JP2021035888A - Garbage collector - Google Patents

Abstract

To provide a garbage collector capable of assuring safety of operators.SOLUTION: The garbage collector 100 comprises a camera 7 for capturing a garbage feeding port 4 opening to a rear surface of a garbage feeding box 3 and its backward, a controller PLC (programmable logic controller) for sending a control signal to a solenoid control valve provided at a hydraulic circuit of a garbage loading device to allow a push-in plate of the garbage loading device to perform a series of actions and an image processing unit 9 connected with the controller PLC by an energization line. The image processing unit 9 has an image processing part DSP, is configured to perform a person detection determination whether a person is present in a first detection area based on the input image data of the camera 7 and when the image processing unit 9 determines that a person is present in a dangerous area in the first detection area during a garbage loading activation by the garbage loading device, it controls the solenoid control valve via the controller PLC to stop the activation of the garbage loading device.SELECTED DRAWING: Figure 7

Description

The present invention relates to a garbage truck.

Conventionally, a garbage truck has been equipped with a dust loading device in a dust loading box provided at the rear of the chassis, and dust loaded from a dust loading port into the dust loading box can be loaded into a rotating plate or a stack. It is designed to be loaded into the garbage storage box by scraping it with a loading plate or the like. In addition, in order to prevent workers who inject dust into the dust inlet from being inadvertently caught in the dust loading device, a monitoring system has been proposed that monitors a person in the vicinity of the dust inlet ( For example, see Patent Document 1).

In the monitoring system described in Patent Document 1, a camera as an imaging means is arranged in the upper rear part of the dust input box so as to photograph the lower dust input port and a predetermined area behind the camera. Then, if the image data taken by the camera while the dust loading device is operating is transmitted to the image processing device and it is determined that a person has entered the preset prohibited area in this image, the dust loading device is used. I am trying to stop the operation of.

Japanese Patent No. 4283568

In recent years, from the viewpoint of ensuring safety when the vehicle is reversing, it has been considered to equip the garbage truck with a back camera (camera for vehicle distance confirmation) for the driver to check the rear of the garbage truck. ing. In this regard, it is conceivable to use the camera of the above-mentioned surveillance system as a back camera. However, in this case, it is required to improve the accuracy of person recognition and ensure safety not only when the dust loading device is operated but also when the vehicle is retracted. That is, in a garbage truck configured to perform a person detection determination to determine whether or not there is a person in a predetermined area near the dust inlet when the dust loading device is activated, the person is recognized even when the vehicle is retracted. It is required to improve the accuracy and ensure safety.

The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a garbage truck capable of ensuring the safety of workers.

The present invention constitutes means for solving the above-mentioned problems as follows. That is, the present invention includes a dust input box provided at the rear of the chassis and an internal dust loading device, a dust input port opened on the back surface of the dust input box, and a camera for photographing the rear thereof. A control device that sends a control signal to an electromagnetic control valve provided in the hydraulic circuit of the dust loading device to cause the push plate of the dust loading device to perform a series of operations is connected to the control device by an energizing line. A dust collecting vehicle equipped with an image processing unit having an image processing unit and configured to perform a person detection determination as to whether or not a person is in a predetermined detection area based on the input image data of the camera. Therefore, if the image processing unit determines that there is a person in the dangerous area in the detection area at the time of the dust loading operation by the dust loading device, the operation of the dust loading device is stopped. The electromagnetic control valve is configured to be controllable via the control device.

According to the above configuration, if it is determined that there is a person in the dangerous area in the detection area during the dust loading operation by the dust loading device, the operation of the dust loading device is stopped, so that the safety of the operator is ensured. can do.

In the present invention, the camera is commonly used at the time of the dust loading operation by the dust loading device and at the time of the vehicle reversing, and the image of the camera at the time of the dust loading operation shows the dust product. The detection area located in and near the dust input port for determining the person detection during the loading operation, and the detection area near the dust input port in order to immediately stop the operation of the dust loading device. It is preferable that the dangerous area, which is located and corresponds to the trailing edge of the dust inlet, and the area behind the vehicle from the detection area are set.

In the present invention, a person recognition lamp arranged in the vicinity of the dust inlet is connected to the output side of the image processing unit, and the image processing unit determines that a person is in the detection area. For example, it is preferable that the person recognition lamp is turned on.

In the present invention, an on signal from the ACC power supply is input to the image processing unit, a pilot lamp is connected to the output side of the image processing unit, and the pilot lamp is the on signal. It is preferable that it is configured to light up based on.

In the present invention, it is preferable that the image processing unit is configured to perform initialization processing when the on signal is input.

In the present invention, the image processing unit is connected to an energizing line for inputting a loading continuation signal, and a changeover switch is provided in the energization line to switch the changeover switch. It is preferable that a bypass line is provided to energize the control device without passing through the image processing unit.

In the present invention, a sensor for detecting that the loading member of the dust loading device is operating in the vicinity of the dust loading port is provided, and the image processing unit detects in the detection area. When the person is in the dangerous area in the detection area, and based on the signal from the sensor, it is determined that the loading member is operating in the vicinity of the dust inlet. , While stopping the operation of the dust loading device, when it is determined that the loading member is not operating in the vicinity of the dust loading port based on the signal from the sensor, a person appears in the detection area. It is preferable to determine whether or not it is detected.

According to the garbage truck of the present invention, if it is determined that there is a person in the dangerous area in the detection area at the time of the dust loading operation by the dust loading device, the operation of the dust loading device is stopped. Safety can be ensured.

It is a side view which shows the garbage truck which concerns on embodiment of this invention. It is explanatory drawing of the operation of the dust loading device equipped in the garbage truck of FIG. It is a hydraulic circuit diagram of the dust loading device of the garbage truck of FIG. It is the schematic which shows the control device of the garbage truck of FIG. 1 and the input / output state thereof. It is explanatory drawing which shows the schematic structure of the person recognition apparatus equipped in the garbage truck of FIG. 1, and is the figure which shows the 1st detection area. It is explanatory drawing which shows the worker who loads a garbage bag into a garbage inlet diagonally from the rear. It is a figure corresponding to FIG. 5 which shows the 2nd detection area. It is explanatory drawing which shows an example of the image photographed by a camera, and is the figure which shows the 1st and 2nd detection areas. It is a flowchart which shows an example of an image processing routine. It is a flowchart which shows an example of the person recognition processing of the image processing routine of FIG.

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 convenience, the front, rear, left, and right of the garbage truck may be simply referred to as "front, back, left, and right."

FIG. 1 shows a garbage truck 100 equipped with a person recognition device according to an embodiment of the present invention. In the garbage truck 100, a dust storage box 2 and a dust storage 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 storage box 3 are communicated with each other. There is. Further, the dust input box 3 is pivotally supported by a pivot axis 3a in the left-right direction provided on the upper portion thereof, and is tilted by a pair of left-right tilting cylinders (not shown).

Further, a substantially rectangular dust input port 4 for charging dust is opened at a lower portion on the back surface of the dust input box 3, and the dust input port 4 is opened and closed by a tailgate 5 that can be raised and lowered. It has become like. A switch box 6 for operating the dust loading device and the like is provided on the left side of the dust loading port 4. Further, above the dust inlet 4, a camera 7 is arranged so as to photograph the vicinity of the dust inlet 4 and the area behind the dust inlet 4. Further, a work light 8 is arranged below the dust inlet 4 so as to illuminate the area in the vicinity of the dust inlet 4 and the area behind the dust inlet 4.

As shown in FIG. 2, the inside of the dust loading box 3 is equipped with a dust loading device for loading the thrown dust into the dust storage box 2. The dust loading device of the present embodiment is configured as a so-called rotary dust loading device in which dust is scraped up by the rotation of the rotating plate (loading member) 10 and pushed into the dust storage box 2 by the pushing plate 20. Has been done. Specifically, a rotating shaft 11 is erected at the lower part of the dust input box 3 so as to extend in the width direction thereof, and the base end side of the rotating plate 10 is fixed to the rotating shaft 11.

In the illustrated example, a hydraulic motor 13 capable of forward / reverse rotation is connected to the end of the rotating shaft 11 via a reduction mechanism 12. The rotation of the hydraulic motor 13 is torqued up by the speed reduction mechanism 12 and transmitted to the rotating shaft 11, and the rotating plate 10 is rotated integrally with the rotating shaft 11, so that the tip portion thereof has a substantially semi-arc shape in cross section. It moves in the front-rear direction along the bottom wall of the formed dust input box 3.

On the other hand, the push-in plate 20 is provided above the rotary plate 10 over the entire width direction of the dust input box 3, and can swing in the front-rear direction around the left-right swing shaft 21 provided above the push-in plate 20. It is supported. Further, the push plate 20 is provided with an extension portion 22 extending upward from the swing shaft 21, and a push cylinder 24 is erected between the extension portion 22 and the support pin 23 in front of the extension portion 22. The push-in plate 20 is swung in the front-rear direction by the expansion / contraction operation.

Specifically, as shown by the solid line in FIG. 2, when the push plate 20 is in the most swung position (advance limit position) toward the dust storage box 2, it rotates without interfering with the push plate 20. The plate 10 rotates upward, and the push plate 20 swings toward the dust inlet 4 side after this. Then, even after the push-in plate 20 swings most toward the dust inlet 4 side and reaches the retreat limit position shown by the virtual line in FIG. 2, the rotation of the rotating plate 10 is continued.

The rotating plate 10 that rotates in this way scrapes the dust toward the dust storage box 2 side, and temporarily stops at the set stop position extending to the front dust storage box 2 side as shown by the solid line in FIG. Then, the push plate 20 swings toward the dust storage box 2 side, and the dust on the rotating plate 10 is pushed into the dust storage box 2. Then, when the push-in plate 20 reaches the forward limit position again, the rotary plate 10 rotates upward again.

By repeating the rotation of the rotating plate 10 and the swinging of the pushing plate 20 in synchronization with each other in this way, the dust loading operation in which the dust thrown into the dust loading box 3 is continuously loaded into the dust storage box 2 is performed. Will be done. The configuration of the hydraulic circuit and the electronic control device (control system) for operating the rotary plate 10 and the push plate 20 in this way will be described later.

Inside the dust input box 3, switches LS1 to LS4 for detecting the positions of the rotating plate 10 and the pushing plate 20 are provided. Specifically, as shown in FIG. 2, the switches LS1 and LS2, which are turned on when the push plate 20 is in the forward limit position or the reverse limit position, and the switches LS1 and LS2, which are turned on when the rotary plate 10 is in the set stop position, are turned on. Switch LS3 and switch LS4 that turn on when the rotating plate 10 rotates in a positive direction (clockwise in FIG. 1) by a predetermined angle from the set stop position and turn off when the rotating plate 10 rotates by a predetermined angle. Has been done.

The switches LS1 and LS2 are designed to detect a dog (not shown) provided at the end of the swing shaft 21 of the push plate 20, and the switches LS3 to LS4 are the ends of the rotary shaft 11 of the rotary plate 10. A dog (not shown) provided in the portion is detected. Further, as these switches LS1 to LS4, for example, a limit switch, a photoelectric switch, a proximity switch and the like can be used.

Further, in the switch LS4, as shown by hatching in FIG. 2, the rotating plate 10 descends while rotating backward from directly below the front edge portion 4a of the dust inlet 4, and the trailing edge portion 4b of the dust inlet 4 It is a sensor for detecting that the rotating plate 10 is operating in the vicinity of the dust inlet 4 for detecting the angle range Z up to the closest distance to the dust inlet 4. In this angle range Z, there is a risk that the rotating plate 10 may involve a part of the operator's body, so it is referred to as "dangerous angle range Z" below.

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 arranged in the vicinity of the dust input port 4. There is. As shown in FIG. 1, an emergency stop button 60 is arranged in the switch box 6 on the left side of the dust inlet 4, and as shown by a broken line in FIG. 2, an emergency stop button 61 is provided on the right side of the dust inlet 4. It is arranged. The emergency stop plate 62 is arranged below the dust inlet 4 so as to turn on / off the switch SW3.

-Control system for dust loading device-
Next, a control system for operating the dust loading device will be described with reference to FIGS. 3 and 4. This control system is a control that outputs a control signal to a hydraulic circuit that controls the hydraulic pressure supplied to the hydraulic motor 13 of the dust loading device, the push cylinder 24, and the like, and the electromagnetic control valves V1 and V2 provided in the hydraulic circuit. It is equipped with a device PLC (programmable logic controller).

First, the hydraulic circuit will be described with reference to FIG. This hydraulic circuit includes a hydraulic pump P, an oil reservoir T, an electromagnetic control valve V1 for controlling the push cylinder 24, and an electromagnetic control valve V2 for controlling the hydraulic motor 13. 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 each composed of an electromagnetic direction switching valve having 6 ports and 3 positions. When the solenoid SOLa is excited by the control device PLC, the electromagnetic control valve V1 switches to the first communication position (upper position in FIG. 3), and the hydraulic oil from the hydraulic pump P is introduced into the rod-side oil chamber of the pair of push cylinders 24. Supply to. On the other hand, when the solenoid SOLb is excited by the control device PLC, the electromagnetic control valve V1 switches to the second communication position (lower position in FIG. 3) and supplies hydraulic oil to the oil chamber on the head side.

When the hydraulic oil is supplied from the electromagnetic control valve V1 to the oil chamber on the head side, the pair of push cylinders 24 are extended and the push plate 20 is swung forward. On the other hand, when the hydraulic oil is supplied to the oil chamber on the rod side, the pair of push cylinders 24 contract and cause the push plate 20 to swing rearward. Further, when neither of the solenoids SOLa and SOLb is excited, the electromagnetic control valve V1 returns to the neutral position (center position in FIG. 3).

When the solenoid SOLc is excited, the electromagnetic control valve V2 switches to the first communication position (lower position in FIG. 3), supplies hydraulic oil to the oil chamber on the forward rotation side of the hydraulic motor 13, and corrects the hydraulic motor 13. In addition to rolling, the push cylinder 24 can also be expanded and contracted. On the other hand, when the solenoid SOLd is excited, the electromagnetic control valve V2 switches to the second communication position (upper position in FIG. 3), supplies hydraulic oil to the oil chamber on the reversing side of the hydraulic motor 13, and reverses the hydraulic motor 13. Activate.

Further, when neither of the solenoids SOLc and SOLd is excited, the electromagnetic control valve V2 returns to the neutral position (center position in FIG. 3). When both 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 an upper limit of the discharge pressure of the hydraulic pump P.

Next, the input / output state of the signal of the control device PLC or 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 of 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 energizing line K2 extending from the positive electrode of the battery BT to the right side of FIG. 4 and reaching the ground line K1.

Further, the upstream end of the energizing line K3 is connected so as to branch off from the energizing 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 (the side close to the battery BT). Is installed. A power lamp L is interposed in the energization line K3, and 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. Further, the upstream end of the energizing line K7 is connected so as to branch off from the energizing line K2 between the key switch SWK and the PTO switch SWP. The energizing line K7 is connected to an image processing unit 9 described later, and the energizing line K7 inputs an ACC signal corresponding to turning on the ACC power supply to the image processing unit 9.

Further, the upstream end of the energization line K4 is connected so as to branch off from the energization line K3 between the contact cr1 of the relay coil CR1 and the power lamp L, whereby the signal power supply unit of the control device PLC (shown in the figure). Power is supplied to the relay. That is, when the contact cr1 is closed, power is supplied to the control device PLC via the energizing lines K3 and K4.

Further, the energizing line K5 branching from the energizing line K4 ensures that the control device PLC is energized during the dust loading operation of the dust loading device. That is, the energizing 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 above-mentioned operations of the emergency stop buttons 60 and 61 and the emergency stop plate 62. Is installed.

When the energization (that is, the 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, all 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 cut off, and the electromagnetic control valves V1 and V2 return to the neutral position, resulting in dust. The operation of the loading device is stopped.

Further, a plurality of branch lines branching from the middle of the energizing line K4 are connected, and the above-mentioned switches LS1 to LS4 are interposed in each of these branch lines. The signals from the switches LS1 to LS3 are input to the control device PLC, and the positions of the rotating plate 10 and the pushing plate 20 of the dust loading device, in other words, the operating status is detected based on these signals. Will be done.
Further, in addition to the switches LS1 to LS3, on the input side to the control device PLC, a start / stop switch of a dust loading device (not shown), a single-acting or continuous selection switch of the dust loading operation, a dust loading operation and A switch for operating the dust discharge operation, a switch for operating the rotating plate 10 and the pushing plate 20 independently, a switch for tilting and opening the dust input box 3 and the like are also connected.

Further, as described above, the signal from the switch LS4 that detects that the rotating plate 10 is in the dangerous angle range Z is input to the image processing unit 9 instead of the control device PLC. In response to this, the central processing unit CPU of the image processing unit 9 opens the relay switch SW4 when a stop signal is issued from the image processing unit DSP, and energizes the control device PLC by the energization line K5, which will be described in detail later. To shut off. Further, an energizing line K8 is connected to the image processing unit 9, and the energizing line K8 inputs a reverse signal based on the vehicle's backward operation to the image processing unit 9.

As described above, various switches are connected to the input side, while 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 has corresponding solenoids SOLa to SOLd in order to operate the hydraulic motor 13, the push cylinder 24, and the like according to a preset procedure based on the signals input from the switches SW1 to SW3, LS1 to LS3, and the like. It is programmed to output to.

Specifically, when the dust loading device operates the dust loading operation, both the key switch SWK and the PTO switch SWP on the energizing line K2 are closed and the relay coil CR1 is energized. As a result, the contact cr1 of the relay coil CR1 is closed, so that the control device PLC becomes operable by being energized by the energizing lines K3 to K5, and a control signal is output to the solenoids SOLa to SOLd as appropriate. become.

The solenoids SOLa to SOLd are excited in response to this control signal, and the positions of the electromagnetic control valves V1 and V2 are appropriately switched to supply the hydraulic pressure to the hydraulic motor 13, the push cylinder 24, and the like. As a result, the hydraulic motor 13, the push cylinder 24, and the like operate, respectively, and as described above, the rotation of the rotary plate 10 and the swing of the push plate 20 are repeated in synchronization with each other.

Specifically, first, as shown by the solid line in FIG. 2, the push plate 20 is in the forward limit position and the on signal is output from the switch LS1, and the rotary plate 10 is in the set stop position, and the switch LS3 also. When the on signal is output, the control device PLC that receives the signal of the start switch outputs the control signal, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 13 starts the forward rotation operation. .. As a result, the rotating plate 10 starts to rotate upward.

Then, 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 push cylinder 24 starts the contraction operation. As a result, the push-in plate 20 swings toward the rear dust input port 4, and when the push-in 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 the output of the control signal to the solenoid SOLa, so that the electromagnetic control valve V1 returns to the neutral position and the swing of the push plate 20 is stopped. Further, while the push-in plate 20 is swinging in this way, the rotation of the rotating plate 10 continues, and the dust is scraped into the dust storage box 2 side, and the push-in plate 20 that rotates in this way The setting stop position is reached, and an on signal is output from the switch LS3.

In response to this, the control device PLC stops the output of the control signal to the solenoid SOLc of the electromagnetic control valve V2, so that the electromagnetic control valve V2 returns to the neutral position and the rotation of the hydraulic motor 13 is stopped. 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 push cylinder 24 starts the extension operation, whereby the push plate 20 Begins to swing forward.

In this way, the push plate 20 swinging toward the front dust storage box 2 pushes the dust on the rotating plate 10 into the dust storage box 2, and when the forward limit position is reached, the on signal is output from the switch LS1. In response to this, the control device PLC stops the output of the control signal to the solenoid SOLb, so that the electromagnetic control valve V1 returns to the neutral position and the push cylinder 24 is extended, that is, the push plate 20 swings 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 energizing line K5 in which the switches SW1 to SW3 for emergency stop are interposed, and a bypass that bypasses the image processing unit 9 is provided. A changeover switch SWS for energizing the control device PLC by the line K6 is also provided. Further, a work light 8, a pilot lamp 94, and a person recognition lamp 95 arranged in the vicinity of the dust input port 4 are connected to the output side (right side of FIG. 4) of the image processing unit 9. Lighting control is performed. Further, a buzzer 96 arranged around the driver's seat is connected to the output side of the image processing unit 9, and its operation is controlled.

-Person recognition device and emergency stop device-
By the way, as described above, when the dust loading device is performing the dust loading operation, the operator who is loading the dust into the dust loading port 4 may be inadvertently caught in the rotating plate 10 or the like. Therefore, in the dust collecting vehicle 100 of the present embodiment, when the dust loading device operates the dust loading operation, the vicinity of the dust loading port 4 and the rear thereof are photographed by the camera 7, and the vicinity of the dust loading port 4 is photographed by the image processing device. It is determined whether or not there is a person in the first detection area Y1 of the above. Further, even when the vehicle is reversing, the vicinity of the dust inlet 4 and the rear thereof are photographed by the camera 7, and a person is in the second detection area Y2 including the first detection area Y1 and the area behind the first detection area Y1 by the image processing device. I try to judge whether or not there is a camera.

Specifically, as shown in FIGS. 5 to 7, a camera 7 is arranged above the back surface of the dust input box 3, in other words, above the dust input port 4, and the image pickup lens 70 is obliquely rearward. It is facing down. As shown by an example in FIG. 8, the camera 7 captures a predetermined range of the dust inlet 4 and its rear portion.

The optical axis A of the image pickup lens 70 of the camera 7 is turned from vertically downward to the rear in order to photograph the rear of the dust input port 4, and the person H in the vicinity of the dust input port 4 is photographed from above. ing. Further, the work light 8 arranged below the camera 7 is also directed diagonally downward to the rear, irradiates light substantially parallel to the optical axis A of the image pickup lens 70, and substantially parallels the person H in the direction in which the camera 7 shoots. It is designed to irradiate from the front.

By shining the illumination light from the front in this way, the appearance of the person H does not change significantly even if the posture of the person H changes slightly, so even in a dark place such as at night or in an underground space, shooting is possible. The change in the object image of the person H in the image is not so large. Further, since the work light 8 is arranged below the camera 7, it is possible to suppress the contamination of the work light 8 due to rain and wind, and it is easy for an operator or the like to visually recognize the on / off of the work light 8.

Then, as shown in FIG. 4, the camera 7 is a monitor 93 for monitoring and an image processing unit 9 (an image processing device, for example, as shown by a broken line in FIG. 1, around the driver's seat) via a signal distributor 92. (Arranged in) is connected to. 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, and a person H such as a worker is in the vicinity of the dust input port 4. It is determined whether or not the user is in the first detection area Y1 (shown by a broken line in FIGS. 5 and 8). Then, if it is determined that the person H is in the first detection area Y1, it is determined whether or not to stop the operation of the dust loading device. That is, it is determined whether or not there is a person H in the danger area Y11 (shown by a solid line in FIGS. 5 and 8) closest to the dust inlet 4 in the first detection area Y1, and the person H is in this danger area Y11. If it is determined that there is, the operation of the dust loading device is stopped immediately. For example, the first detection area Y1 is a normal area when an operator performs a dust loading operation, and is set in a rectangular area near the dust input port 4. The danger area Y11 is set as a rectangular area between the front edge portion 4a and the vicinity of the trailing edge portion 4b of the dust inlet 4. That is, the outer edge of the danger area Y11 is set corresponding to the front edge portion 4a, the trailing edge portion 4b, the left edge portion, and the right edge portion of the dust inlet 4.

In addition to this, it is determined whether or not the person H is in the second detection area Y2 (shown by the alternate long and short dash line in FIGS. 7 and 8) behind the dust input port 4 when the vehicle is reversing. Then, if it is determined that the person H is in the second detection area Y2, the driver is notified to call attention. The second detection area Y2 is set to a rectangular area including the first detection area Y1 and the area behind the first detection area Y1. On the monitor 93, along with the image of the camera 7, a line corresponding to the outer edge of the first detection area Y1 (shown by a broken line in FIG. 8) and a line corresponding to the outer edge of the second detection area Y2 (FIG. 8). A line corresponding to the outer edge of the danger zone Y11 (shown by a solid line in FIG. 8) is displayed.

Specifically, FIGS. 5, 6 and 8 show a worker (person H) standing in the vicinity of the garbage inlet 4 with both arms extended forward to load a garbage bag. The image processing unit 9 determines whether or not the person H is in the first detection area Y1 or the danger area Y11. Further, FIG. 7 shows a state in which a pedestrian (person H) walks in the area behind the garbage truck 100, and the image processing unit determines whether or not this person H is in the second detection area Y2. It is designed to be judged in 9. Therefore, as schematically shown in FIGS. 5 and 7, the image processing unit 9 is provided with an image processing unit DSP that acquires image data from the camera 7 and performs known image processing.

Further, the image processing unit 9 includes a central processing unit CPU that executes a predetermined program to perform various controls, and a memory M as a storage unit that stores data used in the central processing unit CPU and the image processing unit DSP. A relay switch SW4 that opens and closes in response to a command from the central processing unit CPU is also provided. Then, if the image processing unit DSP determines that the person H is in the danger area Y11, the central processing unit CPU opens the relay switch SW4.

Here, as described above, both the key switch SWK and the PTO switch SWP are closed during the loading operation of the dust loading device, and the control device PLC is energized by the energizing lines K3 to K5. Since the image processing unit 9 is interposed in the middle of the energization line K5, when the relay switch SW4 is opened in this state, the energization to the control device PLC is cut off and the dust loading device is operated. Will be stopped.

That is, an emergency stop device for stopping the operation of the dust loading device is configured by the central processing unit CPU of the image processing unit 9 and the relay switch SW4. In addition to functioning as an emergency stop device, the central processing unit CPU turns on the work light 8 while the image processing unit 9 is operating, and turns it off when it is not operating due to a failure or the like. It also functions as a lighting control unit that controls on / off of the work light 8. The image processing unit 9 includes an image output unit VOP that receives a command from the central processing unit CPU and displays the result of image processing on the monitor 93, a camera control unit (not shown) that controls the camera 7, and the like. Is also provided.

-Image processing routine-
Next, the image processing routine executed by the image processing unit 9 will be described with reference to the flowchart of FIG. First, in step S1 after the start, it is determined whether or not the ACC power supply is turned on, in other words, whether or not the ACC signal corresponding to the ACC power supply being turned on is input to the image processing unit 9. The determination in step S1 is performed based on the presence or absence of an ACC signal input to the image processing unit 9 via the energization line K7. Then, if there is an input of the ACC signal (YES), the process proceeds to step S2, and if there is no input of the ACC signal (NO), the process waits until the ACC signal is input. After the initialization process is performed in step S2, the pilot lamp 94 connected to the output side of the image processing unit 9 is turned on (on) in step S3.

Next, in step S4, it is determined whether or not a backward signal based on the driving operation of the vehicle has been input to the image processing unit 9. The reverse signal is input to the image processing unit 9 via the energizing line K8 when there is a reverse operation of the vehicle, and the determination in step S4 is performed based on the presence or absence of the reverse signal. Then, if there is a backward signal input (YES), the process proceeds to step S15, and if there is no backward signal input (NO), the process proceeds to step S5.

In step S5, the feature data (dictionary data) used for the person recognition process is set as the loading feature data, and in step S6, the detection area used for the person detection determination is set as the first detection area Y1 for loading. .. The loading feature data is referred to in the person recognition process (step S9) described later, and is stored in the memory M of the image processing unit 9. The loading feature data is obtained by taking images of the heads of many people in advance and extracting features such as their size and shape. The features extracted as the feature data for loading are mainly the head shape when the person is viewed from above. The detection area is used for the person detection determination (steps S10 and S13) described later, and is stored in the memory M of the image processing unit 9. The first detection area Y1 is set as a normal area when the dust loading device performs the dust loading operation, and further, the area of the first detection area Y1 closest to the dust input port 4 is set. , It is set as a danger area Y11. In the present embodiment, the danger area Y11 is set as an area between the front edge portion 4a and the vicinity of the trailing edge portion 4b of the dust input port 4.

Next, in step S7, it is determined whether or not the PTO is on, in other words, whether or not the above-mentioned loading continuation signal is input to the image processing unit 9. The determination in step S7 is performed based on the presence or absence of a loading continuation signal input to the image processing unit 9 via the energization line K5. Then, if there is an input of the loading continuation signal (YES), the process proceeds to step S8, and if there is no input of the loading continuation signal (NO), the process waits until the loading continuation signal is input. In step S8, the work light 8 connected to the output side of the image processing unit 9 is turned on.

In step S9, the person recognition process is performed. The details of this person recognition process 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, and in step S22, binarization processing is performed on the acquired input image data. This binarization process is, for example, a process in which the maximum luminance value is set when the luminance value for each pixel of the input image data is equal to or more than a preset threshold value, and the minimum luminance value is set when the luminance value is less than the threshold value. The generated binarized image data is obtained by removing most of the effects of noise and changes in the amount of light. While performing the binarization process in this way, the input image data is temporarily stored in the memory M, and the color information included in the input image data is used for the determination (step S24) of the hand of the person H, which will be described later. Alternatively, color binarization processing is also performed on the input image data, and the one in which the hue value for each pixel is within the preset range is extracted as the color information, while the other hue information is deleted. Good.

Next, in step S23, the labeling process is performed. This labeling process divides pixels that are close to each other in the binarized image data into regions. For example, a plurality of pixels that belong to the same luminance value and are close to each other within a predetermined distance are regarded as one region. .. The labeling process is performed on the entire image plane, and each area is recognized as an object image.

Then, in step S24, the person identification process for each object image is performed. In the present embodiment, the camera 7 arranged above the dust inlet 4 captures the vicinity of the dust inlet 4 below, so that the image shows the person H as shown in FIG. 8 as an example. The head of is displayed large. Therefore, the loading feature data set in step S5 is referred to, and an object image that satisfies the conditions of the loading feature data is determined to be the person H. The recognition of the person H is not limited to identifying the shape of the head, and may be used to identify, for example, a hand or a foot.

Returning to the flowchart of FIG. 9, after the person recognition process of step S9 (steps S21 to S24 of FIG. 10), was the person H detected in the first detection area Y1 for loading set in step S6? Whether or not it is determined. In this determination, whether or not the position coordinates of the pixels forming the outer shape of the region forming the object image are included (included) even in a part in the first detection area Y1 (shown by the broken line in FIG. 8). It can be done by. Then, when an object image identified as the person H is detected in the first detection area Y1 (YES), the process proceeds to step S11, and the person recognition lamp arranged in the vicinity of the dust input port 4 is provided. 95 is lit (on). On the other hand, when the object image identified as the person H is not detected in the first detection area Y1, or when the object image identified as the person H is not obtained by the person recognition process in step S9. (NO), the process returns to step S9 and the person recognition process is performed again.

Next, in step S12, it is determined whether or not the rotating plate 10 of the dust loading device is in the dangerous angle range Z (see FIG. 2). This determination is made based on the presence or absence of a signal from the switch LS4. Then, when the signal from the switch LS4 is on and the rotating plate 10 of the dust loading device is in the dangerous angle range Z (YES), the process proceeds to step S13, the signal from the switch LS4 is off, and the rotating plate If 10 is not in the dangerous angle range Z (NO), the process returns to step S9 and the person recognition process is performed again.

Next, in step S13, it is determined whether or not the person H is detected in the danger area Y11 of the first detection area Y1. This determination is made based on whether or not the position coordinates of the pixels forming the outer shape of the region forming the object image are included (included) even in a part in the danger area Y11 (shown by the solid line in FIG. 8). Is possible. Then, when the object image identified as the person H is detected in the danger area Y11 (YES), the process proceeds to step S14, and the object image identified as the person H is not detected in the danger area Y11. If (NO), the process returns to step S9 and the person recognition process is performed again.

In step S14, in order to stop the operation of the dust loading device, a stop signal (loading device stop signal) is output to the central processing unit CPU, and the image processing routine is terminated (end). Specifically, when a stop signal is emitted from the image processing unit DSP, the central processing unit CPU that receives the stop signal opens the relay switch SW4. That is, by energizing a relay coil (not shown) and opening the contact of the switch, the energization of the control device PLC by the energization line K5 is cut off. As a result, the operation of the control device PLC is forcibly stopped, so that even if there is some abnormality in the control device PLC, the energization of all the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 is stopped. Become. Therefore, all the electromagnetic control valves V1 and V2 in the first communication position or the second communication position return to the neutral position, and as a result, the operation of the hydraulic motor 13 and the push cylinder 24 is immediately stopped. That is, if it is determined in the image processing unit 9 that even a part of the head or hand of the person H is in the danger area Y11, the operation of the dust loading device is stopped, whereby the dust is stopped. The safety of workers who load the cargo is ensured.

Here, if there is a backward signal input in step S4 (YES), the process proceeds to step S15. In this step S15, the feature data (dictionary data) used for the person recognition process is set as the backward feature data. In step S16, the detection area used for the person detection determination is set to the second detection area Y2 for backward movement. The backward feature data is referred to in the person recognition process (step S17) described later, and is stored in the memory M of the image processing unit 9. The retreat feature data is obtained by taking images of the heads of many people in advance and extracting features such as the size and shape of the heads. The features extracted as the backward feature data are mainly the head shape when the person is viewed from diagonally above the loading feature data described above. The detection area is used for the person detection determination (step S18) described later, and is stored in the memory M of the image processing unit 9. As shown in FIG. 8, the second detection area Y2 includes the above-mentioned first detection area Y1 for loading and an area behind the first detection area Y1. In the present embodiment, the second detection area Y2 is set in an area in front of the point where the optical axis A of the image pickup lens 70 of the camera 7 comes into contact with the ground.

Next, in step S17, the person recognition process is performed. The person recognition process in step S17 is substantially the same as the person recognition process (see FIG. 10) in step S9 described above, and includes a binarization process, a labeling process, a person identification process, and the like. In the person identification process, the object image that satisfies the condition of the backward feature data in which the backward feature data set in step S15 is used is determined to be the person H. The recognition of the person H is not limited to identifying the shape of the head, and may be used to identify, for example, a hand or a foot.

Next, in step S18, it is determined whether or not the person H is detected in the second detection area Y2 for retreating set in step S16. In this determination, whether the position coordinates of the pixels forming the outer shape of the region forming the object image are included (included) in the second detection area Y2 (shown by the alternate long and short dash line in FIG. 8). It can be done depending on whether or not. Then, when an object image identified as the person H is detected in the second detection area Y2 (YES), the process proceeds to step S19, and the object image is arranged around the driver's seat and near the dust inlet 4. After the person recognition lamp 95 is turned on (on), in step S20, the buzzer 96 arranged around the driver's seat is activated (on) to notify the driver. On the other hand, when the object image identified as the person H is not detected in the second detection area Y2, or when the object image identified as the person H is not obtained by the person recognition process in step S17. (NO), the process returns to step S17 and the person recognition process is performed again.

As described above, in the dust collecting vehicle 100 of the present embodiment, the vicinity of the dust input port 4 and the rear thereof are photographed by the camera 7 not only when the dust loading device is operated by the dust loading device but also when the vehicle is retracted. Then, the image data is input to the image processing unit 9, and the image processing unit 9 performs a person detection determination as to whether or not there is a person in a predetermined detection area. Then, the detection area for the person detection determination is switched between when the dust loading device is activated and when the vehicle is moving backward. Specifically, the detection area for the person detection determination is switched to the first detection area Y1 in the vicinity of the dust input port 4 when the dust loading device is activated, and when the vehicle is reversing, the first detection area Y1 and It is switched to the second detection area Y2 including the rear area.

According to the present embodiment, by switching the detection area of the person detection determination between when the dust loading device is operating and when the vehicle is reversing, the detection area is switched between when the dust loading device is operating and when the vehicle is reversing. The accuracy of the person recognition process by the image processing unit 9 can be improved, and the safety of workers, pedestrians, etc. can be ensured. That is, since the second detection area Y2 is set as the detection area for the dedicated person detection determination when the vehicle is moving backward, the detection accuracy of pedestrians and the like in the area behind the garbage truck 100 can be improved. , The accuracy of the person recognition process by the image processing unit 9 can be improved. Further, since a common camera is used when the dust loading device is operated and when the vehicle is retracted, it is not necessary to provide a means for changing the angle of the optical axis A of the image pickup lens 70 of the camera 7, and the configuration is configured. Simplification and cost reduction can be achieved.

In the present embodiment, the loading feature data mainly composed of the head shape when the person is viewed from above and the head shape when the person is viewed from diagonally above the loading feature data are displayed. The main feature data for retreat is stored in the memory M as a storage unit, and the feature data is set as the feature data for loading when the dust loading operation is performed, while the feature data is stored when the vehicle is reversing. It is set in the feature data for retreat. As a result, it is possible to improve the detection accuracy of a person (worker) working in the vicinity of the dust input port 4 during the dust loading operation, while a person (pedestrian) away from the dust input port 4 when the vehicle is retracting. Detection accuracy can be improved. That is, the person (worker) is located near the camera 7 when the dust is loaded, while the person (pedestrian) is located behind the camera 7 when the vehicle is reversing. The face part is reflected in the camera 7. Therefore, according to the present embodiment, the feature data is set and changed in response to the change in the shape of the head reflected on the camera 7 between the time of the dust loading operation and the time of the backward movement, so that the detection accuracy of the person can be further improved. ..

In the present embodiment, if it is determined that there is a person H in the danger area Y11 when the dust loading device is operated, the image processing unit 9 itself is energized to the control device PLC in order to stop the operation of the dust loading device. When the operation of the dust loading device, which is interposed in the line K5, is stopped, the relay switch SW4 provided in the image processing unit 9 is opened to cut off the energization. By shutting off the energization in this way, the operation of the control device PLC is stopped, so that even if some abnormality occurs in the control device PLC itself, it is not affected by it. Further, since the image processing unit 9 itself is interposed in the energizing line K5, there is no problem of wiring trouble between the image processing unit 9 and the control device PLC, and the dust loading device is more reliable. Can be stopped.

Further, in the present embodiment, a bypass line K6 that bypasses the image processing unit 9 and connects to the control device PLC is provided in the energization line K5 to the control device PLC. Then, the changeover switch SWS provided in the energization line K5 switches between a state in which the control device PLC is energized via the image processing unit 9 and a state in which the control device PLC is energized via the bypass line K6. .. Specifically, normally, the changeover switch SWS is switched to energize the image processing unit 9, and the relay switch SW4 inside the image processing unit 9 is closed, so that the changeover switch SWS is closed via the image processing unit 9. The control device PLC is energized. Then, if it is determined that the person H is in the danger area Y11 as described above, the energization to the control device PLC is cut off by opening the relay switch SW4.

On the other hand, when the relay switch SW4 is opened due to a failure of the image processing unit 9 and the energization to the control device PLC remains cut off, the changeover switch SWS is switched to the bypass line K6 to switch the image processing unit. The control device PLC is energized without going through 9. In this way, even if the energization is cut off due to the failure of the image processing unit 9, the control device PLC can be energized by the bypass line K6 to operate the dust loading device. Therefore, convenience can be enhanced.

Further, in the present embodiment, when the vehicle is reversing, the detection area for the person detection determination is set to the second detection area Y2 based on the retreat signal input to the image processing unit 9, so that the person detection determination is detected. Area switching can be performed easily and quickly. Further, when the vehicle is reversing, the buzzer 96 arranged around the driver's seat is activated when it is determined that the person H is in the second detection area Y2, so that the vehicle walks to the area behind the garbage truck 100. It is possible to easily and surely inform the driver that there is a person or the like, and it is possible to ensure the safety when the vehicle is reversing. Instead of the buzzer 96, a notification unit such as a lamp may be used to notify the driver, or the buzzer 96 and a notification unit such as a lamp may be used in combination to notify the driver. You may go.

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

In the above embodiment, the image processing unit 9 is interposed in the energization line K4 to the control device PLC, and the energization to the control device PLC is cut off by opening the relay switch SW4. However, the present invention is not limited to this, for example, when the image processing unit 9 determines that the person H is in the danger area Y11, a stop signal is output to the control device PLC, and the control device PLC receiving the stop signal outputs the electromagnetic control valves V1 and V1. The output of the control signal to the solenoids SOLa to SOLd of V2 may be stopped, and other configurations can be adopted as long as the operation of the dust loading device can be stopped.

The detection area for the person detection determination described above (first detection area Y1, danger area Y11, and second detection area Y2) is an example, and can be set to an area other than the above. For example, the second detection area Y2 may be expanded to the rear side according to the area behind the dust collecting vehicle 100 that can be photographed by the camera 7. Further, the second detection area Y2 may include the entire area that can be photographed by the camera 7.

In the above embodiment, the case where the present invention is embodied as a garbage truck 100 equipped with a so-called rotary dust loading device is described, and the main part of the dust loading device is formed by a rotating plate 10 and a pushing plate 20. It is configured. However, the present invention is not limited to this, and the main part of the dust loading device may be composed of 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 garbage truck that detects and determines whether or not there is a person in a predetermined area near the dust inlet when the dust loading device is operated.

1 Chassis 2 Dust storage box 3 Dust input box 4 Dust input port 7 Camera 9 Image processing unit (image processing device)
96 buzzer (notification unit)
100 Garbage truck Y1 1st detection area Y11 Danger area Y2 2nd detection area

Claims (7)

A dust loading box installed at the rear of the chassis and a dust loading device inside.
A camera that photographs the dust input port that opens on the back of the dust input box and its rear.
A control device that sends a control signal to an electromagnetic control valve provided in the hydraulic circuit of the dust loading device to cause the push plate of the dust loading device to perform a series of operations.
Image processing that is connected to the control device by an energizing line, has an image processing unit, and is configured to perform person detection determination as to whether or not a person is in a predetermined detection area based on the input image data of the camera. With the unit
It is a garbage truck equipped with
If the image processing unit determines that there is a person in the dangerous area in the detection area during the dust loading operation by the dust loading device, the control device stops the operation of the dust loading device. A garbage truck characterized in that the electromagnetic control valve is configured to be controllable via a device. In the garbage truck according to claim 1.
The camera is commonly used when the dust loading device operates the dust loading operation and when the vehicle is retracted.
In the image of the camera at the time of the dust loading operation, the detection area located in the dust input port and its vicinity and the operation of the dust loading device in order to perform the person detection determination at the time of the dust loading operation are shown. The dangerous area, which is located near the dust inlet and corresponds to the trailing edge of the dust inlet, and the area behind the vehicle from the detection area are set in order to immediately stop the detection area. A garbage truck characterized by its ability to collect dust. In the garbage truck according to claim 1 or 2.
A person recognition lamp arranged near the dust inlet is connected to the output side of the image processing unit, and the image processing unit recognizes the person if it determines that there is a person in the detection area. A dust collector that is configured to turn on a lamp. In the garbage truck according to any one of claims 1 to 3,
An on signal from the ACC power supply is input to the image processing unit, a pilot lamp is connected to the output side of the image processing unit, and the pilot lamp lights up based on the on signal. A dust collection vehicle characterized by being configured to do so. In the garbage truck according to claim 4.
The image processing unit is a garbage truck characterized in that an initialization process is performed when the on signal is input. In the garbage truck according to any one of claims 1 to 5,
An energizing line for inputting a loading continuation signal is connected to the image processing unit, and a changeover switch is provided in the energization line. By switching the changeover switch, the image processing unit can be operated. A dust collecting vehicle characterized in that a bypass line for energizing the control device with the loading continuation signal is provided without intervention. In the garbage truck according to any one of claims 1 to 6,
A sensor for detecting that the loading member of the dust loading device is operating in the vicinity of the dust loading port is provided.
The image processing unit is
A person detected in the detection area is in the danger area in the detection area, and the loading member is operating in the vicinity of the dust inlet based on a signal from the sensor. When it is determined that the dust loading device is stopped, the operation of the dust loading device is stopped.
When it is determined that the loading member is not operating in the vicinity of the dust inlet based on the signal from the sensor, it is determined whether or not a person is detected in the detection area. Garbage truck.

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