loading device and the reason thereof.

  According to the emergency stop device for a garbage collection vehicle according to the present invention, an image processing device for determining whether or not a person is present in a predetermined area near the dust inlet is provided in the energization line to the control device of the dust loading device. The energization to the control device is interrupted by the energization interrupting section. Therefore, the problem of wiring between the image processing device and the control device does not become a problem, and even if an abnormality occurs in the control device itself, it is more reliably loaded with dust without being affected by it. The operation of the device can be stopped.

It is a side view which shows the refuse collection vehicle which concerns on embodiment of this invention. It is explanatory drawing of the action | operation of the refuse loading apparatus with which the refuse collection vehicle of FIG. 1 was equipped. FIG. 2 is a hydraulic circuit diagram of a dust loading device of the garbage collection vehicle of FIG. 1. It is the schematic which shows the control apparatus of the garbage truck of FIG. 1, and its input-output state. It is explanatory drawing which shows schematic structure of the person recognition apparatus with which the garbage truck of FIG. 1 was equipped. It is a flowchart which shows an example of an image processing routine. It is explanatory drawing which shows an example of the image image | photographed with the camera. FIG. 5 is a view corresponding to FIG. 4 showing another form of the emergency stop device. FIG. 5 is a view corresponding to FIG. 4 showing another form of the emergency stop device.

  Hereinafter, an embodiment in which the present invention is applied to a rotary garbage truck will be described with reference to the drawings. In the following description, for the sake of convenience, the front, rear, left and right of the garbage truck may be simply referred to as front, rear, left and right.

  FIG. 1 shows a waste collection vehicle 100 equipped with an emergency stop device according to an embodiment of the present invention, and a dust storage box 2 and a dust input box 3 are provided on the chassis 1. The rear opening of 2 and the opening on the front surface of the dust box 3 are communicated with each other. In addition, the dust box 3 is pivotally supported by a left and right pivot 3a provided on the upper portion thereof, and is tilted by a pair of left and right tilt cylinders (not shown).

  In addition, a rectangular dust inlet 4 (see also FIG. 7) for throwing dust is opened at a lower portion of the rear side of the dust throwing box 3 and is opened and closed by a tailgate 5 that can be raised and lowered. It is like that. A switch box 6 for operations such as the operation of the dust loading device is provided on the left side of the dust inlet 4, and above the dust inlet 4, as will be described in detail later, A camera 7 is disposed so as to photograph the vicinity of the insertion port 4.

  As shown in an enlarged view in FIG. 2, a dust loading device for loading the thrown dust into the dust container 2 is installed inside the dust throwing box 3. The dust loading device of the present embodiment is a so-called rotary type that scrapes up dust by the rotation of the rotating plate 10 and pushes it into the dust container 2 by the pushing plate 20. That is, first, the rotating shaft 11 is constructed so as to extend in the width direction in the lower part in the dust box 3, and the base end side of the rotating plate 10 is fixed thereto.

  In the illustrated example, a hydraulic motor 13 that can rotate forward and backward is connected to an end of the rotating shaft 11 via a speed reduction mechanism 12. Therefore, the rotation of the hydraulic motor 13 is increased in torque by the speed reduction mechanism 12 and transmitted to the rotating shaft 11, and the rotating plate 10 is rotated integrally with the rotating shaft 11, so that the tip portion thereof has a substantially semicircular cross section. It moves to the front-back direction along the bottom wall of the dust box 3 formed in this.

  On the other hand, the pushing plate 20 is provided over the entire width direction of the dust throwing box 3 above the rotating plate 10 and can swing in the front-rear direction around the swing shaft 21 in the left-right direction provided in the upper part thereof. It is supported by. Further, the pushing plate 20 is provided with an extending portion 22 extending upward from the swing shaft 21, and a pushing cylinder 24 is installed between the extending portion 22 and a support pin 23 in front of the extending portion 22. The pushing plate 20 is swung back and forth by the expansion and contraction operation.

  That is, as shown by the solid line in FIG. 2, when the pushing plate 20 is at the most swung position (forward limit position) on the dust container box 2 side, the rotating plate 10 moves upward without interfering with the pushing plate 20. The pushing plate 20 swings toward the dust inlet 4 side with a delay. Then, the rotation of the rotating plate 10 continues even after the pushing plate 20 swings most toward the dust inlet 4 and reaches the retreat limit position indicated by the phantom line in FIG.

  The rotating plate 10 thus rotated scrapes dust to the dust container box 2 side and temporarily stops at a set stop position extending to the front dust container box 2 side as shown by a solid line in FIG. Then, the pushing plate 20 is swung to the dust container box 2 side, and the dust on the rotating plate 10 is pushed into the dust container box 2. When the pushing plate 20 reaches the advance limit position again, the rotating plate 10 is rotated upward again.

  As described above, the rotation of the rotating plate 10 and the swinging of the push-in plate 20 are repeated in synchronization with each other, whereby the dust thrown into the dust throwing box 3 is continuously loaded into the dust container box 2 (hereinafter referred to as dust stacking). Is called the “cold operation”). The configuration of the hydraulic circuit and the electronic control unit (control system) for operating the rotating plate 10 and the pushing plate 20 will be described below. For this purpose, the rotating plate 10 and the pushing-in portion are disposed inside the dust box 3. Switches LS1 to LS5 for detecting the position of the plate 20 are provided.

  That is, as shown in FIG. 2, the switches LS1 and LS2 that are turned on when the pushing plate 20 is at the forward limit position or the backward limit position, and the switch LS1 and LS2 that are turned on when the rotary plate 10 is at the set stop position. A switch LS3, a switch LS4 that is turned on when the rotary plate 10 is rotated in a positive direction (clockwise in FIG. 1) from the set stop position by a predetermined angle, and a switch LS5 that is turned on when the rotary plate 10 is further rotated by a predetermined angle. Is provided.

  The switches LS1 and LS2 are configured to detect a dog (not shown) provided at the end of the swing shaft 21 of the pushing plate 20, and the switches LS3 to LS5 are used for the rotation shaft 11 of the rotating plate 10. A dog (not shown) provided at the end is detected. Further, as these switches LS1 to LS5, for example, photoelectric switches, proximity switches, and the like can be used.

  As shown in FIG. 2 with hatching, the switches LS4 and LS5 move downward from the front edge portion 4a of the dust inlet 4 while rotating the rotating plate 10 to the rear thereof. The angle range Z until it is closest to the trailing edge 4b is detected. In this angle range Z, there is a risk that the rotating plate 10 may engulf part of the operator's body.

  Further, as shown in FIGS. 1 and 2, emergency stop buttons 60 and 61 and an emergency stop plate 62 for stopping the operation of the dust loading device are disposed in the vicinity of the dust inlet 4. . As shown in FIG. 1, an emergency stop button 60 is provided on the switch box 6 on the left side of the dust inlet 4, and an emergency stop button 61 is provided on the right side of the dust inlet 4 as indicated by a broken line in FIG. It is arranged. The emergency stop plate 62 is arranged to turn on and off the switch SW3 below the dust inlet 4.

-Control system of garbage loading device-
Next, a control system for operating the dust loading device as described above will be described with reference to FIGS. 3 and 4. The control system includes a hydraulic circuit that controls the hydraulic pressure supplied to the hydraulic motor 13 and the pushing cylinder 24 of the dust loading device, and a control device that outputs control signals to the electromagnetic control valves V1 and V2 provided in the hydraulic circuit. PLC (programmable logic controller).

  First, the hydraulic circuit will be described with reference to FIG. 3. This hydraulic circuit controls the hydraulic pump P, the oil reservoir T, the electromagnetic control valve V1 for controlling the push cylinder 24, and the hydraulic motor 13. Electromagnetic control valve V2. Although not shown, the driving force of the engine is transmitted to the hydraulic pump P via a PTO (power take-off).

  As an example, each of the electromagnetic control valves V1, V2 is composed of a 6-port 3-position electromagnetic direction switching valve. When the solenoid SOLa is excited by the control device PLC, the electromagnetic control valve V1 is switched to the first communication position (upper position in the figure), and the hydraulic oil from the hydraulic pump P is transferred to the rod side oil chamber of the pair of push cylinders 24. On the other hand, when the solenoid SOLb is excited by the control device PLC, the control oil is switched to the second communication position (the lower position in the figure), and the hydraulic oil is supplied to the head side oil chamber.

  When hydraulic oil is supplied from the electromagnetic control valve V1 to the head side oil chamber, the pair of push cylinders 24 are extended to swing the push plate 20 forward. On the other hand, when the hydraulic oil is supplied to the rod side oil chamber, the pair of push cylinders 24 are contracted to swing the push plate 20 backward. Further, when neither solenoids SOLa and SOLb are excited, the electromagnetic control valve V1 returns to the neutral position (center position in the figure).

  On the other hand, when the solenoid SOLc is excited by the controller PLC, the electromagnetic control valve V2 switches to the first communication position (the lower position in the figure), and supplies the hydraulic oil to the forward rotation oil chamber of the hydraulic motor 13, The hydraulic motor 13 is rotated forward. On the other hand, when the solenoid SOLd is excited by the control device PLC, the electromagnetic control valve V2 is switched to the second communication position (upper position in the figure), supplying hydraulic oil to the reverse oil chamber of the hydraulic motor 13, and the hydraulic pressure The motor 13 is operated in reverse.

  Further, when none of the solenoids SOLc and SOLd is excited, the electromagnetic control valve V2 returns to the neutral position (center position in the figure). When both of the electromagnetic control valves V1 and V2 are in the neutral position, the hydraulic oil returns to the oil reservoir T. In the illustrated hydraulic circuit, reference numeral V3 is a check valve, and reference numeral V4 is a relief valve for setting the upper limit of the discharge pressure of the hydraulic pump P.

  Next, a signal input / output state in the control device PLC will be described with reference to FIG. First, power supply to the control device PLC is performed by the battery BT shown in the upper left of the figure. An energization line K2 is connected between the battery BT and the ground line K1 on the right side of the figure so as to extend left and right at the top of the figure. Here, the key switches SWK and PTO switches of the garbage truck 100 are provided. SWP, relay coil CR1 and the like are interposed.

  Further, the upstream end of the energization line K3 is connected so as to branch from the energization line K2 between the key switch SWK and the battery BT, and the signal power supply unit ( (Not shown) is supplied with electric power. That is, the contact cr1 of the relay coil CR1 is interposed on the upstream side of the energization line K3 (the side close to the battery BT). When the relay coil CR1 is turned on, the contact cr1 is closed and the energization line K3 is energized. To come.

  This energization line K3 is always energized during the dust loading operation of the dust loading device, and corresponds to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 described above with reference to FIG. Then, switches SW1 to SW3 that are opened and closed are interposed. When energization is interrupted by these switches SW1 to SW3, the operation of the control device PLC is stopped, whereby the operation of the dust loading device is stopped.

  That is, when the operation of the control device PLC is stopped due to the interruption of the energization, all the control signal output from the control device PLC for exciting the solenoids SOLa to SOLd of the electromagnetic control valves V1, V2 is interrupted, and the electromagnetic control is performed. The valves V1 and V2 return to the neutral position, whereby the operation of the dust loading device is stopped. As will be described in detail later, an image processing unit 8 is also interposed in the energization line K3.

  Further, as shown on the left side of FIG. 4, the upstream ends of the plurality of branch lines are connected so as to branch from the energization line K3 on the downstream side (the side far from the battery BT) from the contact cr1. Each of these branch lines is provided with the switches LS1 to LS5 described above with reference to FIG. Based on the signals from these switches LS1 to LS5, the positions of the rotary plate 10 and the push plate 20 of the dust loading device, that is, the operating conditions are detected.

  In addition to the switches LS1 to LS5, on the input side to the control device PLC, although not shown, a start and stop switch for the dust loader, a single-action or continuous selection switch for dust load operation, a dust load A selection switch for the insertion operation and the dust discharge operation, a switch for operating the rotating plate 10 and the pushing plate 20 independently, a switch for tilting and opening the dust input box 3, and the like are also connected.

  While the various switches are connected to the input side as described above, the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 are connected to the output side (right side in FIG. 4) of the control device PLC. Then, based on the signals input from the switches SW1 to SW3, LS1 to LS5, etc., the control device PLC controls the corresponding solenoids SOLa to SOLd to operate the hydraulic motor 13 and the pushing cylinder 24 according to a preset procedure. It is programmed to output.

  That is, for example, when the dust loading device performs the dust loading operation, both the key switch SWK and the PTO switch SWP on the energization line K2 are closed and the relay coil CR1 is energized. As a result, the contact cr1 of the relay coil CR1 is closed, so that the control device PLC becomes operable by being energized by the energization line K3 and appropriately outputs control signals to the solenoids SOLa to SOLd. .

  In response to this control signal, the solenoids SOLa to SOLd are excited, and the positions of the electromagnetic control valves V1 and V2 are appropriately switched, so that the hydraulic pressure is supplied to the hydraulic motor 13 and the push cylinder 24. Thereby, the hydraulic motor 13 and the pushing cylinder 24 are operated, and the rotation of the rotating plate 10 and the swinging of the pushing plate 20 are repeated in synchronization with each other as described above with reference to FIG.

  Specifically, first, as shown by the solid line in FIG. 2, the push plate 20 is in the forward limit position, an ON signal is output from the switch LS1, and the rotary plate 10 is in the set stop position and is also turned on from the switch LS3. When the signals are output, a control signal is output from the control device PLC that has received these signals, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 13 starts to rotate forward. Thereby, the rotating plate 10 starts to rotate upward.

  When a predetermined period elapses, a control signal is output from the control device PLC to the solenoid SOLa of the electromagnetic control valve V1, the electromagnetic control valve V1 is switched to the first communication position, and the pushing cylinder 24 starts contracting operation. As a result, the pushing plate 20 swings to the rear dust inlet 4 side. When the pushing plate 20 reaches the retreat limit position, an ON signal is output from the switch LS2.

  In response to this, the control device PLC stops outputting the control signal to the solenoid SOLa, so that the electromagnetic control valve V1 returns to the neutral position, and the swinging of the pushing plate 20 stops. Further, while the pushing plate 20 is oscillating, the rotation of the rotating plate 10 is continued and the dust is scraped into the dust container 2 side. The set stop position is reached and an ON signal is output from the switch LS3.

  In response to this, the control device PLC stops outputting the control signal to the solenoid SOLc of the electromagnetic control valve V2, whereby the electromagnetic control valve V2 returns to the neutral position, and the rotation of the hydraulic motor 13 stops. Further, the control device PLC outputs a control signal to the solenoid SOLb of the electromagnetic control valve V1, the electromagnetic control valve V1 is switched to the second communication position, and the pushing cylinder 24 starts the extending operation, whereby the pushing plate 20 Begins to swing forward.

  When the pushing plate 20 that swings to the front dust container box 2 pushes the dust on the rotating plate 10 into the dust container box 2 and reaches the forward limit position, an ON signal is output from the switch LS1. In response to this, the control device PLC stops outputting the control signal to the solenoid SOLb, whereby the electromagnetic control valve V1 returns to the neutral position, and the pushing cylinder 24 is extended, that is, the pushing plate 20 is swung forward. The movement will stop.

-Person recognition device and emergency stop device-
By the way, when the dust loading device is performing the dust loading operation as described above, there is a possibility that an operator who puts the dust into the dust loading port 4 may be inadvertently caught in the rotary plate 10 or the like. Therefore, in the garbage truck 100 of this embodiment, the camera 7 is disposed so as to photograph the vicinity of the dust inlet 4, and it is determined by image processing that there is a person in a dangerous area near the dust inlet 4. In this case, the operation of the dust loading device is immediately stopped.

  That is, as shown in FIGS. 1 and 2, as shown in FIG. 5, a camera 7 is provided at the upper part of the back of the dust box 3, that is, above the dust slot 4, and its imaging lens. 70 is directed to the vicinity of the lower dust inlet 4. Data of an image photographed by the camera 7 is transmitted to an image processing unit 8 (an image processing apparatus, for example, disposed around the driver's seat as shown by a broken line in FIG. 1), and the dust inlet 4 It is determined whether or not the person H is in a dangerous area (shown with hatching in FIG. 5) between the front edge portion 4a and the rear edge portion 4b.

  As described above, during the loading operation of the dust loading device, both the key switch SWK and the PTO switch SWP are closed, and the control device PLC is energized by the energization line K3. Then, as shown in FIG. 4, the image processing unit 8 is provided in the middle of the energization line K3, and if it is determined that the person H is in a dangerous area based on the image data as described above, the control is performed. The power supply to the device PLC is cut off.

  In the following, first, a person recognition method using image processing will be described. As schematically shown in FIG. 5, the image processing unit 8 includes a central processing unit CPU and a camera that execute various programs and perform various controls. 7, an image processing unit DSP that performs known image processing as described below, a memory M that stores data used in the central processing unit CPU and the image processing unit DSP, and a central processing unit CPU A relay switch SW4 that is opened and closed in response to the command is provided.

  The camera 7 uses a back camera for the driver to monitor the back. Although not shown, a monitor for displaying an image taken by the camera 7 is provided in the vicinity of the driver's seat. Has been. The image processing unit 8 is provided with an image output unit VOP (video output) that displays the image processing result and the like together with the image on the monitor. Although not shown, the image processing unit 8 is also provided with a buffer for temporarily storing various data, a camera control circuit for controlling the camera 7 in response to a command from the central processing unit CPU, and the like.

-Image processing routines-
The image processing unit DSP is a general integrated circuit that performs known image processing logic at a high speed. For example, binarization processing of input image data and pixels adjacent to each other in the binarized image data A labeling process for regionizing, a person identifying process for identifying that the region of the object image segmented by labeling is a person image, and determining whether the position of the object image identified as the person image is a dangerous area Person position determination processing to be performed.

  Specifically, the image processing routine will be described with reference to the flowchart of FIG. 6. First, binarization processing is performed in step S1 after the start. This is, for example, processing for setting the maximum luminance value when the luminance value for each pixel in the input image data is greater than or equal to a preset threshold value, and setting the minimum luminance value when the luminance value is less than the threshold value. The generated binarized image data is obtained by removing most of the effects of noise and light quantity change.

  Next, in step S2, a labeling process is performed. This is to process each pixel adjacent to each other in the binarized image data. For example, a plurality of pixels belonging to the same luminance value and closely within a predetermined distance are regarded as one region. . The labeling process is performed on the entire image plane, and a single region is recognized as an object image.

  In subsequent steps S3 to S5, person identification processing is performed for each of the object images. In the present embodiment, as described above with reference to FIG. 5, the camera 7 is disposed above the dust inlet 4 and the vicinity of the lower dust inlet 4 is photographed. For this reason, the head of the person H is displayed large as shown in the example in FIG. 7, and a part of the face viewed from above is also displayed in the image. That is, the image data includes information about the face of the person H.

  Therefore, first, in step S3, reference is made to preset feature data of the head (including the face), that is, for example, data indicating the size and shape of the head, the state of the hair, etc., and the condition of the feature data is satisfied. Such an object image is determined to be the head of the person H. The feature data is obtained by previously capturing images of the heads (including faces) of many persons and extracting features such as size and shape, and is stored in the memory M of the image processing unit 8. ing.

  Thus, processing for discriminating the object image determined to be “temporarily head” from other object images is performed in steps S4 and S5. First, in step S4, a change in the position of the object image is detected by a difference process of a plurality of pieces of image data input in time series from the camera 7 (a process of obtaining a luminance value difference for each pixel). Then, the moving speed of the object image is calculated by dividing the change in position, that is, the moving distance of the object image by the time required (time interval for acquiring image data).

  Then, in step S5, it is determined whether or not the calculated moving speed is equal to or less than a preset threshold value. This threshold value is set in advance by experiments or the like so that the moving speed of the head of the worker who puts the dust into the dust inlet 4 can be distinguished from the moving speed of the thrown dust. Therefore, if the calculated moving speed is higher than the threshold value, the movement is too fast and it is identified that the head is not the person H, and a negative determination is made (NO) and the routine is ended (END).

  On the other hand, if an affirmative determination is made in step S5 that the moving speed is equal to or less than the threshold (YES), the object image is identified as the head of the person H, and the process proceeds to step S6, where this object image is preset. Determine if you are in a dangerous area. This can be determined based on whether or not the position coordinates of the pixels forming the outer shape of the region forming the object image are ahead of the boundary line B (the rear edge 4b of the dust inlet 4) of the dangerous area.

  Therefore, if an affirmative determination is made that the object image identified as the head of the person H is in a dangerous area (YES), the process proceeds to step S7 to the central processing unit CPU to stop the operation of the dust loading device. A stop signal is output and the image processing routine is ended (END). On the other hand, if it is determined that the object image is not in the dangerous area (NO), the image processing routine is terminated without outputting the stop signal (END).

  When a stop signal is issued from the image processing unit DSP, the central processing unit CPU that has received this signal opens the relay switch SW4. That is, by energizing a relay coil (not shown) and opening the contact of the switch, the energization to the control device PLC by the energization line K3 is interrupted. As a result, the operation of the control device PLC is forcibly stopped. Therefore, even if there is any abnormality in the control device PLC, energization of all the solenoids SOLa to SOLd of the electromagnetic control valves V1, V2 is stopped. Become.

  Accordingly, the electromagnetic control valves V1 and V2 at the first communication position or the second communication position all return to the neutral position, and as a result, the operations of the hydraulic motor 13 and the pushing cylinder 24 are immediately stopped. As described above, in this embodiment, the central processing unit CPU of the image processing unit 8 and the relay switch SW4 constitute an emergency stop device that stops the operation of the dust loading device. This corresponds to a shut-off control unit that opens the relay switch SW4 when it is determined that the person H is in a certain area.

  As described above, according to the emergency stop device for a garbage collection vehicle according to the present embodiment, image data from the camera 7 that captures the vicinity of the dust inlet 4 is input to the image processing unit 8, and a person is placed in a dangerous area. If it is determined that there is H, the operation of the dust loading device is stopped. Therefore, when the image processing unit 8 itself is installed in the energization line K3 to the control device PLC and the operation of the dust loading device is stopped, the relay switch SW4 provided in the image processing unit 8 is opened to cut off the energization. To do.

  Since the operation of the control device PLC is stopped by cutting off the energization in this way, even if any abnormality occurs in the control device PLC itself, it is not affected. Further, since the image processing unit 8 itself is interposed in the energization line K3, for example, as in the conventional example described in Patent Document 1, there is a problem of a wiring defect between the image processing unit 8 and the control device PLC. It will never be. Therefore, the dust loading device can be stopped more reliably.

  In addition, switches SW1 to SW3 corresponding to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 are originally provided in the energization line K3 that interposes the image processing unit 8, and this is used. Thus, the configuration of the emergency stop device can be simplified. In addition, in this embodiment, the cost is reduced by using the existing back camera as the image processing camera 7, and by displaying the result of the image processing on the monitor for the back camera, The driver can be notified promptly of an emergency stop of the garbage loading device and the reason thereof.

-Other embodiments-
The preferred embodiment of the present invention has been described above. However, this is merely a specific example, and the present invention is not particularly limited. The specific configuration and the like can be appropriately changed in design. That is, in the above embodiment, when the image processing unit 8 receives a stop signal from the image processing unit DSP, the central processing unit CPU opens the relay switch SW4 to stop the operation of the dust loading device. However, it is not limited to this.

  For example, a signal from limit switches LS4 and LS5 for detecting the operating state of the rotary plate 10 of the dust loading device is configured to be input not only to the control device PLC but also to the image processing unit 8 and rotated. The relay switch SW4 may be opened when the plate 10 is in the dangerous angle range Z (see FIG. 2) and the head of the person H is in the dangerous area.

  That is, even when the dust loading device is in operation, when the rotating plate 10 is rotating outside the dangerous angle range Z, there is no possibility that a part of the operator's body will be caught up. Sometimes, even if the person H is in a dangerous area, the operation of the dust loading device is not stopped. If it carries out like this, the frequency of the unnecessary operation stop of a refuse loading apparatus can be reduced, and the improvement of the convenience is achieved.

  Further, as shown in FIG. 4, in the embodiment, power is supplied to the image processing unit 8 from the downstream side of the contact cr1 in the energization line K3. For this reason, when the key switch SWK and the PTO switch SWP interposed in the energization line K2 are closed and the relay coil CR1 is turned on, the image processing unit 8 is activated. Not.

  For example, as shown in FIG. 8, the power supply to the image processing unit 8 may be performed from the upstream side of the contact cr1. In this way, the image processing unit 8 operates even when the key switch SWK and the PTO switch SWP are not closed. In other words, the driver of the garbage truck 100 can monitor the rear from the video of the camera 7 even if the key switch SWK is not turned on.

  Further, the present invention is not limited to the configuration in which the image processing unit 8 is interposed in the energization line K3 to the signal power supply unit of the control device PLC as in the above embodiment. For example, as shown in FIG. 9, when the emergency stop switches SW1 to SW3 are interposed in the energization line K4 that is energized when the changeover switch SWS is switched to the loading side, this energization line An image processing unit 8 may be provided at K4.

  In this way, in the image processing unit 8, the central processing unit CPU opens the relay switch SW4, so that the energization to the control device PLC by the energization line K4 is interrupted. As a result, the control device PLC stops outputting the control signals to the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2, so that the electromagnetic control valves V1 and V2 return to the neutral position, and the rotary plate 10 and the push plate 20 The operation is stopped.

  In this way, if the operation of the dust loading device is stopped without stopping the operation of the control device PLC, it is easy to subsequently restart the dust loading device or return to the normal operation. become. If an abnormality has occurred in the control device PLC itself, it will be affected, but the problem of wiring between the image processing unit 8 and the control device PLC will not be a problem.

  Furthermore, in the above-described embodiment, the case where the present invention is applied to a so-called rotary garbage collection vehicle 100 is described, and the main part of the dust loading device is constituted by the rotating plate 10 and the pushing plate 20. However, the present invention is not limited to this, and the main part of the dust loading device may be constituted by a lifting plate and a pushing plate, and the structure thereof is not particularly limited.

100 Dust collection vehicle 1 Chassis 2 Dust storage box 3 Dust input box 4 Dust input 7 Camera 8 Image processing unit (image processing device)
10 Rotating plate (dust loading device)
13 Hydraulic motor (dust loading device)
20 Push plate (dust loading device)
24 Pushing cylinder (dust loading device)
60, 61 Emergency stop button 62 Emergency stop plate CPU Central processing part of image processing unit (shut-off control part: energization shut-off part)
K3, K4 Predetermined energization line PLC Control device SW1-SW3 of garbage loading device Switch SW4 opened / closed in response to operation of emergency stop button, etc. Relay switch of image processing unit (switch interposed in energization line: energization cut off) Part)
Image output unit of VOP image processing unit

Claims (4)

When the vicinity of the dust inlet of the garbage truck is photographed by a camera, and the image processing device that has input the image data determines that there is a person in a predetermined area near the dust inlet, the operation of the dust loading device is performed. An emergency stop device for a garbage truck that is to be stopped,
The garbage truck is equipped with a control device that controls the operation of the dust loading device, and this control device uses a predetermined energization line when the dust loading device performs the dust loading operation. It is configured to stop the dust loading device when energized and when the energization is interrupted,
The dust collecting apparatus, wherein the image processing apparatus is provided in the energization line, and includes an energization interrupting unit that interrupts energization to the control apparatus when it is determined that there is a person in the predetermined area. Emergency stop device for cars.   The energization cut-off unit includes a switch interposed in the energization line, and a cut-off control unit that opens the switch and cuts off the energization when it is determined that there is a person in the predetermined area. The emergency stop device for the garbage truck according to 1. An emergency stop button is disposed in the vicinity of the dust inlet,
The emergency stop device for a garbage truck according to claim 1 or 2, wherein a switch that is opened and closed according to an operation of the emergency stop button is interposed in the energization line. The dust loading device is equipped in the inside of a dust throwing box in which the dust throwing port is opened on the back,
The camera is disposed on the back side of the dust box above the dust slot,
The said image processing apparatus is also provided with the image output part which displays the determination result that a person exists in the said predetermined area with the image image | photographed with the said camera on the monitor arrange | positioned around a driver's seat. A garbage collection vehicle equipped with the emergency stop device according to any one of 1 to 3.

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