JP2019156566A - Garbage summing-up system of garbage collection vehicle - Google Patents

Abstract

To provide a garbage summing-up system of a garbage collection vehicle which can easily and quickly perform supping-up of kinds and the number of garbages inputted into a garbage input box.SOLUTION: A garbage summing-up system of a garbage collection vehicle 100 which photographs the vicinity of a garbage input port 4 by a camera 7, and on the basis of data concerning the image, performs summing-up kinds and the number of garbages G inputted into a garbage input box 3. In this system, a feature, which is extracted from an object image in an image photographed by the camera 7, is collated with garbage feature data which has been previously stored in a memory M, and whether the object image represents the garbage G or not is determined. Whether the object image determined to represent the garbage G is inputted into the garbage input box 3 or not is determined, the number of the object images which have been determined to be inputted into the garbage input box 3, is counted for each kind of the garbage G. Then, the counted number of the object images is accumulated for each kind of the garbage G as garbage collection data D.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a dust collection system for a garbage truck.

  Conventionally, in a garbage collection vehicle, a dust loading device is installed in a dust throwing box provided at the rear of the chassis, and the dust thrown into the dust throwing box from the dust throwing port is transferred to a rotating plate or stack. It is scraped by a bayonet or the like and loaded into a dust storage box. Also, a monitoring system for monitoring a person in the vicinity of the dust inlet has been proposed in order to prevent an operator who puts the dust into the dust inlet inadvertently being caught in the dust loading device ( For example, see Patent Document 1).

  In the monitoring system described in Patent Document 1, a camera as an image pickup unit is disposed at the upper rear portion of the dust box, and a predetermined area near the dust slot is photographed. If the image data captured by the camera during operation of the dust loading device is transmitted to the image processing device, and it is determined that a person has entered the intrusion prohibited area set in advance in this image, the dust loading is performed. The operation of the device is stopped.

Japanese Patent No. 4283568

  By the way, conventionally, using a load cell or the like, the weight of the dust is measured when the dust is thrown into the dust throwing box, and the weight of the dust thrown into the dust throwing box is totaled. However, the input operation of the kind of dust measured by the load cell or the like has to be performed manually by the operator. For this reason, the man-hour of the dust collection work increased, and the quick dust collection work became difficult.

  The present invention has been made in consideration of the above-described circumstances, and is a dust collection system for a dust collection vehicle capable of easily and quickly totaling the type and number of dust thrown into a dust box. The purpose is to provide.

  In the present invention, means for solving the above-described problems are configured as follows. That is, the present invention is provided with a dust loading device disposed inside a dust throwing box, the vicinity of the dust throwing opening opened on the back of the dust throwing box is photographed by a camera, and based on the data of the image , A dust collection system for a dust collection vehicle for collecting the types and number of dusts thrown into the dust box, wherein features extracted from an object image in an image photographed by the camera are stored in a storage unit in advance. The dust collation unit that determines whether or not the object image represents dust by comparing with the dust characteristic data, and whether the object image determined to represent dust by the dust collation unit has been put into the dust box. A dust input determining unit that determines whether or not, a dust counting unit that counts the number of object images determined to have been input to the dust input box by the dust input determining unit, for each type of dust, and The number of counted object image by garbage counting unit is characterized by comprising a refuse data storage section for storing a refuse collection data for each type of dust, the.

  According to the above configuration, the dust collection data including at least the number of thrown-in items for each type of dust is automatically created based on the image photographed by the camera, so that the operator manually performs input work. Compared with the conventional configuration, the types and number of dusts put into the dust box can be easily and quickly totaled. Thereby, compared with the conventional structure, the man-hour of a dust collection operation | work can be reduced and a quick dust collection operation | work can be implement | achieved.

  In the present invention, it is preferable that the garbage characteristic data includes at least color information of a designated garbage bag. According to this configuration, it is possible to easily identify whether or not the object image represents dust (designated garbage bag) based on the color extracted from the object image in the image photographed by the camera.

  In the present invention, the type of dust is preferably classified into a plurality of types based on the size of the object image. According to this configuration, since the types of dust are classified into a plurality of types based on the size of the object image in the image taken by the camera, by setting the weight of the dust for each type of dust, The weight of the dust collected by the garbage truck can be easily calculated from the type and number of the dust collected by the truck.

  In the present invention, it is preferable that the dust collection data further includes position information of a place where the dust collection work is performed. According to this configuration, it is possible to easily recognize the type and number of the dust collected by the dust collection vehicle for each place where the dust collection work is performed based on the dust collection data.

  In the present invention, it is preferable that a dust data output unit capable of outputting the dust collection data stored in the dust data storage unit to an external management server is provided. According to this configuration, the type and number of the dust collected by the garbage collection vehicle can be easily managed in the external management server, and the dust collection vehicle collects the garbage based on the type and number of the dust. The weight of the dust can be easily managed.

  According to the dust collection system of the dust collection vehicle according to the present invention, the dust collection data including at least the number of input for each type of dust is automatically created based on the image photographed by the camera. Compared with the conventional configuration in which manual input operations are performed, the types and number of dusts put into the dust box can be easily and quickly totaled. Thereby, compared with the conventional structure, the man-hour of a dust collection operation | work can be reduced and a quick dust collection operation | work can be implement | achieved.

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 dust loading apparatus with which the refuse collection vehicle was equipped. It is a hydraulic circuit diagram of the dust loading device of a garbage collection vehicle. It is the schematic which shows the control apparatus of a garbage collection vehicle, and its input-output state. It is explanatory drawing which shows schematic structure of the dust collection system of a garbage truck. 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 the routine of the total process of dust collection data. It is a flowchart which shows an example of a dust identification process. It is a figure which shows an example of dust collection data.

  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 dust collection vehicle 100 applied to the dust collection system for dust collection vehicles of the present invention. In the refuse collection vehicle 100, a dust storage box 2 and a dust input box 3 are provided on the chassis 1, and an opening at the rear of the dust storage box 2 and an opening at the front of the dust input box 3 communicate with each other. Yes. In addition, the dust box 3 is pivotally supported with respect to the dust container box 2 by a left and right pivot 3a provided at the upper part thereof, and is tilted by a pair of left and right tilt cylinders (not shown).

  In addition, a substantially rectangular dust inlet 4 for introducing dust G (see FIGS. 6 and 7) is opened at a lower portion of the rear surface of the dust container box 3 and is moved up and down by a tailgate 5 that can be raised and lowered. The dust inlet 4 is opened and closed. A switch box 6 for operations such as operation of the dust loading device is provided on the left side of the dust inlet 4. A camera 7 is disposed above the dust inlet 4 so as to photograph an area in the vicinity of the dust inlet 4. Further, a work lamp 8 is disposed above the dust inlet 4 so as to illuminate an area near the dust inlet 4.

  As shown in FIG. 2, a dust loading device for loading the thrown dust G 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 dust loading device that scrapes up the dust G by the rotation of the rotating plate (loading member) 10 and pushes it into the dust container 2 by the pushing plate 20. It is configured. Specifically, a rotating shaft 11 is installed so as to extend in the width direction at 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 capable of rotating in the forward and reverse directions is connected to the end of the rotating shaft 11 via a speed reduction mechanism 12. 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 has a substantially semicircular cross section. It moves in the front-rear direction along the bottom wall of the dust container 3 formed.

  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 is swingable in the front-rear direction around the swing shaft 21 in the left-right direction provided in the upper part thereof. It is supported. 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.

  Specifically, as shown by a solid line in FIG. 2, when the pushing plate 20 is at a position (forward limit position) that is most swayed toward the dust container 2, it rotates without interfering with the pushing plate 20. The plate 10 turns upward, and the push plate 20 swings toward the dust inlet 4 with a delay. The rotation of the rotating plate 10 is continued 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 rotating in this manner scrapes the dust G 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 2 side this time, and the dust G on the rotating plate 10 is pushed into the dust container 2. When the pushing plate 20 reaches the advance limit position again, the rotating plate 10 is rotated upward again.

  In this manner, the rotation of the rotating plate 10 and the swinging of the pushing plate 20 are repeated in synchronization with each other, so that the dust loading operation in which the dust G thrown into the dust throwing box 3 is continuously loaded into the dust container box 2 is performed. Is done. The configuration of the hydraulic circuit and the electronic control device (control system) for operating the rotating plate 10 and the pushing plate 20 will be described later.

  Switches LS <b> 1 to LS <b> 4 for detecting the positions of the rotating plate 10 and the pushing plate 20 are provided inside the dust box 3. Specifically, 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, respectively, and are turned on when the rotary plate 10 is at the set stop position. 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 is turned off when the rotary plate is further rotated by a predetermined angle. It has been.

  The switches LS1 and LS2 detect a dog (not shown) provided at the end of the swing shaft 21 of the pushing plate 20, and the switches LS3 to LS4 are the ends of the rotating shaft 11 of the rotating plate 10. A dog (not shown) provided in the section is detected. Moreover, as these switches LS1-LS4, a limit switch, a photoelectric switch, a proximity switch etc. can be used, for example. 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. This is a sensor for detecting that the rotation range 10 is operating in the vicinity of the dust inlet 4.

  Further, as shown in FIGS. 1 and 2, emergency stop buttons 60 and 61 for stopping the operation of the dust loading device, an emergency stop plate 62 and the like are disposed in the vicinity of the dust inlet 4. Yes. 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 shown 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 will be described with reference to FIGS. This control system includes a hydraulic circuit that controls the hydraulic pressure supplied to the hydraulic motor 13 of the refuse loading device, the pushing cylinder 24, and the like, and a control that outputs a control signal to the electromagnetic control valves V1 and V2 provided in the hydraulic circuit. And a device PLC (programmable logic controller).

  First, the hydraulic circuit will be described with reference to FIG. The hydraulic circuit includes a hydraulic pump P, an oil reservoir T, an electromagnetic control valve V1 for controlling the pushing cylinder 24, and an electromagnetic control valve V2 for controlling the hydraulic motor 13. Note that the driving force of an engine (not shown) is transmitted to the hydraulic pump P via a PTO (power take-off).

  As an example, the electromagnetic control valves V1 and V2 are both 6-port 3-position electromagnetic directional switching valves. The electromagnetic control valve V1 is switched to the first communication position (upper position in FIG. 3) when the solenoid SOLa is excited by the control device PLC, and the hydraulic oil from the hydraulic pump P is supplied to the rod side oil chamber of the pair of push cylinders 24. To supply. On the other hand, when the solenoid SOLb is excited by the control device PLC, the electromagnetic control valve V1 is switched to the second communication position (the lower position in FIG. 3) and supplies hydraulic oil 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 of the solenoids SOLa and SOLb is excited, the electromagnetic control valve V1 returns to the neutral position (the central position in FIG. 3).

  When the solenoid SOLc is energized, the electromagnetic control valve V2 switches to the first communication position (the lower position in FIG. 3), supplies hydraulic oil to the forward rotation oil chamber of the hydraulic motor 13, and controls the hydraulic motor 13 in the normal direction. In addition to rolling 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 FIG. 3), supplying hydraulic oil to the reverse oil chamber of the hydraulic motor 13, and reversely rotating the hydraulic motor 13. Operate.

  Further, when neither of the solenoids SOLc and SOLd is excited, the electromagnetic control valve V2 returns to the neutral position (the central position in FIG. 3). 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 FIG. 4 (below the monitor 93 in FIG. 4). 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 in FIG. 4 and reaching the ground line K1.

  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 contact cr1 of the relay coil CR1 is connected to the upstream side (side closer to the battery BT). Is installed. 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.

  In addition, 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 (not shown) of the control device PLC is connected. Power) is supplied. That is, when the contact cr1 is closed, power is supplied to the control device PLC via the energization lines K3 and K4.

  Furthermore, the energization line K5 branched from the energization line K4 ensures that the control device PLC is energized 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 includes switches SW1 to SW3 that are opened and closed in response to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 described above. Is installed. When energization (that is, input of the loading continuation signal) is cut off 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 branching from the middle thereof, and the switches LS1 to LS4 described above are interposed in each of the branch lines. Signals from the switches LS1 to LS4 are input to the control device PLC, and based on these signals, the positions of the rotary plate 10 and the push plate 20 of the dust loading device, in other words, the operation status are detected. .

  Further, in addition to the switches LS1 to LS4, on the input side to the control device PLC, a start and stop switch for a dust loading device (not shown), a single or continuous selection switch for dust loading operation, a dust loading operation and A selection switch for the dust discharge operation, a switch for operating the rotary 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 described above are connected to the output side of the control device PLC. Then, the control device PLC follows the preset procedure based on the signals input from the switches SW1 to SW3, LS1 to LS4, etc., and operates the corresponding solenoids SOLa to SOLd to operate the hydraulic motor 13 and the push cylinder 24, etc. Is programmed to output to

  Specifically, 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, whereby the hydraulic pressure is supplied to the hydraulic motor 13 and the push cylinder 24. As a result, 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.

  Specifically, first, as shown by the solid line in FIG. 2, the pushing plate 20 is in the forward limit position, an ON signal is output from the switch LS1, and the rotating plate 10 is in the set stop position, and the switch LS3 also When the ON 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 swinging, the rotation plate 10 continues to rotate, and the dust G is scraped into the dust container 2 side. Reaches the set stop position, 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.

  In this way, when the pushing plate 20 swinging to the front dust container 2 side pushes the dust G 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.

  Further, as shown in FIG. 4, an image processing unit 9 is interposed in the energization line K6 branched from the energization line K4. The image processing unit 9 includes a central processing unit CPU that executes various programs and performs various controls, an image processing unit DSP that acquires image data from the camera 7 and performs known image processing, and a central processing unit CPU. And a memory M as a storage unit for storing data used in the image processing unit DSP, an image output unit VOP for displaying a result of image processing on the monitor 93 in response to a command from the central processing unit CPU, and control of the camera 7 A camera control unit (not shown) is provided. The image processing unit DSP is a general integrated circuit that performs publicly known image processing logic at high speed, and executes a routine for the collection processing of dust collection data as shown in the flowchart of FIG. 8, for example. Further, the work lamp 8 and the 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.

  Also, as shown in FIGS. 5 to 7, a camera 7 is disposed at the upper part of the rear surface of the dust input box 3, in other words, above the dust input port 4, and the imaging lens 70 is directed obliquely downward to the rear. It has been. 5 to 7 show a state where a person H (operator) standing in the vicinity of the dust inlet 4 extends both arms forward and loads the dust G (trash bag in FIGS. 6 and 7). Has been. The 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 has become.

  The optical axis A of the imaging lens 70 of the camera 7 is turned from the vertically downward direction to photograph the back of the dust inlet 4 to photograph the person H and the dust G near the dust inlet 4 from above. It is like that. In addition, the work lamp 8 disposed below the camera 7 is also inclined rearward and downward, irradiates light substantially parallel to the optical axis A of the imaging lens 70, and the person 7 and the dust G are photographed by the camera 7. Irradiation is almost from the front in the direction.

  If the illumination light is applied substantially from the front in this manner, the appearance of the person H and the dust G will not change greatly even if the posture of the person H and the dust G changes slightly. However, changes in the object images of the person H and the dust G in the captured image are 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 a signal distributor 92. For example, as shown by a broken line in FIG. Are connected to each other). 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. As shown in FIG. 5, the image processing unit 9 includes, in addition to the above-described central processing unit CPU, image processing unit DSP, memory M, and image output unit VOP, a position information acquisition unit 9a, a dust collation unit 9b, An input determination unit 9c, a dust counting unit 9d, a dust data storage unit 9e, a dust data output unit 9f, and the like are provided. Further, as shown in FIG. 5, the image processing unit 9 is connected to the network 200 via the wireless communication 300. A management server (aggregation server) 400 is connected to the network 200.

−Routine for collection processing of garbage collection data−
Next, with reference to the flowchart of FIG. 8, a dust collection routine executed by the image processing unit 9 will be described. First, in step S1 after the start, it is determined whether or not the collection processing of dust collection data has been started. In this determination, for example, when an unillustrated aggregation mode switch provided in the switch box 6 is operated, it is possible to determine that the collection processing of dust collection data is started based on the operation of the aggregation mode switch. It is. The operator may operate the totaling mode switch of the switch box 6 when starting the dust collection work in the garbage collection place or the like. And when the collection process of dust collection data is started (YES), it progresses to Step S2. In addition, you may start the collection process of dust collection data by means other than the above. For example, the switch operation or the like is not essential, and the collection processing of the dust collection data may be started when the operation of the dust loading device is started.

  In step S2, position information of the garbage truck 100 that performs the dust collection work is acquired. The position information of the garbage truck 100 can be acquired by receiving, for example, radio waves from a GPS satellite (not shown) by the position information acquisition unit 9a. And the positional information on the acquired garbage collection vehicle 100 is memorize | stored in the dust data storage part 9e.

  Next, in step S3, dust identification processing is performed. Details of the dust identification processing will be described with reference to the flowchart of FIG. First, in step S21 after the start, image data input from the camera 7 is acquired. That is, data of an image photographed by the camera 7 is acquired. In step S22, binarization processing is performed on the acquired input image data. This binarization processing 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 if 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. While the binarization process is performed in this way, the input image data is temporarily stored in the memory M, and the color information contained therein is used for the determination of dust G (step S24) described later. Alternatively, color binarization processing is also performed on the input image data, and the hue information for each pixel is extracted as color information, while the hue information is deleted otherwise. Good.

  Next, in step S23, a labeling process is performed. This labeling process 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 area. . The labeling process is performed on the entire image plane, and a single region is recognized as an object image.

  In step S24, dust collation processing is performed for each object image. Specifically, whether features (for example, color, shape, size, etc.) extracted from each object image are collated with dust feature data stored in the memory M in advance, and the object image represents dust G It is determined whether or not. In the present embodiment, since the vicinity of the dust inlet 4 is photographed by the camera 7 disposed above the dust inlet 4, the person H is shown in the image as shown in FIG. The garbage G (in FIG. 7, garbage bag) loaded by is displayed. Therefore, the object image that satisfies the conditions of the dust feature data is determined to be the dust G with reference to the dust feature data. The dust feature data is obtained by previously capturing images of many dust G and extracting features such as color, shape, size, etc., and is stored in the memory M of the image processing unit 9.

  Examples of the dust feature data (color, shape, size) used in the dust collation process in step S24 include the following. In the case of the color of garbage G, since a garbage bag of a predetermined color is designated for each municipality, color information (for example, RGB values) of the designated garbage bag may be registered as dust characteristic data. In the case of the shape of the refuse G, the shape of the designated garbage bag when being put into the dust inlet 4 by the operator becomes, for example, a substantially circular shape, a substantially elliptical shape, a substantially polygonal shape, etc. (For example, a circle, an ellipse, a polygon, etc.) may be registered as dust feature data. In the case of the size of the dust G, information on the minimum size and the maximum size (for example, the number of pixels) of the designated garbage bag when being put into the dust inlet 4 by the operator may be registered as dust feature data.

  The color of the object image used in the dust collation process in step S24 is determined based on the color information extracted in step S22, for example. Further, the shape of the object image used in the dust collation process is determined based on, for example, the outer shape of the region that forms the object image. Further, the size of the object image used in the dust collation process is calculated based on, for example, the number of pixels included in the object image and the size of the outer shape of the region forming the object image.

  In the dust collation process in step S24, an object image that does not satisfy the conditions of the dust feature data (color, shape, size) is identified as not being the dust G. Specifically, when the color of the object image is different from the color information of the designated garbage bag registered as the dust feature data, it is determined that the object image is not the dust G. Further, when the shape of the object image is different from the shape of the designated garbage bag registered as the dust characteristic data, it is determined that the object image is not the dust G. Further, when the size of the object image is larger than the maximum size of the designated garbage bag registered as the dust feature data or smaller than the minimum size, it is determined that the object image is not the dust G.

  For example, even when the color of the object image is the same as the color information of the designated garbage bag, if the shape is a rod shape or a hollow shape, the object image is determined not to be dust G. For example, even when the color of the object image is the same as the color information of the designated garbage bag and the shape of the object image is substantially circular, if the size exceeds the maximum size of the designated garbage bag, It is determined that the object image is not dust G.

  On the other hand, an object image that satisfies the conditions of dust characteristic data (color, shape, size) is identified as dust G. In this case, even if the feature (color, shape, size) extracted from the object image does not completely match the dust feature data, it may be determined that the object image is the dust G. For example, if each value of the RGB value of the color extracted from the object image is included within ± 5 of the RGB value of the color information of the dust feature data, it is determined that the object image is the dust G. Is possible. And in order to calculate the weight of the dust G thrown into the dust inlet 4, the object image identified as the dust G is classified into a plurality (for example, five types) based on the size. For example, based on the number of pixels of the object image, the object image identified as dust G is an extremely small designated garbage bag G1, a small designated garbage bag G2, a medium sized garbage bag G3, and a large sized designated garbage. The bags are classified into five types, that is, a bag G4 and a maximum size designated garbage bag G5 (see FIG. 10).

  Returning to the flowchart of FIG. 8, after the dust identification process of step S <b> 3 (steps S <b> 21 to S <b> 24 of FIG. 9), in step S <b> 4, it is determined whether dust G is detected in the detection area Y <b> 1. This determination is made based on whether or not the position coordinates of the pixels that form the outer shape of the region that forms the object image are included (partially) within the detection area Y1 (shown by a broken line in FIG. 7). Is possible. When an object image identified as dust G is detected in the detection area Y1 (YES), the process proceeds to step S5. On the other hand, when the object image identified as dust G is not detected in the detection area Y1, or when the object image identified as dust G is not obtained in the dust identification process of step S3 (NO), It returns to step S3 and performs a dust identification process again. As shown in FIG. 7, for example, the detection area Y1 used in the determination in step S4 can be set to a substantially rectangular area including the dust inlet 4. The detection area Y1 can be set in consideration of an area where the worker performs normal dust collection work.

  Next, in step S5, it is determined whether or not the dust G has been put into the dust throwing box 3. This determination is made based on whether or not the position coordinates of the pixels that form the outer shape of the region that forms the object image are included (partially) within the dust throwing area Y2 (shown by a solid line in FIG. 7). It is possible. When an object image identified as dust G is detected in the dust throwing area Y2, the process proceeds to step S6. On the other hand, when the object image identified as the dust G is not detected in the dust throwing area Y2, the process returns to step S3 to perform the dust identification process again. The dust throwing area Y2 used in the determination in step S5 can be set, for example, in an area between the front edge portion 4a and the rear edge portion 4b of the dust throwing port 4. For example, as shown in FIG. 7, the dust throwing area Y2 is set to an area surrounded by the peripheral edges (front edge 4a, rear edge 4b, left edge 4c, right edge 4d) of the dust throwing opening 4. Is possible.

  Next, in step S6, the counting process of the number of the dust G thrown into the dust throwing-in box 3 by the dust counting part 9d is performed. In this case, the number of inputs to the dust input box 3 is counted for each type of the dust G identified by the dust identification processing (for example, five types G1 to G5 described above). Then, the number of thrown-in pieces into the dust-filling box 3 for each type of dust G is stored in the dust-data accumulating unit 9e.

  Next, in step S7, it is determined whether or not the collection processing of dust collection data has been completed. In this determination, when the above-described totaling mode switch of the switch box 6 is operated, it is possible to determine that the totaling process of the dust collection data has been completed based on the operation. The operator may operate the aggregation mode switch of the switch box 6 when finishing the dust collection work at the garbage collection place or the like. Then, when the collection process of the dust collection data is completed (YES), the process proceeds to step S8. When the collection process is not completed (NO), the process returns to step S3 and the above-described procedure is repeated.

  Next, in step S8, dust collection data D is created by the dust data storage unit 9e. As shown in FIG. 10, for example, as shown in FIG. 10, the dust collection data D includes the ID number of the dust collection work, the location of the dust collection work, the time of the dust collection work, and the type of the dust G (in FIG. 10, five types G1 to G5). This is data in which the number of inputs is entered. Then, the generated dust collection data D is stored in the dust data storage unit 9e. In the dust collection data D of FIG. 10, data for five cases (for five rows), in other words, data when dust collection work is performed at five locations is created. As described above, the dust collection data D including at least the position information and the number of thrown-in pieces for each type of the dust G is accumulated one by one (one row) every time the dust collection operation is performed. The dust collection data D stored in the dust data storage unit 9e can be output from the dust data output unit 9f to the management server 400 connected to the network 200 by wireless communication 300. For this reason, when the garbage truck 100 finishes the collection work and returns to the management center or the like, the dust collection data D may be transmitted from the dust data output unit 9f to the management server 400. The dust collection data D output to the management server 400 may be deleted from the dust data storage unit 9e, or may be stored in the dust data storage unit 9e.

  As described above, in the garbage collection system of the garbage collection vehicle, the feature (for example, color and shape) extracted from the object image in the image taken by the camera 7 is collated with the dust feature data, and the object image becomes the dust G. It is determined whether or not the object image identified as representing the dust G has been thrown into the dust throwing box 3. Then, the number of object images determined to have been put into the dust box 3 is counted for each type of dust G, and the counted number of object images is accumulated as dust collection data D for each type of dust G. ing.

  According to the present embodiment, since the dust collection data D including at least the number of input for each type of dust G is automatically created based on the image photographed by the camera 7, the operator manually performs input work. Compared to the conventional configuration in which the operation is performed, the type and number of the dust G that is put into the dust box 3 can be easily and quickly totaled. Thereby, compared with the conventional structure, the man-hour of a dust collection operation | work can be reduced and a quick dust collection operation | work can be implement | achieved. Then, by outputting the dust collection data D from the dust data output unit 9f to the external management server 400, the type and number of the dust G collected by the dust collection vehicle 100 can be easily recognized, and the dust Based on the type and number of G, the weight of the dust G collected by the garbage truck 100 can be easily calculated. That is, since the types of dust G are classified into a plurality of types based on the size of the object image in the image taken by the camera 7, by setting the weight of the dust G for each type of dust G, From the type and number of the dust G collected by the collection vehicle 100, the weight of the dust G collected by the dust collection vehicle 100 can be easily calculated.

  In addition, since the dust characteristic data includes at least color information of the designated garbage bag designated for each municipality, the object image is represented by the dust G (based on the color extracted from the object image in the image taken by the camera 7. It can be easily identified whether or not it represents a designated garbage bag.

  In addition, since the dust collection data D includes position information of the place where the dust collection work was performed, the dust collection data 100 was collected by the dust collection vehicle 100 for each place where the dust collection work was performed based on the dust collection data D. The type and number of the dust G can be easily recognized.

  In addition, since there is a dust data output unit 9f that can output the dust collection data D stored in the dust data storage unit 9e to the management server 400, the dust collection vehicle 100 collects the dust in the external management server 400. The type and number of the dust G can be easily managed, and the weight of the dust collected by the garbage truck 100 can be easily managed based on the type and the number of the dust G.

-Other embodiments-
The disclosed embodiments are examples in all respects, and do not serve as a basis for limited interpretation. The technical scope of the present invention is not interpreted only by the above-described embodiments, but is defined based on the description of the scope of claims. The technical scope of the present invention includes meanings equivalent to the scope of claims and all modifications within the scope.

  The features (color, shape, size) extracted from the object image in the image taken by the camera 7 described above are examples, and other features may be extracted. Further, the dust feature data described above is an example, and other feature data may be included. Alternatively, only the color information of the designated garbage bag designated for each municipality may be used as the dust characteristic data, and only the color may be extracted from the object image in the image photographed by the camera 7.

  In the above embodiment, the designated garbage bag designated for each local government is detected based on the color extracted from the object image in the image photographed by the camera 7, but the garbage G other than the designated garbage bag is detected, and the number thereof is detected. May be counted. For example, in addition to the designated garbage bag, an undesignated garbage bag may be detected. In this case, for example, a non-designated garbage bag is detected based on the shape extracted from the object image in the image taken by the camera 7, and the non-designated garbage bag is detected based on the size extracted from the object image. The type (size) may be detected. Further, for example, cardboard or the like may be detected in addition to the designated garbage bag.

  The kind of dust G mentioned above is an example, Comprising: You may employ | adopt classifications other than the above. For example, based on the size extracted from the object image in the image photographed by the camera 7, it is classified into three types such as a small-sized designated garbage bag, a medium-sized designated garbage bag, and a large-sized designated garbage bag. May be. Alternatively, when the dust G other than the designated garbage bag is detected, the type of the dust G may be classified based on the shape extracted from the object image in the image photographed by the camera 7.

  The detection area Y1 and the dust throwing area Y2 described above are examples, and areas other than the above may be employed. For example, an area in front of the rear edge 4b of the dust inlet 4 may be set as the dust input area Y2. In this case, if it is determined in step S5 that the position coordinates of the pixels that form the outer shape of the region where the object image is formed are included on the front side of the rear edge portion 4b of the dust inlet 4, the dust What is necessary is just to determine with the object image identified as the dust G being detected in the injection | throwing-in area Y2.

  The dust collection data D described above is an example, and may be data that does not include an ID number, position information, and time. Alternatively, the worker's information, date, etc. may be included in the dust collection data D. For example, as dust collection data D, data including only the number of each type of dust G may be created. Further, for example, as the dust collection data D, data including the weight of the dust measured by the load cell may be created.

  In the above-described embodiment, the case where the present invention is embodied as a dust collection system of the garbage truck 100 equipped with a so-called rotary dust loading device is described. The main part of the dust loading device is the rotating plate 10 and The pushing plate 20 is used. However, the present invention is not limited to this, and the main part of the dust loading device may be constituted by an elevating plate and a pushing plate, and the structure thereof is not particularly limited.

  INDUSTRIAL APPLICABILITY The present invention can be used for a dust collection system for a dust collection vehicle that collects the types and number of dusts put in a dust box.

1 chassis 2 dust storage box 3 dust input box 4 dust input 7 camera 9 image processing unit (image processing device)
9a Position information acquisition unit 9b Dust verification unit 9c Dust input determination unit 9d Dust count unit 9e Dust data storage unit 9f Dust data output unit 100 Dust collection vehicle D Dust collection data M Memory (storage unit)

Claims (5)

It has a dust loading device arranged inside the dust box,
The vicinity of the dust inlet opening at the back of the dust container box is photographed by a camera, and the type and number of dusts put into the dust container box are totaled based on the image data. A system,
A dust collation unit that collates the feature extracted from the object image in the image captured by the camera with the dust feature data stored in the storage unit in advance to determine whether the object image represents dust,
A dust input determining unit that determines whether or not the object image determined to represent dust by the dust collating unit has been input into the dust input box;
A dust counting unit that counts the number of object images determined to have been put into the dust throwing box by the dust throwing determination unit for each type of dust;
A dust collection system for a dust collection vehicle, comprising: a dust data accumulation unit that accumulates the number of object images counted by the dust counting unit as dust collection data for each type of dust. In the refuse collection system of the refuse collection vehicle according to claim 1,
The garbage collection system for a garbage truck, wherein the garbage characteristic data includes at least color information of a designated garbage bag. In the refuse collection system of the refuse collection vehicle according to claim 1 or 2,
The dust collection system for a dust collection vehicle, wherein the types of dust are classified into a plurality of types based on the size of an object image. In the refuse collection system of the refuse collection vehicle as described in any one of Claims 1-3,
A dust collection system for a dust collection vehicle, wherein the dust collection data further includes position information of a place where dust collection work is performed. In the refuse collection system of the refuse collection vehicle as described in any one of Claims 1-4,
A dust collection system for a dust collection vehicle, comprising: a dust data output unit capable of outputting the dust collection data stored in the dust data storage unit to an external management server.

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