JP2019199313A - Garbage collector and control method thereof - Google Patents

Abstract

To make it possible to conduct a prescribed operation easily using voice recognition at a garbage collector.SOLUTION: A prescribed instruction voice corresponding to a prescribed operation is stored in a storage part, it is determined whether a feature of voice collected through a microphone is equivalent to a feature of the instruction voice stored in the storage part, and an instruction for an operation corresponding to the instruction voice is given when it is determined that both are equivalent to each other.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a garbage truck and a control method thereof, and more particularly, to a voice recognition control thereof.

  2. Description of the Related Art Conventionally, there is known a garbage collection vehicle that is provided on a chassis and includes a dust collection device having a dust storage box and a dust input box, and has a loading device built in the dust input box.

  In this kind of garbage collection vehicle, for example, in Patent Document 1, a voice recognition device that recognizes the voice of an operator is provided, and when the voice of the person is recognized by the voice recognition device, the container box drive device and the input box Of the driving device and the loading device, the operating device is stopped.

  Further, in Patent Document 2, the loading device is urgently stopped when a human body sensor switch is activated by a signal of a human body sensor during a timer operation time or when a voice switch is activated.

Japanese Patent Laying-Open No. 2005-213027 Japanese Patent No. 5479643

  However, in the garbage truck of Patent Document 1, only the sound in the specific frequency band is detected, and the operation is stopped when the sound pressure exceeding a predetermined value is detected. If there is, the voice of a general person other than the worker will react, and if used for a signal to start work, it is not appropriate in terms of safety.

  Moreover, in the garbage collection vehicle of patent document 2, when detecting that the human body approached with the electromagnetic wave sensor, or detecting the sound volume above a certain level, the loading device is stopped. If applied to the start signal, it will react to anyone's voice, which is a safety issue.

  The present invention has been made in view of the above points, and an object of the present invention is to enable a predetermined operation to be performed easily and safely using voice recognition.

  In order to achieve the above object, in the present invention, when a voice having the same characteristics as the registered instruction voice is input, an operation corresponding to the instruction voice is performed.

Specifically, in the first invention, on the premise of a garbage collection vehicle provided on a chassis and provided with a dust collection device having a dust storage box and a dust input box,
The dust collecting apparatus is provided with a device driving actuator, a control unit for controlling the device driving actuator, and a voice recognition unit.
The speech recognition unit
A storage unit storing instruction voices for instructing a predetermined operation of the device driving actuator;
A voice recognition process for determining whether or not the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit, and issuing an operation instruction corresponding to the instruction voice when it is determined to be equal And
An interface unit that processes instructions from the voice recognition processing unit into a form that can be input to the control unit.

  According to the above configuration, since it is determined whether or not the characteristics of the instruction voice registered in advance and the characteristics of the voice collected by the microphone are equal, the dust collection device is used for voices other than a specific operator registered in advance. This is convenient when an instruction for a predetermined operation is not given to the actuator for driving the device, and it is safe and the operation buttons cannot be directly operated because both hands are closed or separated. Here, in the present invention, the feature of speech means a specific word and a voiceprint that is different for each individual. In other words, in order for the device driving actuator of the dust collecting apparatus to perform a predetermined operation, not only a specific word but also a voiceprint needs to be adapted.

In the second invention, in the first invention,
The control unit has a programmable logic controller for controlling the operation of the device driving actuator,
The programmable logic controller is configured such that an instruction for an operation corresponding to the instruction voice is issued from the voice recognition processing unit via the interface unit.

  According to the above configuration, since the programmable logic controller can command the operation of the device drive actuator of the dust collecting device that supports the instruction voice, various operations of the various device drive actuators can be instructed with a simple configuration. It becomes possible to change the operation easily.

In the third invention, in the first invention,
The dust collecting device includes a weight measuring unit capable of measuring the weight of dust stored in the dust storage box,
The voice recognition processing unit is configured to issue a tare subtraction instruction or a measurement instruction to the weight measurement unit.

  According to the above configuration, since the instruction at the time of weight measurement can be performed only by voice even at a position away from the weight measurement unit without directly pressing the operation button of the weight measurement unit, work efficiency is improved.

In the fourth invention, in the second invention,
The dust collecting device includes an inlet cover that opens and closes the dust inlet by slidingly moving between an upper end position and a lower end position with respect to a dust inlet provided in the dust inlet box,
The programmable logic controller is configured to slide the input port cover between the upper end position and the lower end position in accordance with the instruction voice so as to open / close the dust input port.

  According to the above configuration, even if the garbage bag is grasped with both hands and the operation button cannot be pushed by hand, the opening / closing cover can be instructed by voice, so that the working efficiency is improved.

In a fifth invention, in any one of the first to fourth inventions,
The dust collecting device is
An operation registration button that is operated when registering the instruction voice in the storage unit is provided.

  According to the above configuration, the instruction voice can be registered easily and surely by operating the operation registration button.

In a sixth invention, in any one of the first to fifth inventions,
The microphone is a portable bone conduction microphone, and is configured to be able to instruct the operation of the device driving actuator from a position away from the dust collecting device using the bone conduction microphone.

  According to the above configuration, even when the device drive actuator for dust collection of the dust collection device is operating and noise is generated, the operator's voice can be reliably picked up at a remote location, so it operates safely and reliably Can be instructed.

In the seventh invention, on the premise of a control method of a dust collection vehicle provided on a chassis and provided with a dust collection device having a dust storage box and a dust input box,
The dust collecting device is
A storage step of storing a predetermined instruction sound corresponding to a predetermined operation of the device driving actuator in the storage unit;
A voice recognition step of determining whether or not the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit, and issuing an operation instruction corresponding to the instruction voice when it is determined to be equal And.

  According to the above configuration, since it is determined whether or not the characteristics of the instruction voice registered in advance and the characteristics of the voice collected by the microphone are equal, a predetermined operation is performed for a voice other than a specific operator registered in advance. This is convenient when the operation button is not operated and it is safe and the operation button cannot be operated directly.

In the eighth invention, in the seventh invention,
The predetermined operation is a taring instruction or a measurement instruction for a weight measuring unit capable of measuring the weight of the dust stored in the dust storage box.

  According to the above configuration, since the instruction at the time of weight measurement can be performed only by voice even at a position away from the weight measurement unit without directly pressing the operation button of the weight measurement unit, the work efficiency at the time of weight measurement is improved.

In the ninth invention, in the seventh or eighth invention,
In the above memory step,
Operate the operation registration button,
After there is a voice input of a word that triggers the predetermined action,
When there is an input of a corresponding operation button, the word and voiceprint are registered as instruction voices for the operation button.

  According to the above configuration, since the instruction voice including the word and the voiceprint is registered together with the operation of the operation button for performing the actual work, a registration error is prevented.

  As described above, according to the present invention, when the voice recognition unit determines whether the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit, and determines that they are equal In addition, since the operation instruction corresponding to the instruction voice is issued to the actuator for driving the equipment of the dust collecting apparatus, the predetermined work can be easily performed using the voice recognition.

It is the perspective view which looked at the automatic opening / closing device of the slot cover and its periphery from the front upper upper right. It is the perspective view which looked at the automatic opening / closing device of the slot cover and its periphery from another position on the front upper left side. It is a side view which shows the refuse collection vehicle which concerns on embodiment of this invention. It is a rear view of a garbage truck. It is a perspective view which expands and shows a drive motor and its periphery. It is the perspective view which looked at the automatic opening / closing device of the slot cover and its periphery from the rear upper left side. It is the perspective view which expanded the drive motor and its periphery from the rear upper left side. It is sectional drawing which shows the internal structure of a dust input box. It is a side view which shows the link mechanism of a slot cover, and its periphery. It is a side view which shows a partially broken rear side of a garbage truck according to an embodiment of the present invention. It is a flowchart which shows the opening / closing automatic control of a slot cover. It is a graph which shows operation | movement of the process 1 and 3 of a slot cover. It is a graph which shows operation | movement of the process 2 and 4 of an inlet cover. It is an electric circuit diagram which simplifies and shows PLC and its periphery. FIG. 3 is a simplified hydraulic circuit diagram of the loading device. It is a flowchart which shows an example of a speech recognition process. It is a flowchart which shows an example of the audio | voice registration which concerns on other embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

-Configuration of garbage truck-
2A and 2B show a garbage collection vehicle 1 according to an embodiment of the present invention. The garbage collection vehicle 1 includes a movable chassis 2, a cab 2 a provided on the chassis 2, and a garbage collection device 3. And. The dust collecting device 3 includes a dust storage box 4, a dust input box 5 which is connected to the rear opening 4a of the dust storage box 4 and has a dust input port 7 into which dust is input, and the dust input box. 5, the dust input port 7 is moved by sliding between a loading device 6 (see FIG. 6) for loading the dust into the dust container 4 and an upper end position A and a lower end position B (see FIG. 6). And a slot cover 8 that opens and closes. In addition, the waste container 4 may be provided with a discharge plate that is slidable back and forth, and the rear opening 4a can be opened and closed by turning the dust input box 5 about the upper rotation shaft. Alternatively, the dust container 4 may be configured to be tiltable, but in the following description, the hydraulic cylinder and the like in that case are omitted.

  As shown in FIGS. 6 and 8, the loading device 6 of the present embodiment is, for example, a press type, and guide groove members 20 formed of channel steel are formed on both side walls 9 of the dust box 5. It is provided so as to incline from the front upper part toward the rear lower part. In the garbage throwing box 5 is accommodated a lifting plate 21 that extends to its full width. On the other hand, as shown by a two-dot chain line in FIG. 7, a lifting plate support shaft 21 a is inserted into the support portions provided at the left and right ends of the rear upper portion of the lifting plate 21. The elevating plate support shaft 21a is arranged so as to protrude from the inner side of the side wall 9 beyond the sliding opening 22 formed in the side wall 9 of the dust throwing box 5 in accordance with the sliding distance of the elevating plate 21. Yes. A device drive provided between the elevating plate support shaft 21a projecting outward from the side wall 9 of the dust input box 5 and the lower part of the dust input box 5 along the inclination direction of the guide groove member 20 outside the dust input box 5. A lifting cylinder 23 as an actuator is connected. The lifting plate 21 is reciprocated up and down along the guide groove member 20 by the expansion and contraction operation of the lifting cylinder 23.

  At the lower end of the elevating plate 21, one end of a compression plate 24 that extends to the full width in the dust box 5 is supported so as to be swingable back and forth. The front end of the compression plate 24 is slightly bent toward the front. An oscillating cylinder 25 serving as an actuator for driving the device is connected between a connecting portion projecting from the back surface of the compression plate 24 and a support portion provided at the upper portion of the back surface of the elevating plate 21. The compression plate 24 is swung back and forth by an expansion / contraction operation. The loading device 6 may be a rotary plate type including a push plate that reciprocally rotates by a hydraulic cylinder and a rotary plate that is driven to rotate.

  As shown in FIG. 1B, the slot cover 8 has a substantially rectangular plate shape, and slides up and down as the rollers 8a provided at the left and right ends move along rail members 8b provided inside the left and right side walls 9. It is movable.

  As shown in FIG. 7, the tip end of a plate-like link member 40 is rotatably connected to a rod-like vehicle width direction end portion 8 c that protrudes in the vehicle width direction at the upper end portion of the insertion port cover 8. The other end of the link member 40 is connected to the tip of the outer arm portion 41 so as to be rotatable by an arm connecting pin 41a. The base end side of the outer arm portion 41 is supported so as to be rotatable at a position overlapping the lifting cylinder 23 in a side view.

  The outer arm portion 41 includes a pipe member 42 on the proximal end side, and a plate member 43 whose proximal end side is fixed to the distal end of the pipe member 42 and whose distal end side is rotatably connected to the proximal end side of the link member 40. ing. The pipe member 42 is made of, for example, a steel pipe, and is bent rearward at an intermediate portion in a side view, and the distal end side is further bent toward the side wall 9 (inward in the vehicle width direction). The plate member 43 is made of, for example, a pair of steel plates in the vehicle width direction, and is fixed to the pipe member 42 by welding or the like. The link member 40 can rotate between the pair of steel plates.

  A base end side of the outer arm portion 41 is rotatably connected to an arm mounting bracket 44 provided between the elevating cylinder 23 and the dust inlet 7 on the side wall 9. The arm mounting bracket 44 includes, for example, a truncated pyramid 44a whose base end is fixed to the side wall 9. As shown in FIG. 4, the distal end of the truncated pyramid 44a extends further outward in the vehicle width direction than the lifting cylinder 23. A plate-like tip 44b is provided integrally. As shown in FIG. 7, the plate-like distal end portion 44 b extends downward toward the front to a position overlapping the piston rod 23 a of the elevating cylinder 23 in a side view, and the distal end portion 44 b is connected to the proximal end side of the pipe member 42. It is connected so that it can rotate.

  As shown in FIG. 8, a cross bar 10 that connects the left and right side walls 9 of the dust input box 5 is provided above the loading device 6 in the dust input box 5. “Upper loading device 6” means a space above the loading device 6, and a part of the loading device 6 (for example, a part of the lifting cylinder 23) is higher than the crossbar 10 in a side view. May be in position. For example, the cross bar 10 is made of a steel pipe having a certain thickness in order to maintain rigidity, but may be made of a steel bar.

  As shown in FIG. 1A to FIG. 5, a drive motor 11 as an appliance driving actuator such as an electric motor is fixed to the right side of the cross bar 10 extending from side to side as viewed from the rear side. The electric power of the drive motor 11 is supplied from, for example, a battery BT (see FIG. 10) on the chassis 2 side. As shown in FIG. 5, the output shaft 11 a of the drive motor 11 is integrally provided with a drive pulley 11 b. The drive motor 11 is fixed to the cross bar 10 via a motor mounting bracket 11c. A transmission belt 12 as a transmission member is hung on the drive pulley 11b. On the other hand, as shown in FIG. 1B, the driven pulley 13a is rotatably supported above the driving pulley 11b and above the loading device 6 via an upper support portion 13 incorporating a bearing. The driven pulley 13a is provided at a position shifted from the center of the left and right side walls 9 to either the left or right side (left side as viewed from the front in FIG. 1B). The upper end side of the transmission belt 12 is hung on the driven pulley 13a. In this way, the transmission belt 12 extends vertically and is driven by the drive motor 11 between the drive pulley 11b and the driven pulley 13a.

  One end 14 a of the inner arm portion 14 is rotatably connected to the transmission belt 12. Specifically, as shown in FIG. 5, an upper arm support portion 14 d is provided in the fixing portion 14 c fixed to a predetermined position of the transmission belt 12, and one end of the inner arm portion 14 is provided on the upper arm support portion 14 d. 14a is rotatably supported. On the other hand, the other end 14 b of the inner arm portion 14 is rotatably connected to a lower arm support portion 14 e provided on the upper end side of the insertion port cover 8. As shown in FIG. 1B, the lower arm support portion 14 e is fixed to an arm mounting bracket 8 d having a U-shaped cross section of the insertion port cover 8. Thereby, the inner arm part 14 moves up and down in accordance with the drive of the transmission belt 12.

  That is, by controlling the drive motor 11 to drive the transmission belt 12, the inner arm portion 14 moves up and down, whereby the insertion port cover 8 is located between the upper end position A and the lower end position B shown in FIG. The dust inlet 7 is opened and closed by sliding.

  The drive motor 11 is controlled by the PLC 15 and the control board 16 as a control unit. As shown in a simplified manner in FIG. 10, the PLC 15 is a programmable logic controller, and the program can be rewritten as appropriate. The control board 16 includes, for example, a microcomputer (microcomputer) and a DAC. The DAC is an abbreviation of “Digital Analog Converter” and is also referred to as a “D / A converter”, and means a circuit or component that converts a digital signal into an analog signal. The control board 16 is connected to a driver 17, and the driver 17 is connected to the drive motor 11.

  As shown in FIGS. 1A and 1B, an upper sensor 18 and a lower sensor 19 for detecting that the inlet cover 8 has moved to a position before the upper end position A or the lower end position B are respectively disposed in the dust box 5. Is provided. Although specifically described later, the lower sensor 19 is provided in the vicinity of the cross bar 10 slightly above the upper edge of the dust inlet 7. The upper sensor 18 is provided at the upper end portion inside the dust box 5.

  On the other hand, a plate-like detection plate 26 extending vertically is provided at a position corresponding to the upper sensor 18 and the lower sensor 19 on the upper side of the slot cover 8. When the detected plate 26 moves to the vicinity of the upper sensor 18 and the lower sensor 19, its presence is detected. What is necessary is just to set the up-and-down length of the to-be-detected board 26 according to the height of the insertion port cover 8 which the upper side sensor 18 and the lower side sensor 19 want to detect. As shown also in FIG. 10, the PLC 15 is configured to receive a signal from the upper sensor 18 or the lower sensor 19 and reduce the rotational speed of the drive motor 11.

  Specifically, as shown in FIG. 1B, the upper sensor 18 is attached to the upper sensor so that the detected plate 26 is detected at a predetermined position before the insertion port cover 8 comes to the upper end position A and completely opens. It is fixed to the upper side of the dust box 5 via the bracket 18a. As shown in FIG. 1A, the upper and lower positions of the upper sensor 18 can be finely adjusted using a long hole 18b or the like of the upper sensor mounting bracket 18a. The lower sensor 19 is connected to the crossbar 10 via the lower sensor mounting bracket 19a so that the detected plate 26 is detected a predetermined position before the insertion port cover 8 comes to the lower end position B and is completely closed. Attached. As shown in FIG. 5, the position of the lower sensor 19 can also be finely adjusted using the long hole 19b of the lower sensor mounting bracket 19a.

  Next, an input / output state with respect to the PLC 15 that controls the loading device 6 and the like will be described with reference to FIGS. 2A, 2B, 6, 8, 10, and the like.

  As shown in FIGS. 2A and 2B, the garbage truck 1 includes a camera 91 for monitoring the vicinity of the dust inlet 7 of the dust container 5. The camera 91 may include an attached microphone 71 that can input voice.

  As shown in FIGS. 8 and 10, the worker O carries the bone conduction device 100. The bone conduction device 100 includes a bone conduction microphone 101, for example. This bone conduction microphone 101 is a special microphone that picks up vibrations near the throat, and can collect sound without picking up surrounding noise even in a noisy environment or a strong wind. In addition, since the bone conduction device 100 includes the bone conduction speaker 102, if the bone conduction speaker 102 is attached, the worker O has a strong noise environment or strong wind such as when the loading device 6 is operating. The voice can be heard even in the situation. For example, when wireless communication is possible with the indoor speaker 72 in the cab 2a, reliable communication between the driver in the cab 2a and the worker O is possible even in a noisy environment or a strong wind. It becomes. The bone conduction device 100 includes a voice processing unit 103 that processes voice collected by the bone conduction microphone 101. Further, the bone conduction device 100 includes a portable wireless communication unit 104 capable of transmitting a voice signal processed by the voice processing unit 103.

  On the other hand, a speech recognition unit 80 is provided on the garbage truck 1 side. The speech recognition unit 80 includes a speech recognition module 81 having a speech recognition processing unit 82 and a storage unit 83, and an interface unit 84 that converts the speech recognition result recognized by the speech recognition module 81 so that the result can be input to the PLC 15. I have. Information transmission from the voice recognition unit 80 to the PLC 15 is performed by 24V input or communication port input. The storage unit 83 can store predetermined instruction voices and the like. The voice recognition unit 80 includes a unit-side wireless communication unit 85 that can communicate with the portable-side wireless communication unit 104 of the bone conduction device 100. In addition, for example, the rear operation unit 27 is provided with an operation registration button 86 that is operated when registering the instruction voice in the storage unit 83. By pressing the operation registration button 86, the instruction voice can be easily registered. However, if the operation registration button 86 is pressed without turning on the key switch SWK (see FIG. 10) of the cab 2a, the instruction voice cannot be registered. This prevents other people from registering the instruction voice without permission while the garbage truck 1 is parked.

  Furthermore, the garbage collection vehicle 1 includes a weight measuring unit 30 capable of measuring the weight of the dust stored in the dust storage box 4. Although not shown in detail, the weight measuring unit 30 indirectly measures the weight of the dust housed in the dust container box 4 by using a load cell disposed between the chassis 2 and the dust container box 4. Is. The weight measuring unit 30 can measure the weight of the dust accommodated in the dust accommodating box 4 by excluding the weight of the dust accommodating box 4 and the dust throwing box 5 from the signal obtained by the load cell. Further, the weight measuring unit 30 can perform a taring operation for adjusting the weight to zero for each collection site and a weight measuring operation for measuring the weight after the taring. The voice recognition processing unit 82 is configured to issue a tare subtraction instruction or a measurement instruction to the weight measurement unit 30.

  In the cab 2a, for example, when the voice recognition processing unit 82 determines that the sound having the same characteristics as the registered instruction voice is collected, the buzzer 73 that sounds and the bone conduction microphone 101 are input. There is a lamp 74 that shines when there is. Further, as described above, the camera 91 may be provided with the attached microphone 71 capable of inputting voice, and not only the bone conduction microphone 101 but also the sound of the attached microphone 71 may be collected. Good. The timing at which the buzzer 73 sounds and the timing at which the lamp 74 shines are not limited to the above timing, and may be set as appropriate.

  Various operation buttons are provided on the front operation unit (not shown) in the cab 2a of the garbage truck 1 and the rear operation unit 27 of the dust container 5. For example, as shown in FIGS. 2B, 6, and 10, the rear operation unit 27 is provided with a plurality of operation buttons 27 a. Each operation button 27a is provided with emergency stop switches SW1 and SW2, a start switch SW5 of the loading device 6, a stop switch SW6 of the loading device 6, an open switch SW7 of the inlet cover 8, a close switch SW8, and the like. . In addition, the dust box 5 is provided with an emergency stop switch SW3 corresponding to the emergency stop plate 50.

  In addition, as shown in FIG. 6, a non-contact switch LS <b> 1 that detects a state in which the lifting / lowering cylinder 23 that lifts the lifting / lowering plate 21 is fully extended is detected in the garbage throwing box 5, and a state in which the lifting / lowering cylinder 23 is most contracted is detected. There are provided a non-contact switch LS2, a non-contact switch LS4 for detecting the most extended state of the swing cylinder 25 for swinging the compression plate 24, a non-contact switch LS3 for detecting the most contracted state of the swing cylinder 25, and the like. Yes. The contactless switches LS1 and LS2 are switched between a dust throwing box 5 and a lifting cylinder 23, each having a detection body and a detected body on the other. Further, the contactless switches LS3 and LS4 are switched between a lifting plate 21 and a swing cylinder 25, each having a detection body and a detected body on the other. The contactless switches LS <b> 1 to LS <b> 4 correspond to sensor units that detect the operation of the elevating cylinder 23 and the swing cylinder 25, and have a function of sending a detection signal of the operation to the PLC 15. As these non-contact switches LS1 to LS4, the upper sensor 18 and the lower sensor 19, for example, a photoelectric switch, a proximity switch or the like can be used.

  As shown in a simplified hydraulic circuit diagram in FIG. 11, this hydraulic circuit includes an electromagnetic control valve V <b> 1 that controls expansion / contraction of the hydraulic pump P, oil reservoir T, elevating cylinder 23, and electromagnetic control valve that controls expansion / contraction of the swing cylinder 25. V2 etc. are comprised. A driving force of a vehicle engine (not shown) is transmitted to the hydraulic pump P via a PTO (power take-off). The electromagnetic control valves V1, V2 are composed of, for example, electromagnetic direction switching valves at 6 ports and 3 positions. The electromagnetic control valve V1 has solenoids SOLa and SOLb, and the electromagnetic control valve V2 has solenoids SOLc and SOLd. The electromagnetic control valves V1 and V2 are switched to the upper position or the lower position only when each solenoid is energized, and return to the neutral position when not energized.

  As shown in FIG. 10, these various switches SW1 to SW8, contactless switches LS1 to LS4, upper sensor 18, lower sensor 19, solenoids SOLa to SOLd, and the like are connected to the PLC 15. The PLC 15 has a signal power supply unit (not shown), a central processing unit, various relay coils, relay coil a contacts, and the like, and is incorporated in an electric circuit together with the battery BT, key switch SWK, PTO switch SWP, and the like. Yes. The PLC 15 is programmed to output to the corresponding solenoids SOLa to SOLd according to a procedure set in advance based on the input conditions of the various switches SW1 to SW8, the non-contact switches LS1 to LS4, the upper sensor 18, and the lower sensor 19. Has been. In the following, when the energization / release of the solenoids SOLa to SOLd is described, the description of the relay coil is omitted.

  Hereinafter, the electric circuit will be described in detail. The power supply to the PLC 15 is performed by the battery BT. On the energization line K2 extending from the positive electrode of the battery BT to the right side of FIG. 10 and reaching the ground line K1, a key switch SWK and a relay coil CR1 are provided in order from the upstream side. The upstream end of the energization line K3 is electrically connected between the key switch SWK of the energization line K2 and the battery BT. Further, a contact cr1 of the relay coil CR1 and a power lamp L are interposed in the energization line K3. When the relay coil CR1 is turned on and the contact cr1 is closed, the power lamp L is turned on by energizing the energization line K3. The upstream end of the energization line K4 is electrically 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. A PTO switch SWP, various switches SW1 to SW8, contactless switches LS1 to LS4, an upper sensor 18, and a lower sensor 19 are electrically connected between the energization line K4 and the PLC 15.

  Furthermore, the energization line K5 branched from the energization line K4 ensures that the PLC 15 is energized during the dust loading operation of the loading device 6. The energization line K5 is a line for inputting a loading continuation signal, and is provided with the emergency stop switches SW1 to SW3 described above. When the energization is cut off by these emergency stop switches SW1 to SW3, the operation of the PLC 15 is stopped. As a result, all control signal outputs from the PLC 15 for exciting the solenoids SOLa to SOLd of the electromagnetic control valves V1, V2 are interrupted, the electromagnetic control valves V1, V2 are returned to the neutral position, and the loading device 6 is operated. It is supposed to be stopped.

  As described above, during the loading operation of the loading device 6, both the key switch SWK and the PTO switch SWP are closed, and the PLC 15 is energized by the energization lines K3 to K5.

  Next, the operation of the garbage truck 1 configured as described above will be described.

  First, the operation of the loading device 6 will be described. The loading device 6 is normally stopped at the end of the dust loading process shown by the solid line in FIG. In this state, the elevating plate 21 is disposed at the ascent limit position, and the compression plate 24 is disposed at the forward swing limit position.

  When the operator gets into the garbage truck 1, the key switch SWK is turned on. As the key switch SWK is turned on, the power from the battery BT is input to the signal power supply unit of the PLC 15 and the PLC 15 is energized.

  The operator operates the garbage collection vehicle 1, arrives at the work site, stops the garbage collection vehicle 1, and then turns on the PTO switch SWP. Then, the PTO enters a connected state, and driving of the hydraulic pump P is started. At this time, the electromagnetic control valves V1 and V2 are in a neutral position, and the hydraulic oil discharged from the hydraulic pump P is returned to the oil reservoir T without driving the cylinders 23 and 25.

  In this state, since the lift cylinder 23 and the swing cylinder 25 are both in the fully extended state, the contactless switches LS1 and LS4 are operated, and the ON signals of the contactless switches LS1 and LS4 are input to the PLC 15. Yes. In this state, when an operator pushes the operating button 27a (start switch SW5) after throwing dust from the dust throwing port 7 of the dust throwing box 5, the solenoid SOLd is energized by the PLC 15, and the electromagnetic control valve V2 is turned on. Switches to the upper position. As a result, the swing cylinder 25 is contracted, and the compression plate 24 is reversed until the compression surface thereof is in a substantially horizontal position.

  When the compression plate 24 reaches the rear swing limit position, that is, when the swing cylinder 25 contracts to the maximum, the non-contact switch LS3 is activated, and the PLC 15 returns the electromagnetic control valve V2 to the neutral position, and at the same time, the solenoid SOLb. Is energized and the electromagnetic control valve V1 is switched to the upper position, so that the elevating cylinder 23 is contracted and the elevating plate 21 is lowered along the guide groove member 20. As a result, the compression plate 24 connected to the elevating plate 21 descends in parallel while holding the compression surface so as to be substantially horizontal. Can be crushed.

  When the elevating plate 21 reaches the lower limit position, that is, when the elevating cylinder 23 contracts to the maximum, the contactless switch LS2 is activated, and the PLC 15 releases the energization to the solenoid SOLb and returns the electromagnetic control valve V1 to the neutral position. At the same time, the solenoid SOLc is energized to switch the electromagnetic control valve V2 to the lower position. As a result, the swing cylinder 25 is extended from the state where the dust crushing is finished, and the compression plate 24 is swung clockwise with the shaft support portion as a fulcrum until the compression surface becomes substantially vertical. As a result, the compression plate 24 can secondarily compress the dust primarily crushed in the previous stroke with the flat surface of the bottom surface of the dust box 5.

  When the compression plate 24 reaches the forward swing limit position, that is, when the swing cylinder 25 is extended to the maximum, the contactless switch LS4 is actuated, and the PLC 15 releases the energization of the solenoid SOLc and neutralizes the electromagnetic control valve V2. Simultaneously with the return to the position, the solenoid SOLa is energized to switch the electromagnetic control valve V1 to the lower position. As a result, the elevating cylinder 23 is extended from the end state of the compression stroke, and the compression plate 24 is lifted in parallel while holding its compression surface substantially vertical, and the dust compressed in the previous stroke is collected in the dust storage box. Load in 4. When the elevating plate 21 reaches the ascent limit position, that is, when the elevating cylinder 23 is fully extended, the contactless switch LS1 is activated, and the PLC 15 releases the energization of the solenoid SOLa to bring the electromagnetic control valve V1 into the neutral position. Return to. This completes the loading process.

  As described above, the loading device 6 operates in the order of the reverse stroke, the crushing stroke, the compression stroke, and the loading stroke (hereinafter also referred to as loading cycle) by the pressing operation of the operation button 27a (start switch SW5). The dust thrown into the dust throwing box 5 can be loaded into the dust storage box 4.

-Instruction voice storage process-
Next, the instruction voice storing step will be described with reference to FIG. In this storage step, the instruction voice of a predetermined word corresponding to a predetermined operation is stored in the storage unit 83. Here, for example, the operator O who actually performs the work registers the instruction voice.

  Specifically, first, in step S61, before performing instruction voice registration work, the worker O first turns on the key switch SWK. When the key switch SWK is turned on, the operation of the operation registration button 86 becomes valid, and the process proceeds to step S62.

  In step S62, when the operation registration button 86 of the rear operation unit 27 is operated by the worker O, the process proceeds to step S63.

  In step S63, the voice recognition unit 80 determines whether or not there is a voice input of a word that triggers a predetermined action. If there is a voice input, the process proceeds to step S64. The word used as a trigger is not particularly limited, for example, “open cover!”, “Load stop!”, “Stop!”, And the like.

  In step S64, the voice recognition unit 80 determines whether there is an input of the operation button 27a corresponding to the voice input from the presence / absence of a signal of the predetermined operation button 27a input via the PLC 15, and if there is an input, Proceed to step S65.

  In step S65, the voice recognition unit 80 registers the word issued by the worker O and the voiceprint of the worker O as instruction voices for the predetermined operation button 27a operated by the worker O. In the present embodiment, the instruction voice is registered together with the operation of the operation button 27a for performing actual work, so that a registration error is prevented.

-Voice recognition process-
Next, the voice recognition process according to the embodiment of the present invention will be described with reference to FIG. In this voice recognition step, the voice recognition unit 80 determines whether or not the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit 83. The operation instruction corresponding to is issued.

  Specifically, first, in step S51, it is determined whether or not the key switch SWK is turned on. When the key switch SWK is turned on, the process proceeds to step S52. When the operation of the loading device 6 is instructed with an instruction voice, the PTO switch SWP is also turned on.

  In step S <b> 52, the voice recognition unit 80 determines whether there is a voice input from the bone conduction microphone 101 based on whether or not a voice signal from the bone conduction device 100 has been received. For example, the bone conduction device 100 is configured to accept a word and transmit the speech to the speech recognition unit 80 only when a dummy keyword is uttered before the word indicating the operation content such as “hay” and “oi”. In this case, erroneous recognition in the voice recognition unit 80 is further reduced. If there is a voice input, the process proceeds to step S53.

  Next, in step S <b> 53, in the voice recognition unit 80, the voice recognition processing unit 82 compares the input voice feature with the instruction voice feature registered in the storage unit 83.

  Next, when the voice recognition processing unit 82 determines in step S54 that the input voice is equal to the feature of the instruction voice, the process proceeds to step S55. If not, the process returns to step S52 again.

  In step S55, the interface unit 84 of the voice recognition module 81 processes the control signal corresponding to the matched instruction voice into a form that can be input to the PLC 15 or the weight measuring unit 30, and then transmits it to the PLC 15 or the weight measuring unit 30.

  Next, in step S56, the registered operation of the PLC 15 or the weight measuring unit 30 is instructed to the device driving actuator (the lifting cylinder 23, the swing cylinder 25, etc. of the loading device 6).

  As described above, in the present embodiment, since it is determined whether or not the characteristics of the instruction voice registered in advance and the characteristics of the voice collected by the microphone are equal, the voice of the dust collecting apparatus 3 is not used for voices other than a specific worker. This is convenient when an instruction for a predetermined operation is not given to the device driving actuator, which is safe and the operation button 27a cannot be directly operated. When the weight measurement is performed by voice, an instruction at the time of weight measurement can be performed only by voice without directly pressing the operation button of the weight measurement unit 30, so that the work efficiency is improved.

-Opening / closing operation of the inlet cover-
Next, among the registered operations, the opening / closing operation of the slot cover 8 will be described. As shown in FIG. 7, for example, control between a fully closed state in which the insertion port cover 8 is at the lower end position B and is completely closed and a fully open state in which the input port cover 8 is completely opened to the upper end position A will be described.

  As shown in FIG. 9A, for example, when the key switch SWK is turned on, control starts in step S01.

  Next, in step S02, it is determined by the PLC 15 whether the manual opening switch SW7 has been pressed or whether the cover recognition instruction has been issued from the voice recognition unit 80. If yes, then continue with step S03, otherwise continue with step S06.

  In step S03, the PLC 15 determines whether the upper sensor 18 is ON. If the upper sensor 18 is OFF, the process proceeds to step S04 and processing 1 is performed.

  In step S04, process 1 is performed. For example, when the insertion port cover 8 is at the lower end position B, the pipe member 42 is outside the piston rod 23a in the vehicle width direction. At this time, the lower sensor 19 detects the insertion port cover 8 (detected plate 26). As shown in FIG. 9B, the PLC 15 instructs the control board 16 to gradually accelerate the drive motor 11 for the soft start, and the drive motor 11 gradually becomes a constant speed v2 in accordance with the instruction from the control board 16. To be accelerated. As a result, the transmission belt 12 is driven, the inner arm portion 14 is raised, and as a result, the insertion port cover 8 begins to gradually open at the speed v1. Specifically, the link member 40 connected to the vehicle width direction end portion 8c at the upper end portion of the insertion port cover 8 pulls the plate member 43 so that the connection portion with the tip end portion 44b of the arm mounting bracket 44 is centered. Then, the outer arm portion 41 rotates, and the plate member 43 and the link member 40 rise while avoiding contact with other members.

  When the drive motor 11 accelerates and the transmission belt 12 reaches a constant speed v2, the inlet cover 8 rises at the constant speed v2. At this time, the positional relationship (distance) between the lower arm support portion 14e of the inlet cover 8 and the upper arm support portion 14d on the transmission belt 12 side changes, but the inner arm portion 14 rotates relative to these. Since it is movably connected, the slot cover 8 slides smoothly.

  When the inlet cover 8 approaches the upper end position A, the upper sensor 18 detects the detection plate 26 and sends a signal to the PLC 15.

  Then, the PLC 15 sends a deceleration signal to the control board 16 to decelerate the drive motor 11. The control board 16 gradually decelerates the speed v3 until the drive motor 11 is stopped from the constant speed v2.

  On the other hand, when the upper sensor 18 is ON, since the inlet cover 8 is already opened to some extent and is in the fully open state, it is necessary not to open the inlet cover 8 to the fully open position. There is. For this reason, it progresses to step S05 and the low speed constant speed process of the process 2 is performed. As shown in FIG. 9C, in the process 2, the input port cover 8 is opened at a constant low speed v4 only while the open switch SW7 of the input port cover 8 is pressed. Because of the low speed v4, there is little impact even when the shutter is fully opened.

  In step S06, the same control is performed when closing the slot cover 8. Although detailed description is omitted, in step S06, it is determined by the PLC 15 whether the manual close switch SW8 has been pressed or whether the cover close instruction has been issued from the voice recognition unit 80. If yes, then continue with step S07, otherwise, return to step S02.

  In step S07, the PLC 15 determines whether the lower sensor 19 is ON. If the lower sensor 19 is OFF, the process proceeds to step S08 and process 3 is performed.

  In step S08, process 3 is performed in which the opening and closing of the process 1 is reversed (upside down), and the PLC 15 instructs the control board 16 to gradually accelerate the drive motor 11 for soft start. In response to an instruction from the control board 16, the drive motor 11 is gradually accelerated from the speed v1 to the constant speed v2. As a result, the transmission belt 12 is driven, the inner arm portion 14 is lowered, and as a result, the insertion port cover 8 starts to gradually lower at the speed v1. When the drive motor 11 accelerates and the transmission belt 12 reaches the constant speed v2, the insertion port cover 8 is lowered at the constant speed v2. When the inlet cover 8 approaches the lower end position B, the lower sensor 19 detects the detected plate 26 and sends a signal to the PLC 15. Then, the PLC 15 sends a deceleration signal to the control board 16 to decelerate the drive motor 11. The control board 16 gradually decelerates the speed v3 until the drive motor 11 is stopped from the constant speed v2.

  On the other hand, when the lower sensor 19 is ON, the charging port cover 8 is already closed to some extent and is in front of the fully closed state, so that the charging port cover 8 is not forced to close to the fully closed position. It is necessary to. For this reason, the process proceeds to step S09 and the low-speed constant speed process of process 4 is performed. In the process 4, the input port cover 8 is lowered at a constant low speed only while the closing switch SW8 of the input port cover 8 is being pressed. Due to the low speed, there is little impact even when closed to the fully closed position.

  In particular, the operation of closing the insertion port cover 8 and the operation of starting the loading device 6 may be dangerous if the operation is suddenly started. When there is a specific area such as the vicinity of the dust inlet 7, it is advisable to take safety measures such as not starting the operation.

  As described above, according to the present embodiment, the operation corresponding to the instruction voice can be commanded to the drive motor 11 of the insertion slot cover 8 by the PLC 15 having a simple configuration, so that the opening / closing operation of the insertion slot cover 8 is indicated by voice. it can.

  Therefore, according to the garbage truck 1 according to the present embodiment, it is determined whether the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit 83, and when determined to be equal, Since the operation instruction corresponding to the instruction voice is issued, the predetermined work can be easily performed using the voice recognition.

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

  That is, in the said embodiment, although the audio | voice recognition unit 80 instruct | indicated the operation | movement partner to PLC15 or the weight measurement part 30, it is not limited to it, Other operation objects may be sufficient.

  In addition, the above embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, or a use.

2 Carriage 3 Dust collection device 4 Dust storage box 5 Dust input box 7 Dust input port 8 Input port cover 11 Drive motor (actuator for device drive)
15 PLC (control unit (programmable logic controller))
23 Elevator cylinder (actuator for actuator drive)
25 Oscillating cylinder (actuator for device drive)
27a Operation Button 30 Weight Measurement Unit 71 Attached Microphone 80 Speech Recognition Unit 82 Speech Recognition Processing Unit 83 Storage Unit 84 Interface Unit 86 Operation Registration Button 101 Bone Conduction Microphone

Claims (9)

In a garbage collection vehicle provided on a chassis and provided with a dust collection device having a dust storage box and a dust input box,
The dust collecting apparatus is provided with a device driving actuator, a control unit for controlling the device driving actuator, and a voice recognition unit.
The speech recognition unit
A storage unit storing instruction voices for instructing a predetermined operation of the device driving actuator;
A voice recognition process for determining whether or not the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit, and issuing an operation instruction corresponding to the instruction voice when it is determined to be equal And
An garbage collection vehicle comprising: an interface unit that processes an instruction from the voice recognition processing unit into a form that can be input to the control unit. In the refuse collection vehicle according to claim 1,
The control unit has a programmable logic controller for controlling the operation of the device driving actuator,
A garbage collection vehicle, wherein the programmable logic controller is configured such that an instruction for an operation corresponding to the instruction voice is issued from the voice recognition processing unit via the interface unit. In the refuse collection vehicle according to claim 1,
The dust collecting device includes a weight measuring unit capable of measuring the weight of dust stored in the dust storage box,
The garbage collection vehicle, wherein the voice recognition processing unit is configured to issue a tare subtraction instruction or a measurement instruction to the weight measurement unit. In the garbage truck according to claim 2,
The dust collecting device includes an inlet cover that opens and closes the dust inlet by slidingly moving between an upper end position and a lower end position with respect to a dust inlet provided in the dust inlet box,
The programmable logic controller is configured to control the opening and closing of the dust input port by sliding the input port cover between the upper end position and the lower end position in accordance with the instruction voice. Garbage collection truck. In the refuse collection vehicle according to any one of claims 1 to 4,
The dust collecting device is
A garbage collection vehicle comprising an operation registration button operated when registering the instruction voice in the storage unit. In the refuse collection vehicle according to any one of claims 1 to 5,
The microphone is a portable bone conduction microphone, and is configured to be able to instruct the operation of the device driving actuator from a position away from the dust collecting device using the bone conduction microphone. Garbage collection truck. A method for controlling a refuse collection vehicle provided with a dust collection device provided on a chassis and having a dust storage box and a dust input box,
The dust collecting device is
A storage step of storing a predetermined instruction voice corresponding to a predetermined operation of the device driving actuator in the storage unit;
A voice recognition step of determining whether or not the characteristics of the voice collected by the microphone are equal to the characteristics of the instruction voice stored in the storage unit, and issuing an operation instruction corresponding to the instruction voice when it is determined to be equal And a method for controlling a garbage truck. In the control method of the refuse collection vehicle according to claim 7,
The method for controlling a refuse collection vehicle, wherein the predetermined operation is a taring instruction or a measurement instruction for a weight measuring unit capable of measuring the weight of the dust contained in the dust container. In the control method of the garbage truck according to claim 7 or 8,
In the above memory step,
Operate the operation registration button,
After there is a voice input of a word that triggers the predetermined action,
A method for controlling a garbage truck, wherein the word and the voiceprint are registered as instruction voices when the corresponding operation button is input.

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