JP2018193205A - Specially-equipped vehicle - Google Patents

Abstract

To provide a specially-equipped vehicle (e.g. garbage collector 100) having a chassis 1 on which a movable device such as a garbage loading device is installed, whose spread is promoted by supplementing an added value contributing to daily work in the case equipped with an emergency stop system for emergency cases.SOLUTION: A specially-equipped vehicle comprises an emergency stop device that if determining that there is a person in a first area (dangerous area) previously established in the neighborhood of a movable device (step S6), stops the movable device from operating. It is also determined whether or not there is a person H in a second area (ordinary area) more distant than the first area and whether or not there is a person in a third area (speed-increase area) distant furthermore (step S8), so that when there is a person in the third area, the movable device is controlled to a higher operation speed than that when there is one in the second area (step S9).SELECTED DRAWING: Figure 8

Description

  The present invention relates to a specially equipped vehicle such as a garbage truck, and particularly relates to a vehicle in which the operation of the movable device is stopped when it is determined that there is a person in the vicinity of the movable device mounted on the chassis. .

  Conventionally, as an example, a garbage truck has been equipped with a dust loading device (movable device) in a dust throwing box provided at the rear of the chassis, and is put into the dust throwing box from the dust throwing port. The dust is scraped with a rotating plate or a loading plate and loaded into the dust 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 imaging unit is provided at the upper rear portion of the dust box, and the lower dust inlet and its rear 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, The operation of the loading device is stopped.

Japanese Patent No. 4283568

  By the way, in the monitoring system as in the conventional example, as a camera for photographing the vicinity of the dust inlet, a rear camera for monitoring the rear by the driver of the garbage collector can be used. Since an image processing apparatus for inputting data must be provided for exclusive use, an increase in cost becomes a problem.

  In other words, the recent improvement in image processing technology makes it possible to recognize a person in a camera image and determine whether or not the position is within a preset area (preventive entry area in the conventional example). Such a function as a safety device alone cannot be said to have an introduction merit commensurate with the cost of the system, and this is considered to be an obstacle to the spread.

  The present invention has been made paying attention to such a problem. For example, it is determined that there is a person in the vicinity of a movable device such as a dust loading device, and the movable device is urgently stopped as necessary. The purpose of this system is to promote its spread by adding added value that contributes to daily work.

  In order to achieve the above object, the present invention is directed to a specially equipped vehicle in which a movable device is mounted on a chassis, and determines that there is a person in a first area preset in the vicinity of the movable device. A determination device; and an emergency stop device that stops the operation of the movable device if the determination device determines that there is a person in the first area.

  The determination device is configured to determine whether or not there is a person in a second area farther from the movable device than the first area, and whether or not there is a person in a further third area. And a control device that controls the movable device such that when it is determined that there is a person in the third area, the operating speed is higher than when it is determined that the person is in the second area. Is.

  In the specially equipped vehicle having such a configuration, if there is a person in the first area in the vicinity of the movable device mounted on the chassis, this is determined by the determination device, and the emergency stop device Operation is stopped. If the first area is set in advance in the same manner as the entry-prohibited area in the conventional example (Patent Document 1) described above, it is possible to prevent a person from being caught in the movable device as in the conventional example, and safety is ensured. Is ensured.

  On the other hand, when there is a person in the second and third areas that are further away from the movable device than the first area, it is not necessary to urgently stop the operation of the movable device, especially when there is a person in the third area. There is no worry of jumping over the second area and entering the first area. Therefore, at this time, the control unit controls the movable device so that the operating speed is higher than when it is determined that the user is in the second area.

  In other words, using a system for ensuring the safety of a person in the vicinity of the movable device, the distance between this person and the movable device is determined, and it is away from the movable device by more than a predetermined distance and immediately enters a dangerous area. When there is no worry of entering, the operation speed of the movable device is increased. As a result, the work efficiency of the movable device can be increased and added value contributing to daily work can be added, so that the spread of the emergency stop device is promoted.

  As the specially equipped vehicle as described above, for example, the dust collecting vehicle described in the above-described conventional example (Patent Document 1) is preferable, and in this case, the movable device is a dust loading device disposed inside a dust box. It is. Then, the first area is set in the vicinity of the dust inlet opening on the back of the dust box, and a predetermined range behind the first area is set as the second area. A predetermined range behind the second area may be set as the third area.

  In this way, when an operator who puts in dust such as a garbage bag gets too close to the dust inlet and enters the first area where there is a risk of being caught, the operation of the dust loading device is stopped urgently, The safety can be ensured. On the other hand, if the worker moves away from the dust inlet to go out of the second area in order to carry the dust, the operating speed of the dust loading device increases, so the waiting time until the next dust is thrown in is increased. It can be shortened and work efficiency becomes high.

  In addition, as the determination device, for example, an image processing device that inputs data of an image taken by a camera in the vicinity of a dust inlet and determines that there is a person in the first, second, and third areas is used. That's fine. In this case, the image processing apparatus compares the feature data of the object image in the image with the feature data of the person and determines whether or not the object image represents a person, and thereby determined to represent the person. And a person position determination unit that determines whether or not the object image is in the first, second, and third areas.

  More preferably, the control device detects at least one of the position and movement speed of the person in the third area, and the more the position is farther from the dust inlet or the lower the movement speed, the more the movable device It is to control so that the operating speed becomes high. In this way, it is possible to further increase the work efficiency by fine speed control that increases the operation speed as the risk is less, and it is possible to achieve both safety and improvement in work efficiency at a high level.

  The specially equipped vehicle according to the present invention determines that there is a person in the vicinity of the movable device mounted on the chassis, and uses a system that urgently stops the movable device as necessary. As described above, when the user is away and there is no fear of entering a dangerous area immediately, the operation speed of the movable device is increased to improve work efficiency. Thereby, while ensuring the safety of a person such as an operator, an added value that contributes to daily work can be added to promote the spread of the system.

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 explanatory drawing which shows the operator who loads a garbage bag in a garbage slot from diagonally back. It is explanatory drawing which shows an example of the image image | photographed with the camera. It is a flowchart which shows an example of an image processing routine. FIG. 6 is a view corresponding to FIG. 5 illustrating a case where the worker is in the speed increasing area.

  Hereinafter, an embodiment in which the present invention is embodied as a rotary garbage truck (specially equipped vehicle) 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 garbage collection vehicle 100 equipped with a person recognition 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 FIGS. 6 and 7) for throwing dust is opened at a lower part of the rear surface of the dust throwing box 3 and is opened and closed by a tailgate 5 that can be raised and lowered. It has come to be. 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 inlet 4, and a work lamp 8 is disposed below the camera 7 so as to illuminate the vicinity of the dust inlet 4.

  As shown in an enlarged view in FIG. 2, a dust loading device (movable device) that loads the thrown dust into the dust storage box 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 LS4 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 and a switch LS4 that is turned on when the rotating plate 10 is rotated in a positive direction (clockwise in FIG. 1) by a predetermined angle from the set stop position and further turned off when the rotary plate is rotated by a predetermined angle are provided. It has been.

  Note that the switches LS1 and LS2 detect a dog (not shown) provided on the swing shaft 21 (for example, an end portion) of the pushing plate 20, and the switches LS3 and LS4 rotate the rotation plate 10. A dog (not shown) provided at the end of the shaft 11 is detected. As these switches LS1 to LS4, for example, limit switches, photoelectric switches, proximity switches and the like can be used.

  Further, as shown by hatching in FIG. 2, the switch LS4 is lowered while the rotating plate 10 rotates backward from the front edge portion 4a of the dust inlet 4 to the rear edge portion 4b of the dust inlet 4. The angle range Z up to the closest position to is detected, and it is detected that the rotary plate 10 is operating in the vicinity of the dust inlet 4. 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. The hydraulic pump P is a plunger pump in which the tilt angle is changed by the operation of the electrohydraulic actuator ACT and the pump capacity is changed. Although not shown, the driving force of the engine is supplied via a PTO (power take-off). Is transmitted.

  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, the electromagnetic control valve V2 switches to the first communication position (the lower position in the figure), supplies hydraulic oil to the forward rotation oil chamber of the hydraulic motor 13, and the hydraulic motor 13 In addition to the normal rotation operation, the pushing cylinder 24 can be expanded and contracted. On the other hand, when the solenoid SOLd is excited, 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 reversely rotating the hydraulic motor 13. Operate.

  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, the input / output states of signals of the control device PLC and the like will be described with reference to FIG. First, power is supplied to the control device PLC by the battery BT shown in the upper left of the figure (below the monitor 93 in the figure). A key switch SWK, a PTO switch SWP, a relay coil CR1, and the like of the garbage truck 100 are interposed in the energization line K2 extending from the positive electrode of the battery BT to the right side of the drawing and reaching the ground line K1.

  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 upstream side (side closer to the battery BT) is connected to the relay coil CR1. A contact cr1 is interposed. The energization line K3 is provided with a power lamp L. When the relay coil CR1 is turned on and the contact cr1 is closed, the energization line K3 is energized to light the power lamp L.

  Further, the upstream end of the energization line K4 is connected so as to branch from the energization line K3 in the middle of the contact cr1 of the relay coil CR1 and the power lamp L, whereby the signal power supply unit (see FIG. (Not shown) is supplied with electric power. That is, when the contact cr1 is closed as described above, power is supplied to the control device PLC via the energization lines K3 and K4.

  Further, the control device PLC is always energized by the energizing line K5 branched from the energizing line K4 during the dust loading operation of the dust loading device. That is, the energization line K5 is a line for inputting a so-called loading continuation signal, and is opened and closed in response to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 described above with reference to FIG. Switches SW1 to SW3 and the like are interposed.

  When energization (that is, input of the loading continuation signal) is interrupted by these switches SW1 to SW3, the operation of the control device PLC is stopped. As a result, the output of the control signal from the control device PLC for exciting the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 is interrupted, and the electromagnetic control valves V1 and V2 return to the neutral position. The operation of the loading device is stopped.

  The energization line K4 is connected to a plurality of branch lines branched from the middle thereof, and the switches LS1 to LS4 described above with reference to FIG. 2 are interposed in each of the branch lines. Among them, signals from the switches LS1 to LS3 are inputted to the control device PLC, and the positions of the rotary plate 10 and the push plate 20 of the dust loading device, that is, the operation state are detected based on these signals. The

  In addition to the switches LS1 to LS3, on the input side to the control device PLC, although not shown, a start and stop switch for the dust loading device, a single-action or continuous selection switch for dust loading operation, A selection switch for the dust loading 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 throwing box 3 and the like are also connected.

  Further, as described above with reference to FIG. 2, the signal from the switch LS4 for detecting that the rotating plate 10 is in the dangerous angle range Z is input to the image processing unit 9 instead of the control device PLC. It is like that. When the central processing unit CPU of the image processing unit 9 inputs a signal from the switch LS4 and a stop signal is issued from the image processing unit DSP as will be described later, the central processing unit CPU opens the relay switch SW4 to open the energization line. The power supply to the control device PLC by K5 is cut off.

  While various switches are connected to the input side as described above, the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 described above with reference to FIG. ACT or the like is connected. Then, based on the signals input from the switches SW1 to SW3, LS1 to LS3, 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 controller PLC can be operated by being energized by the energization lines K3 to K5, and appropriately output control signals to the solenoids SOLa to SOLd. become.

  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 signal is output, a control signal is output from the control device PLC that has received the signal from the start switch, 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 stops and the series of operations ends.

  As shown in FIG. 4, an image processing unit 9 described below is provided in the energization line K5 in which the emergency stop switches SW1 to SW3 are provided, and this image processing is performed. A changeover switch SWS for energizing the control device PLC by a bypass line K6 that bypasses the unit 9 is also provided. Further, a work lamp 8 and a pilot lamp 91 are connected to the output side (right side in FIG. 4) of the image processing unit 9, and lighting control thereof is performed.

-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 collection vehicle 100 of the present embodiment, a camera 7 is arranged so as to photograph the vicinity of the dust inlet 4, and a person in the vicinity of the dust inlet 4 is preliminarily set in a dangerous area (image processing). If it is determined that the user is in the first area, the operation of the dust loading device is stopped.

  That is, in addition to appearing in FIGS. 1 and 2, as shown in FIGS. 5 and 6, a camera 7 is disposed at the upper part of the back of the dust box 3, that is, above the dust slot 4. The imaging lens 70 is directed obliquely downward to the rear. This camera 7 is originally used as a back camera for the driver of the garbage truck 100 to monitor the rear, and as shown in an example in FIG. 7, the dust inlet 4 and a predetermined range behind it are photographed. It is like that.

  Thus, the optical axis A of the imaging lens 70 of the camera 7 is turned from the vertically downward to the rear in order to photograph the rear of the dust inlet 4, and the person H in the vicinity of the dust inlet 4 is photographed from above. . Further, the work lamp 8 disposed below the camera 7 is also inclined rearward and downward, irradiates light in a direction substantially parallel to the optical axis A of the imaging lens 70, and the direction in which the camera 7 photographs the person H It is designed to irradiate almost from the front.

  In this way, if the light is applied almost from the front, even if the posture of the person H changes slightly, the appearance of the person H does not change greatly. Therefore, the person H in the photographed image can be obtained even in a dark place such as at night or underground space. The change of the object image is not so great. In addition, since the work lamp 8 is disposed below the camera 7, the work lamp 8 can be prevented from being contaminated by rain and wind, and the operator can easily see the on / off state.

  As shown in FIG. 4, the camera 7 is connected to a monitor 93 for monitoring and an image processing unit 9 (an image processing device via the signal distributor 92. For example, as shown by a broken line in FIG. Connected to the seat area). The monitor 93 provides an image of the camera 7 to the driver of the garbage truck 100, and the same image is transmitted to the image processing unit 9 to determine whether or not the worker is in a dangerous area. To be served.

  That is, FIGS. 5 to 7 show a situation where an operator (person H) standing in the vicinity of the dust inlet 4 extends both arms forward and loads a garbage bag. The image processing unit 9 determines whether or not the user is in a dangerous area. For this purpose, the image processing unit 9 is provided with an image processing unit DSP that inputs image data from the camera 7 and performs known image processing described below, as schematically shown in FIG.

  The image processing unit 9 includes a central processing unit CPU that executes a predetermined program to perform various controls, a memory M that stores data used in the central processing unit CPU and the image processing unit DSP, and a central processing unit. A relay switch SW4 that is opened and closed in response to a command from the unit CPU is also provided. If the image processing unit DSP determines that the person H is in a dangerous area, the central processing unit CPU opens the relay switch SW4.

  Here, as described above with reference to FIG. 4, at the time of loading operation of the refuse loading device, both the key switch SWK and the PTO switch SWP are closed, and the control device PLC is energized by the energization lines K3 to K5. ing. Since the image processing unit 9 is interposed in the middle of the energization line K5, when the relay switch SW4 is opened as described above, the energization to the control device PLC is interrupted and the dust is loaded. The operation of the device will be stopped.

  That is, the central processing unit CPU of the image processing unit 9 and the relay switch SW4 constitute an emergency stop device that stops the operation of the dust loading device. As will be described in detail later, the central processing unit CPU also has a function of increasing the operating speed of the dust loading device by outputting a speed increasing command to the control device PLC according to the result of the image processing. The image processing unit 9 also includes an image output unit VOP that receives a command from the central processing unit CPU and displays the image processing result on the monitor 93, a camera control unit (not shown) that controls the camera 7, and the like. Is provided.

-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. 8. 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 FIGS. 5 to 7, 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. Note that the feature data is obtained by previously capturing images of many human heads (including faces) and extracting features such as size and shape, and is stored in the memory M of the image processing unit 9. 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 dangerous area boundary line B1 (the rear edge 4b of the dust inlet 4).

  That is, if it is negatively determined that all the object images identified as the head of the person H are outside the dangerous area (NO), the process proceeds to step S8 described later, while a part of the object image identified as the head of the person H is partially displayed. However, if an affirmative determination is made that the vehicle is in a dangerous area (YES), the process proceeds to step S7, a stop signal is output to the central processing unit CPU to stop the operation of the dust loading device, and the image processing routine is terminated ( End).

  When the stop signal is issued from the image processing unit DSP, the central processing unit CPU that has received the signal is on if the signal from the switch LS4 is on, that is, if the rotating plate 10 is in the dangerous angle range Z. Then, the relay switch SW4 is opened. 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 K5 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.

  That is, if it is determined in the image processing unit 9 that the head (including the face) of the person H is partly in a dangerous area, the operation of the dust loading device is stopped. This ensures the safety of workers who load the garbage. Note that the recognition of the person H is not limited to identifying the head (including the face), and for example, hands and feet may be identified.

  By the way, the image processing unit 9 for performing the image processing as described above must be provided exclusively, and although the camera 7 for acquiring the image data can use a back camera, there is a problem in that the cost increases. It becomes. That is, the system that stops the dust loading device in the unlikely event based on the result of the image processing as described above cannot be said to have an introduction merit that is commensurate with the cost only by ensuring the safety of the worker, This is considered to be preventing the spread.

  Focusing on this point, the present embodiment adds not only a function for ensuring the safety of the worker as described above but also an added value that contributes to daily work. Specifically, if it is determined in step S6 of the above flow that the object image identified as the head of the person H is not in the dangerous area, the process proceeds to step S8, where the object image is the dangerous image. It is determined whether it is in the normal area behind the area.

  As shown in FIGS. 5 and 7, this normal area is a second area that is set up to a predetermined distance (for example, about 1 m) rearward from the boundary line B1 of the dangerous area, and its trailing edge. The third area (acceleration area described below) is set behind the boundary line B2, for example, within the field of view of the camera 7. When the person H is in the normal area and the speed increasing area, it is not necessary to urgently stop the operation of the dust loading device.

  Similarly to the determination in step S6, whether the position coordinates of the pixels forming the outer shape of the region forming the object image identified as the head of the person H are in front of the normal area boundary line B2 in the determination in step S8. Depending on whether or not. For example, as shown in FIG. 9, when the person H is holding a garbage bag and is approaching the garbage inlet 4, all the object images representing the head are outside the normal area (that is, inside the speed increasing area). If not, a negative determination is made (NO), the process proceeds to step S9, an acceleration signal is output to the central processing unit CPU, and the image processing routine is ended (END).

  When the speed increasing signal is issued from the image processing unit DSP in this way, the central processing unit CPU that has received the signal outputs a speed increasing command to the control device PLC. In response to this, the control device PLC increases the discharge amount of the hydraulic pump P by changing the tilt angle of the hydraulic pump P or accelerating the engine by the operation of the actuator ACT. Thereby, the supply flow rate of the hydraulic oil to the hydraulic motor 13 and the pushing cylinder 24 increases, and their operating speed increases.

  That is, when it is determined that the person H is present in the speed increasing area, there is no fear of jumping over the normal area and entering a dangerous area. At this time, the operating speed is higher than that in the normal area. The speed increase control of the dust loading device is performed. At this time, it is preferable to change the operating speed of the dust loading device according to at least one of the position and moving speed of the person H in the speed increasing area.

  For example, as the person H is farther away from the dust inlet 4 in the speed increasing area, the possibility of entering a dangerous area is lower, so the operating speed of the dust loading device can be increased. Even when the moving speed calculated in step S4 is low, the possibility of entering a dangerous area is low, so that the operating speed can be increased also at this time. If fine speed control is performed in this way, the work efficiency can be further enhanced while ensuring safety.

  On the other hand, in the present embodiment, even if a part of the object image representing the head of the person H is in the normal area, the above step is performed even if the other part is in the acceleration area behind the boundary line B2. An affirmative determination is made in S8 (YES), and the image processing routine is terminated without outputting the acceleration signal (END). That is, when the person H is straddling the normal area and the speed increasing area, the speed increasing control of the dust loading device is not performed with priority on safety.

  By executing step S3 of the flow of FIG. 8, the image processing unit DSP constitutes a person identification unit that determines whether or not the object image represents the head of the person H, and further executes step S4. Thus, a person position determination unit that determines whether the object image is in a dangerous area near the dust inlet 4 is configured. That is, the image processing unit DSP constitutes a determination device that determines that the person H is in a dangerous area.

  Further, by executing steps S6 and S8, the image processing unit DSP determines whether or not the object image representing the head of the person H is in a normal area that is farther from the dust inlet 4 than the dangerous area, and Further, it is also determined whether or not the vehicle is in a distant acceleration area. In step S9, the speed increasing signal output from the image processing unit DSP is received, and a speed increasing command is output from the central processing unit CPU to the control device PLC of the dust loading device.

  In this way, the central processing unit CPU of the image processing unit 9 that outputs a speed increasing command to the control device PLC, and the operating speed of the hydraulic motor 13 and the pushing cylinder 24 of the dust loading device are received in response to this speed increasing command. The control device PLC configures a control device that controls the dust loading device so that the operating speed is higher when the person H is in the speed increasing area than when the person H is in the normal area.

  As described above, in the refuse collection vehicle according to the present embodiment, first, image data from the camera 7 disposed above the dust inlet 4 is input, and the vicinity of the dust inlet 4 is input by the image processing unit 9. If it is determined that there is a person H in the dangerous area, the operation of the dust loading device is stopped. Thereby, it is possible to prevent the person H from being caught in the garbage loading device and to ensure the safety thereof.

  On the other hand, it is not necessary to stop the operation of the dust loading device in a normal area or a speed increasing area that is further rearward than the dangerous area. In particular, as shown in FIG. 9, when the person H is in the speed increasing area, there is no worry of jumping over the normal area from here and entering a dangerous area. At this time, the operating speed is higher than that in the normal area. The work efficiency can be improved by controlling the dust loading device so as to be higher.

  In other words, when a worker who loads dust is in a dangerous area near the dust inlet 4, the operation of the dust loading device can be stopped to ensure its safety, while the dust inlet 4 If it is far away, the working efficiency can be increased by increasing the operating speed of the dust loading device. In this way, added value that contributes to daily work can be added, so that the spread of the system can be promoted even if there is an increase in cost due to the image processing unit 9 or the like.

-Other embodiments-
The preferred embodiment of the present invention has been described above. However, this is merely a specific example, and does not particularly limit the present invention. Therefore, the specific configuration and the like can be appropriately changed in design. is there. For example, in the above-described embodiment, the image data of the camera 7 is input to the image processing unit 9, and the position of the person H is determined by image processing. A person may be determined by a radar or an ultrasonic sensor provided.

  In the above-described embodiment, the image processing unit 9 is provided in the energization line K4 to the control device PLC, and the energization to the control device PLC is interrupted by opening the relay switch SW4. Is not limited. That is, for example, when it is determined in the image processing unit 9 that the person H is in a dangerous area, a stop signal is output to the control device PLC, and the control device PLC that receives the signal outputs a stop signal to the solenoids SOLa˜ of the electromagnetic control valves V1, V2. The output of the control signal to SOLd may be stopped, and any other configuration that can stop the operation of the dust loading device can be employed.

  Furthermore, in the above-described embodiment, the case where the present invention is embodied as a garbage collection vehicle 100 equipped with a so-called rotary dust loading device has been described. The main part of the dust loading device is a rotating plate 10 and a push-in device. Although comprised by the board 20, it is not limited to this, The main part of the dust loading apparatus may be comprised by the raising / lowering board and the pushing board, and the structure is not specifically limited. Further, the present invention can be applied to specially equipped vehicles other than the refuse collection vehicle, and various devices other than the dust loading device can be considered as the movable device.

100 Garbage truck (special equipment)
DESCRIPTION OF SYMBOLS 1 Chassis 2 Dust container 3 Dust input box 4 Dust input port 7 Camera 9 Image processing unit (image processing device: determination device)
10 Rotating plate (dust loading device: movable device)
13 Hydraulic motor (garbage loading device: movable device)
20 Pushing plate (dust loading device: movable device)
24 Pushing cylinder (garbage loading device: movable device)
H Human CPU Central processing unit of image processing unit (emergency stop device)
Image processing unit (person identification unit, person position determination unit) of DSP image processing unit
SW4 Image processing unit relay switch (emergency stop device)

Claims (4)

A specially equipped vehicle with a movable device mounted on the chassis,
A determination device for determining that there is a person in a first area preset in the vicinity of the movable device;
An emergency stop device for stopping the operation of the movable device if the determination device determines that there is a person in the first area;
The determination device is configured to determine whether there is a person in a second area farther from the movable device than the first area, and whether there is a person in a third area further away from the first area,
A controller that controls the movable device such that when it is determined that there is a person in the third area, the operating speed is higher than when it is determined that the person is in the second area; Specially equipped vehicle characterized by The movable device is a dust loading device disposed inside a dust box.
The first area is set in the vicinity of the dust inlet opening on the back of the dust box, and a predetermined range behind the first area is set as the second area. The specially equipped vehicle according to claim 1, wherein a predetermined range behind the area is set in the third area. The determination apparatus is an image processing apparatus that inputs data of an image obtained by photographing the vicinity of the dust inlet with a camera and determines that a person is in the first, second, and third areas,
Comparing the object image feature data in the image with the person feature data to determine whether the object image represents a person;
3. A person position determination unit that determines whether or not an object image determined to represent a person by the person identification unit is in the first, second, and third areas. The specially equipped vehicle described.   The control device detects at least one of the position and movement speed of the person in the third area, and the operation speed of the movable device increases as the position is farther from the dust inlet or the movement speed is lower. The specially equipped vehicle according to at least one of claims 1 to 3, wherein the vehicle is controlled to be higher.

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