JP2021160835A - Garbage collecting vehicle - Google Patents

Abstract

To provide a garbage collecting vehicle that allows an operator or the like to easily escape from a state where he or she may be caught, and can ensure the safety of the operator or the like at an earlier stage.SOLUTION: A garbage collecting vehicle comprises: a garbage loading device arranged inside a garbage input; an object image acquisition unit for acquiring an object image in the vicinity of a garbage input port opened in the garbage input box; and a control device for controlling the driving of the garbage loading device. The control device has: a person detection unit for recognizing whether or not the object image acquired by the object image acquisition unit is a person, and determining whether or not the person is in an intrusion prohibited area near the garbage input port; and an emergency retreat stop unit for operating the garbage loading device to retreat and then stopping the device when the person detection unit determines that the person is in the intrusion prohibited area during the driving of the garbage loading device.SELECTED DRAWING: Figure 9

Description

The present invention relates to a garbage truck, and more particularly to an improvement of a garbage truck having a configuration in which a dust loading device is urgently stopped when an operator or the like enters an intrusion prohibited area near a dust inlet.

Conventionally, in a dust collecting vehicle, for example, as disclosed in Patent Document 1, an object image acquisition unit that acquires an object image in the vicinity of a dust input port opened in a dust input box and a dust stack in the dust input box. When the object image acquisition unit determines that a person such as a worker is in the intrusion prohibition area near the dust inlet while driving the dust loading device, which is equipped with a control device that controls the drive of the loading device. Is known to have adopted a configuration in which the dust loading device is urgently stopped to ensure the safety of workers and the like.

In such a conventional garbage truck, when a worker or the like is about to be caught in the dust loading device in the intrusion prohibited area, the drive of the dust loading device is automatically stopped in an emergency. A quicker emergency stop is possible as compared with the case where the operator himself presses the emergency stop switch, for example, to manually stop the drive of the dust loading device.

JP-A-2018-154464

However, in the conventional garbage truck, when it is determined that a person such as a worker is about to enter the intrusion prohibited area and get caught, the garbage loading device is in the state at the time of the determination. Since the drive is stopped as it is, for example, when the dust loading device is stopped while the clothes of the worker or the like are caught in the dust or the dust loading device in the dust loading box, it is difficult to release the catch. There was a drawback that there was a case. Further, when it takes time to release the catch, there is a drawback that it takes a lot of time to restart the driving of the dust loading device.

The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to facilitate escape from a state in which an operator or the like is likely to be involved when the dust loading device is stopped in an emergency. Therefore, the safety of workers and the like can be ensured at an earlier stage, and the operation of the dust loading device can be restarted earlier to provide a garbage truck with high work efficiency.

The present invention constitutes means for solving the above-mentioned problems as follows. That is, the dust collecting vehicle of the present invention includes a dust loading device arranged inside the dust loading box and an object image acquisition unit that acquires an object image in the vicinity of the dust loading port opened in the dust loading box. The control device includes a control device for controlling the drive of the dust loading device, and the control device recognizes whether or not the object image acquired by the object image acquisition unit is a person, and the dust input port. When a person detection unit that determines whether or not a person is in a nearby intrusion prohibited area and a person detection unit that determines that a person is in the intrusion prohibited area while the dust loading device is being driven It is characterized by having an emergency evacuation stop unit for stopping the dust loading device after the evacuation operation.

In the above configuration, if it is determined by the person detection unit that a person such as a worker is in the intrusion prohibited area while the dust loading device is being driven, the dust loading device simply stops at the time of the determination. Instead, the evacuation operation is performed once, and then the dust loading device is stopped in the evacuation state. By this retracting operation, the gap between the movable tip portion of the dust loading device and the inner bottom portion of the dust loading box can be widened, and the dust loading device can be stopped on the gap. Therefore, even if the clothes of the worker or the like are caught in the dust or the dust loading device in the dust loading box, the operating range of the worker or the like can be expanded in order to release the catching, so that the dust loading device can be expanded. Even after the emergency stop, the worker or the like can easily escape from the state where he or she is likely to be involved, and the safety of the worker or the like can be ensured at an earlier stage. Further, since such an early escape is possible, it is possible to accelerate the resumption of driving of the dust loading device, and it is possible to make a garbage truck that is safer and has better work efficiency.

As a more specific configuration, the dust loading device includes a loading plate for loading the dust charged into the dust loading port into the dust loading box, and the evacuation operation performed by the emergency evacuation stop unit is described as described above. It is preferable that the loading plate is configured to reverse the dust loading operation for a predetermined time.

In this configuration, while the dust loading device is being driven, the loading plate operates to load the dust into the dust loading box, and it is determined that a person such as a worker is in the intrusion prohibited area in this state. Then, the loading plate performs a retracting operation that reverses the dust loading operation, and this retracting operation is continuously stopped for a predetermined time. Therefore, for example, even if the clothes of the worker or the like are caught on the loading plate during the dust loading operation, the clothes are not caught by the retracting operation of the loading plate, so that the worker or the like is likely to be involved. It becomes possible to easily escape from the state in a short time.

Further, the dust loading device includes a pushing plate that rotates in the front-rear direction and the loading plate that can rotate about a base end arranged below the pushing plate, and the loading plate is said to be said. An avoidance rotation step that rotates to a position that does not interfere with the backward rotation operation of the push plate, a return step that the push plate rotates backward, and a scraping rotation step that the loading plate rotates so as to scrape up dust. And, the pushing plate is configured to perform a one-cycle loading operation including a pushing step of rotating forward, and in the retracting operation, a person enters the intrusion prohibition area during the scraping rotation step. When it is determined that the product is present, it is preferable that only the loading plate is rotated in the reverse direction for a predetermined time.

In this configuration, in a rotary plate type dust collecting vehicle in which the loading plate rotates, of the one-cycle loading operations performed by the pushing plate and the loading plate, the loading plate rotates so as to scrape up the dust. In the rotating process, especially when the loading plate is moving toward the inner bottom of the dust loading box, if it is determined that a person is in the intrusion prohibited area, the rotating operation is performed to scrape up the dust. A retracting operation is performed in which only the loading plate rotates in the reverse direction for a predetermined time. Therefore, even if the clothes of the worker or the like are caught on the loading plate during the scraping rotation process, the gap between the loading plate and the inner bottom of the dust input box is widened, and the worker or the like can use it. It becomes easier to remove the hook of clothes from the loading board. In addition, the evacuation operation performed at the time of this emergency stop is an unintended movement for a worker who is caught in clothes, but if this evacuation operation is large, the range of the unintended movement for the worker becomes large and a secondary disaster occurs. It can occur. However, since this evacuation operation can be kept to the minimum necessary for only the loading plate to reverse, the possibility of a secondary disaster can be suppressed to a small extent. Furthermore, even if the person detection unit makes an error in determining that a person is in the intrusion prohibited area and the dust loading device is urgently stopped due to erroneous recognition, the evacuation operation is small, so loading is possible. The plate can be returned to its original position in a short time, and the loss of working time for the dust loading operation can be minimized.

Further, the dust loading device includes a sliding plate that can be raised and lowered and a loading plate that is rotatably connected to the lower end of the sliding plate in the front-rear direction, and rotates the loading plate rearward. A reversing step of causing the loading plate, a lowering step of lowering the sliding plate together with the loading plate, a compression step of rotating the loading plate forward, and an ascending step of raising the sliding plate together with the loading plate. It is preferable that the loading operation is performed for one cycle including the above, and the retracting operation is performed in one or both of the lowering step and the compressing step.

In this configuration, in a press-type dust collecting vehicle that compresses dust with a loading plate, among the one-cycle loading operations performed by the sliding plate and the loading plate, a lowering step, a compression step, or a lowering step and a lowering step In both steps of the compression step, that is, in the situation where the loading plate is moving toward the inner bottom of the dust loading box, the retracting action is performed when it is determined that a person is in the intrusion prohibited area. The gap between the loading plate and the inner bottom of the dust loading box is widened, which makes it easier for workers and the like to remove the hooks of clothes from the loading plate.

In addition, the evacuation operation during the lowering step raises the sliding plate together with the loading plate for a predetermined time when the person detecting unit determines that a person is in the intrusion prohibited area. The evacuation operation during the compression step is to rotate only the loading plate backward for a predetermined time when it is determined by the person detection unit that a person is in the intrusion prohibited area. Is preferable.

In this configuration, in the press-type garbage truck, when it is determined that a person is in the intrusion prohibited area during the lowering process, both the sliding plate and the loading plate that have been lowered are used. When the evacuation operation that rises for a predetermined time is performed and it is determined that a person is in the intrusion prohibition area during the compression process, only the loading plate that has been rotated forward is reversed (rotated backward). The evacuation operation is performed. Therefore, since the evacuation operation in the lowering process and the evacuation operation in the compression process can be kept to the minimum necessary, the possibility of a secondary disaster can be suppressed to a small extent, and even if the person detection unit makes an erroneous judgment. Even if the dust loading device is urgently stopped, the sliding plate and loading plate can be returned to their original positions in a short time, resulting in a loss of work time for the dust loading operation. It can be minimized.

It is a side view which shows the garbage truck which concerns on 1st Embodiment of this invention. It is a rear view of the garbage truck of FIG. It is explanatory drawing of the operation of the dust loading device equipped in the garbage truck. It is the X1 line arrow view of FIG. It is a hydraulic circuit diagram of the dust loading device of a garbage truck. It is a schematic diagram which shows the main body control part and the image processing unit of a garbage truck, and the input / output state of them. It is explanatory drawing which looked at the worker who loads a garbage bag into a garbage inlet from the side. It is an example of an image taken by a camera, and is a figure which shows the 1st and 2nd detection areas. It is a flowchart which shows an example of the person recognition processing which an image processing unit executes. It is a flowchart which shows an example of the emergency evacuation stop processing of the dust loading operation of the dust loading device by the main body control unit. It is a figure which shows an example of the retracting operation of a rotating plate. It is a side view which shows the main part of the garbage truck which concerns on 2nd Embodiment of this invention. It is a flowchart which shows an example of the emergency evacuation stop processing of the dust loading operation of a press type dust loading device. It is a side view which shows an example of the emergency evacuation stop operation in the lowering process of a press type dust loading apparatus. It is a side view which shows an example of the emergency evacuation stop operation in the compression process of a press type dust loading apparatus.

− First Embodiment −
A first embodiment in which the present invention is applied to a rotary plate type 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."

1 and 2 show a garbage truck 100 according to the first 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 with respect to the dust storage box 2 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 tilt cylinders (not shown). There is.

Further, a substantially rectangular dust input port 4 for charging dust G (see FIG. 8) is opened at a lower portion on the back surface of the dust input box 3, and dust is input by a tailgate 5 that can be raised and lowered. The mouth 4 is opened and closed. A switch box 6 for operating a dust loading device (described later) 8 or the like is provided on the left side of the dust loading port 4. Further, above the dust input port 4, a camera unit 7 is arranged so as to photograph the dust input port 4 and the area in the vicinity thereof. The camera unit 7 is an upper portion of the dust input box 3 via a support member 80 projecting rearward from the inclined rear surface portion (curved rear surface portion) 3b of the dust input box 3 arranged above the dust input port 4. It is fixed to.

More specifically, as shown in FIGS. 2 to 4, the support member 80 has a frame shape having base ends at both left and right ends of the inclined rear surface portion 3b. The camera unit 7 is fixed to the support member 80 at a position at the center of the left and right sides of the dust input box 3. The camera unit 7 has a camera 71 as an object image acquisition unit, a detection lamp 73 as a notification unit, and an operating lamp 72 as a second notification unit. As the camera 71, for example, a monocular camera having a proven track record as a back-eye camera has been used.

The camera 71 is mounted via a mounting bracket 75 in recesses 74 provided in the left and right central portions of the camera unit 7. The camera 71 has an image pickup lens 71a, and is attached to the mounting bracket 75 of the camera unit 7 so as to be vertically rotatable and adjustable so that the image pickup lens 71a faces diagonally downward. Fixed surfaces 7a are provided on both the left and right sides of the recess 74 of the camera unit 7 so as to be inclined rearward and upward with respect to the horizontal plane (inclined upward toward the rear of the vehicle). An operating lamp 72 is attached downward to the fixed surface 7a on the left side. Further, the detection lamp 73 is attached downward to the fixed surface 7a on the right side. That is, the operating lamp 72 and the detection lamp 73 are provided on the left and right sides of the camera 71, which is in the vicinity of the image pickup lens 71a of the camera 71.

Next, as shown in FIG. 3, the dust loading box 3 is equipped with a dust loading device 8 for loading the charged dust G into the dust storage box 2. The dust loading device 8 pushes the dust G thrown into the dust loading box 3 into the dust storage box 2 continuously provided in front of the dust loading box 3. The dust storage box 2 is provided with a dust discharge device (not shown) for discharging the stored dust G. As the dust storage box, for example, the dust storage box 2 is tilted by a dump cylinder interposed between the chassis 1 and the dust storage box 2 to discharge the dust G, or is provided inside the dust storage box 2. It is conceivable that the waste discharge plate is moved to the rear of the dust storage box 2 by the discharge cylinder to discharge the dust G.

Next, the dust loading device 8 of the present embodiment will be specifically described. The dust loading device 8 of the present embodiment is a so-called rotary plate type dust loading device in which the dust G is scraped up by the rotation of the rotating plate 10 as the loading plate and pushed into the dust storage box 2 by the pushing plate 20. It is configured as. Inside the dust loading box 3, a rotating shaft 11 arranged below the push-in plate 20 so as to extend in the width direction of the dust loading box 3 is erected, and the rotating plate (loading plate) 10 is mounted on the rotating shaft 11. The base end side is fixed, and the rotating plate 10 can rotate about the base end (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 speed 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 inner bottom portion 3c 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 is rotatable in the front-rear direction around the left-right rotation 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 rotation 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 rotated in the front-rear direction by the expansion / contraction operation.

Specifically, as shown by the solid line in FIG. 3, when the push-in plate 20 is in the most rotated position (advance limit position) toward the dust storage box 2, interference with the push-in plate 20 is avoided. While performing the avoidance rotation step in which the rotating plate (loading plate) 10 rotates backward. Then, the push-in plate 20 rotates toward the dust input port 4 side behind the backward rotation of the rotary plate 10, and the position (backward limit position) shown by a virtual line in FIG. 3 most rotated toward the dust input port 4 side. Perform a return process that stops at. After that, the rotary plate 10 rotates downward following the avoidance rotation step, and then rotates forward so as to scrape the dust G toward the dust storage box 2 along the inner bottom portion 3c of the dust input box 3. A scraping rotation step of rotating and further rotating upward and temporarily stopping at a set stop position extending to the front dust storage box 2 side is performed, as shown by a solid line in FIG. After that, the push-in plate 20 rotates toward the front dust storage box 2 to push the dust G on the rotary plate 10 into the dust storage box 2, and the pushing step of reaching the forward limit position is performed again.

In this way, the rotary plate (loading plate) 10 and the push plate 20 rotate the rotary plate 10 and push the push plate 20 with the four steps of the avoidance rotation step, the return step, the scraping rotation step, and the push step as one cycle. By repeating the rotation of the above while synchronizing with each other, the dust loading operation in which the dust G thrown into the dust loading box 3 is continuously loaded into the dust storage box 2 is performed. The configuration of the hydraulic circuit and the 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. 3, 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. 3) by a predetermined angle from the set stop position and turn off when the rotating plate 10 further 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 rotation shaft 21 of the push plate 20, and the switches LS3 to LS4 are the rotation shafts 11 of the rotation plate 10. A dog (not shown) provided at the end of the 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. 3, the rotating plate 10 descends while rotating backward from directly below the leading edge portion (upper edge portion) 4a of the dust input port 4, and the dust input port 4 It detects the angle range Z until it is closest to the trailing edge (lower edge) 4b, and is a sensor for detecting that the rotating plate 10 is operating in the vicinity of the dust inlet 4. ..

Further, as shown in FIGS. 1 to 3, emergency stop buttons 60 and 61 for stopping the drive of the dust loading device 8, an emergency stop plate 62, and the like are arranged in the vicinity of the dust input port 4. ing. As shown in FIG. 1, an emergency stop button 60 (corresponding to the switch SW1 in FIG. 6) is arranged on the side surface of the switch box 6 provided on the left side of the dust inlet 4, and as shown by a broken line in FIG. An emergency stop button 61 (corresponding to the switch SW3 in FIG. 6) is provided on the right side of the dust inlet 4. The emergency stop plate 62 is arranged below the dust inlet 4 so as to turn on / off the switch SW2. Further, as shown in FIG. 2, a stop release switch 63 is arranged on the rear surface of the switch box 6. The stop release switch 63 is arranged so as to turn on / off the momentary switch SW4, for example. The stop release switch 63 is operated when releasing the emergency evacuation stop of the dust loading operation of the dust loading device 8 described later.

-Control system of dust loading device 8-
Next, a control system for operating the dust loading device 8 will be described with reference to FIGS. 5 and 6. This control system outputs control signals to the hydraulic motor 13 of the dust loading device 8, the hydraulic circuit that controls the hydraulic pressure supplied to the push cylinder 24, and the electromagnetic control valves V1 and V2 provided in the hydraulic circuit. It includes a main body control unit PLC (programmable logic controller) and an image processing unit 9 as a person detection unit that performs person recognition processing based on image data from the camera 71. The main body control unit PLC functions as an emergency evacuation stop unit that urgently retracts and stops the dust loading operation of the dust loading device 8. The main body control unit PLC controls not only the drive of the dust loading device 8 but also the drive of the dust discharging device.

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 is transmitted to the hydraulic pump P by a PTO (power take-off) that takes out the power of an engine (not shown) as a vehicle traveling drive source.

As an example, the electromagnetic control valves V1 and V2 are each composed of an electromagnetic directional control valve having 6 ports and 3 positions. When the solenoid SOLa is excited by the main body control unit PLC, the electromagnetic control valve V1 switches to the first communication position (upper position in FIG. 5), and the hydraulic oil from the hydraulic pump P is transferred to the rod side oil of the pair of push cylinders 24. Supply to the room. On the other hand, the electromagnetic control valve V1 switches to the second communication position (lower position in FIG. 5) when the solenoid SOLb is excited by the main body control unit PLC, and supplies hydraulic oil to the head side oil chamber.

Then, 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 extend and rotate the push plate 20 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 rotate the push plate 20 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. 5).

When the solenoid SOLc is excited, the electromagnetic control valve V2 switches to the first communication position (lower position in FIG. 5), 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. 5), 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. 5). 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 signal input / output states of the main body control unit PLC and the image processing unit 9 will be described with reference to FIG. First, the power is supplied to the main body control unit PLC by the battery BT. The ignition switch SWK, PTO switch SWP, relay coil R1 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. 6 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 ignition switch SWK and the battery BT, and the contact of the relay coil R1 (the side close to the battery BT) is connected to the upstream end of the energizing line K3. Relay switch) r1 is interposed. A power lamp L is interposed in the energization line K3, and when the relay coil R1 is excited and the contact r1 is closed, the power lamp L is turned on by energizing the energization line K3.

Further, the upstream end of the energizing line K4 is connected so as to branch off from the energizing line K3 between the contact r1 of the relay coil R1 and the power lamp L, whereby the signal power supply unit of the main body control unit PLC (not shown). (Omitted) is now supplied with power. That is, when the contact r1 is closed, power is supplied to the main body control unit PLC via the energizing lines K3 and K4.

Further, the energizing line K5 branching from the energizing line K4 ensures that the main body control unit PLC is energized during the dust loading operation of the dust loading device 8. That is, the energizing line K5 is a line for inputting a so-called loading continuation signal, and here, switches SW1 to SW3 that are opened and closed in response to the operations of the above-mentioned emergency stop buttons 60 and 61 and the emergency stop plate 62 and the like. Is installed. When the energization (that is, the input of the loading continuation signal) is cut off by these switches SW1 to SW3, the main body control unit PLC outputs a control signal for exciting the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2. Is designed to be turned off. As a result, the electromagnetic control valves V1 and V2 are returned to the neutral position, and the driving of the dust loading device 8 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 LS4 are input to the main body control unit PLC, and the positions of the rotating plate 10 and the pushing plate 20 of the dust loading device 8, in other words, the operating status is detected based on these signals. Will be done.

Further, in addition to the switches LS1 to LS4, on the input side to the main body control unit PLC, a loading switch (loading button) SW5 for cycle-operating the dust loading device 8 and dust loading of the dust loading device 8 A changeover switch SW6 for switching the dust loading operation or the dust discharging operation of the dust discharging device, a switch SW7 for tilting and opening the dust loading box 3, a single-acting or continuous selection switch for the dust loading operation (not shown), A switch (not shown) for operating the rotating plate 10 and the pushing plate 20 independently is also electrically connected. The changeover switch SW6 is provided at a branch position where the energization line K5 branches from the energization line K4, and the energization line K5 is connected to the loading side of the changeover switch SW6.

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 main body control unit PLC. Then, the main body control unit PLC, based on the signals input from the switches SW1 to SW3, LS1 to LS4, etc., follows the preset procedure to operate the hydraulic motor 13, the push cylinder 24, etc. It is programmed to output to SOLd.

Specifically, when the dust loading device 8 operates for loading dust, the relay coil R1 is excited when both the ignition switch SWK and the PTO switch SWP on the energizing line K2 are turned on. As a result, the contact r1 of the relay coil R1 is closed, and the power is supplied to the main body control unit PLC by the energizing lines K3 and K4 so that the main body control unit PLC becomes operable and the solenoids SOLa to SOLd are appropriately operated. It comes to output the control signal to.

Upon receiving this control signal, the solenoids SOLa to SOLd are excited, and the positions of the electromagnetic control valves V1 and V2 are appropriately switched, so that the hydraulic motor 13, the push cylinder 24, and the like are supplied with hydraulic pressure. 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 rotation of the push plate 20 are repeated in synchronization with each other.

Specifically, first, as shown by the solid line in FIG. 3, 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 signal is output from the main body control unit PLC that receives the signal of the loading switch SW5, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 13 rotates in the normal direction. To start. As a result, the rotary plate 10 starts to rotate backward, and the avoidance rotation step is started. This avoidance rotation step is a step of rotating the rotating plate 10 in the positive direction from the set stop position to just below the leading edge portion (upper edge portion) 4a of the dust input port 4 (beginning of the angle range Z).

When the avoidance rotation process is started and a predetermined period elapses, a control signal is output from the main body control unit 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 contraction operation. As a result, the push-in plate 20 starts to rotate toward the rear dust input port 4 to start the return process, 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 main body control unit PLC stops the output of the control signal to the solenoid SOLa, so that the electromagnetic control valve V1 returns to the neutral position, the rotation of the push plate 20 is stopped, and the return process is completed. ..

Further, the rotation of the rotating plate 10 continues even during the return process in which the pushing plate 20 is rotating, and when the rotating plate 10 shifts from the backward rotation to the downward rotation, the avoidance rotation step is performed. Subsequently, the scraping rotation step of the rotating plate 10 is started. This scraping rotation step is a step of rotating the rotating plate 10 in the positive direction from directly below the leading edge portion (upper edge portion) 4a of the dust input port 4 (beginning of the angle range Z) to the set stop position.

When the scraping rotation step is started, the rotary plate 10 passes through the angle range Z and scrapes the dust G into the dust storage box 2 side. When the rotating plate 10 rotating in this way reaches the set stop position, an on signal is output from the switch LS3. In response to this, the main body control unit 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 stops. , The rotation of the rotary plate 10 is stopped, and the scraping rotation process is completed.

When the scraping rotation step is completed, the main body control unit 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 is extended. By starting the operation, the push-in plate 20 starts to rotate forward from the retractable limit position, and the push-in process is started.

In this way, the push plate 20 that rotates toward the front dust storage box 2 pushes the dust G on the rotary plate 10 into the dust storage box 2, and when the forward limit position is reached, an on signal is output from the switch LS1. NS. In response to this, the main body control unit 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, to the front of the push plate 20. The rotation is stopped, the pushing process is completed, and the operation of one cycle is completed.

Further, as shown in FIG. 6, an upstream end of the energization line K6 is connected between the ignition switch SWK and the PTO switch SWP, and the image processing unit 9 is connected to the energization line K6. When the ignition switch SWK is turned on, electric power is supplied to the image processing unit 9 via the energizing line K6. The image processing unit 9 is connected to the camera 71 of the camera unit 7 via the energizing line K7. Further, a reverse signal based on the driving operation of the vehicle is input to the image processing unit 9 via the energizing line K8.

The image processing unit 9 has the function of the person detection unit in the present invention. Further, the image processing unit 9 constitutes the control device in the present invention together with the main body control unit PLC.

Specifically, the image processing unit 9 includes a central processing unit CPU that executes a predetermined program to perform various controls, an image processing unit DSP that acquires image data from the camera 71 and performs image processing, and central processing. The result of image processing and the like are displayed on the monitoring monitor 93 (see FIG. 1) in response to a command from the memory M as a storage unit for storing data used in the unit CPU and the image processing unit DSP and the central processing unit CPU. An image output unit VOP, a time measuring unit C for measuring the time of the data log, a camera control unit (not shown) for controlling the camera 71, and the like are provided. The image processing unit DSP is an integrated circuit that performs image processing logic at high speed, and executes a person recognition processing routine as shown in the flowchart of FIG. 9, for example. The upstream end of the energizing line K9 is connected so as to branch off from the energizing line K3 on the upstream side of the contact r1 of the relay coil R1, and power is supplied to the time measuring unit C via the energizing line K9. It is said. Therefore, even when the ignition switch SWK is off, the time measuring unit C is always energized.

Further, an energization line K10 branching from the energization line K5 is connected to the image processing unit 9. The energizing line K10 does not function during the dust discharging operation of the dust loading device 8 but functions during the dust loading operation of the dust loading device 8 for the person recognition process by the image processing unit 9. It is an embedded signal line. The energizing line K10 is connected to the loading side of the changeover switch SW6, and when the PTO switch SWP is on and the changeover switch SW6 is switched to the loading side, the loading line is connected to the image processing unit 9. A signal is input.

An operation switch SWS is interposed between the image processing unit 9 and the main body control unit PLC. The image processing unit 9 is provided with an output port for a person safety signal, and this output port and the operation switch SWS are connected by an energization line K16. Further, the image processing unit 9 is provided with an input port for a data log start signal, and this input port and the operation switch SWS are connected by an energization line K17. Further, an energization line K15 branched from the energization line K10 is connected to the operation switch SWS.

When the operation switch SWS is switched to the on side, the output port of the person safety signal of the image processing unit 9 and the main body control unit PLC are connected via the energizing line K16 and the energizing line K12.

Here, the person safety signal output from the image processing unit 9 is input to the main body control unit PLC through the energizing line K16 and the energizing line K12. However, if a person enters the intrusion prohibition area (second detection area Y12 described later) during the dust loading operation of the dust loading device 8, the image processing unit 9 does not output a person safety signal, and the main body control unit No personal safety signal is input to the PLC. The main body control unit PLC is adapted to perform an emergency evacuation stop of the dust loading operation of the dust loading device 8 on condition that there is no input of a person safety signal.

Further, when the operation switch SWS is switched to the on side, the energizing line K11 branched from the energizing line K6 is connected to the energizing line K17. In this case, when the ignition switch SWK is turned on, the energization line K6 is energized, so that the data log start signal is sent to the image processing unit 9 through the energization line K11 and the energization line K17. Then, the data log is executed with that as a trigger.

On the other hand, when the operation switch SWS is switched to the off side, the energization line K10 and the main body control unit PLC are connected via the energization line K15 and the energization line K12. In this case, when the loading line signal is input to the image processing unit 9, the voltage from the energizing line K10 is input to the main body control unit PLC instead of the person safety signal. Therefore, regardless of whether or not the image processing unit 9 recognizes the person in the intrusion prohibition area, the main body control unit PLC recognizes that the person safety signal is always input.

When the operation switch SWS is switched to the off side, the energization line K17 is not energized and the data log is not started.

Further, a switch SW4 corresponding to the stop release switch 63 is interposed between the image processing unit 9 and the main body control unit PLC. The switch SW4 is interposed in the energizing line K13 branched from the energizing line K10. When the stop release switch 63 is not turned on, the switch SW4 is in the off state, and no signal is input to the main body control unit PLC. On the other hand, when the stop release switch 63 is turned on, the switch SW4 is turned on, and when the loading line signal is input to the image processing unit 9, the voltage from the energization line K10 is released from the stop. It is designed to be input to the main body control unit PLC as an on signal of. During the dust discharge operation of the dust loading device 8, the loading line signal is not input to the image processing unit 9, so that the function of the stop release switch 63 is invalidated.

When the main body control unit PLC recognizes the ON signal of the stop release switch 63, even if the input of the person safety signal from the image processing unit 9 is lost, the dust loading operation of the dust loading device 8 is urgent on condition of that. The evacuation stop is not performed.

The image processing unit 9 is electrically provided with a pilot lamp (not shown) arranged around the driver's seat, an operating lamp 72 as a notification unit arranged near the dust inlet 4, and a detection lamp 73. The lights are controlled by the central processing unit CPU. Further, a buzzer 91 that outputs a backward warning sound is connected to the image processing unit 9, and this control is also performed by the central processing unit CPU. The low potential side of the operating lamp 72, the detection lamp 73, and the buzzer 91 is connected to the ground line K1 via the energizing line K14.

Further, as shown in FIGS. 1, 3 and 7, a camera 71 is arranged above the back surface of the dust input box 3, in other words, above the dust input port 4, and the imaging lens 71a thereof is obliquely rearward. It is facing down. In FIGS. 7 and 8, a person (worker, etc.) H standing in the vicinity of the garbage inlet 4 extends his arms forward and loads the garbage G (garbage bag in FIGS. 7 and 8). It is shown. The camera 71 photographs the dust inlet 4 and a predetermined range behind the dust inlet 4 as shown in FIGS. 7 and 8.

The optical axis of the image pickup lens 71a of the camera 71 extends in the direction along the X1 line of FIG. The nearby person H and dust G are photographed from above. Then, based on the image data captured (acquired) by the camera 71 and input to the image processing unit 9, the image processing unit 9 is used by a person H such as a worker to detect the dust input port 4 and the person behind it. It is determined whether or not the user is in an area (the area surrounded by the broken line and the area surrounded by the solid line in FIG. 8). If the image processing unit 9 determines that the person H is in the second detection area Y12 of the person detection area, the main body control unit PLC urgently saves the dust loading operation of the dust loading device 8. It is designed to determine whether or not to stop.

Specifically, the person detection area for loading is divided into a first detection area Y11 (shown by a broken line in FIG. 8) and a second detection area Y12 (shown by a solid line in FIG. 8). .. The second detection area Y12 is provided closer to the dust inlet 4 than the first detection area Y11, and has a function as an intrusion prohibition area. If the image processing unit 9 determines whether or not there is a person H in the first detection area Y11 or the second detection area Y12, and determines that the person H is in the second detection area Y12 as the intrusion prohibited area. An evacuation stop signal is sent to the main body control unit PLC so that the main body control unit PLC stops the evacuation stop of the dust loading operation of the dust loading device 8. For example, the first detection area Y11 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 second detection area Y12 is set in a rectangular area between the leading edge portion 4a and the vicinity of the trailing edge portion 4b of the dust input port 4. The second detection area Y12 is a region surrounded by at least the leading edge portion (upper edge portion) 4a, the trailing edge portion (lower edge portion) 4b, the left edge portion 4c, and the right edge portion 4d of the dust input port 4. Is set to include a portion of.

In addition to this, the image processing unit 9 determines whether or not the person H is in the third detection area Y2 (indicated by the alternate long and short dash line in FIGS. 7 and 8) behind the dust input port 4 when the vehicle is retracting. NS. Then, if it is determined that the person H is in the third detection area Y2, the image processing unit 9 notifies the driver to call attention. The third detection area Y2 is set to a rectangular area including the second detection area Y12, the first detection area Y11, and the area behind the second detection area Y12. On the monitor 93, along with the image of the camera 71, a line corresponding to the outer edge of the first detection area Y11 (shown by a broken line in FIG. 8) and an outer edge of the second detection area (intrusion prohibited area) Y12 are supported. A line (indicated by a solid line in FIG. 8) and a line corresponding to the outer edge of the third detection area Y2 (indicated by a alternate long and short dash line in FIG. 8) are displayed.

-Person recognition processing routine-
Next, the routine of the person recognition process performed by the garbage truck 100 will be described with reference to the flowchart of FIG. This person recognition process is executed by the image processing unit 9 when the loading switch SW5 is turned on in the garbage truck 100 and the dust loading operation of the dust loading device 8 is performed.

In performing the person recognition process shown in FIG. 9, the central processing unit CPU of the image processing unit 9 sets the feature data (dictionary data) used for the person recognition process as the loading feature data, and also uses it for the person detection determination. Set the detection area to the person detection area for loading. The loading feature data is referred to during the person recognition process 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 person detection area for loading is used when determining the person detection, and is stored in the memory M of the image processing unit 9. As described above, the loading person detection area includes a first detection area Y11 set as a normal area when an operator performs dust loading work, and a second detection area as an intrusion prohibition area. It is divided into Y12, and each area is stored in the memory M.

In step S1, the image processing unit DSP of the image processing unit 9 executes the person detection process. In this person detection process, first, the image processing unit DSP performs a binarization process on the image data (input image data) taken by the camera 71 and input to the image processing unit 9. This binarization process is, for example, a process in which the maximum luminance value is set when the luminance value of each pixel is equal to or more than a preset threshold value for the input image data, 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.

Next, the labeling process for the binarized image data is performed by the image processing unit DSP. This labeling process is to regionize pixels that are close to each other in the binarized image data. 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 the one area is extracted as an object image.

Then, the image processing unit DSP performs a person identification process for each object image detected in the first detection area Y11 or the second detection area Y12 described above. In the present embodiment, the camera 71 is arranged above the dust inlet 4, and the vicinity of the dust inlet 4 below is photographed from substantially directly above. Therefore, in the image, the head of the person is displayed in a large size as shown by an example in FIG. 8, and a part of the face viewed from above is also displayed. Therefore, the loading feature data set in advance is referred to, and an object image that satisfies the conditions of the loading feature data is determined to be the head of a person.

Next, in step S2, the central processing unit CPU of the image processing unit 9 determines the processing flow based on the determination result in step S1. Specifically, when it is determined that the image data captured by the camera 71 in step S1 includes an object image determined to be the head of a person, the process proceeds to step S3. On the other hand, if the determination result that the object image is not included is obtained in step S1, the process returns to step S1.

In step S3, the central processing unit CPU of the image processing unit 9 determines whether or not a person exists in the second detection area (intrusion prohibited area) Y12 (hereinafter, may be abbreviated as intrusion prohibited area Y12). NS. If it is determined that the person exists in the intrusion prohibition area Y12, the process proceeds to step S4. On the other hand, if it is not determined that the person exists in the second detection area Y12, in other words, if it is determined that the person exists in the first detection area (normal area) Y11, the process proceeds to step S5.

In step S4, the central processing unit CPU of the image processing unit 9 outputs an ON signal of the detection lamp 73 to turn on the detection lamp 73 to notify that a person is being detected. In addition, the output of the person safety signal is turned off so as to perform the emergency evacuation stop processing of the dust loading operation of the dust loading device 8. As a result, the main body control unit PLC performs the emergency evacuation stop processing of the dust loading operation of the dust loading device 8 on the condition that the person safety signal is not input, and ends the routine (end). The emergency evacuation stop process of the dust loading operation of the dust loading device 8 by the main body control unit PLC (emergency evacuation stop unit) is performed based on the sub-flow chart shown in FIG.

On the other hand, in step S5, since the output of the person safety signal is not turned off (in the ON state), the emergency evacuation stop process of the dust loading operation of the dust loading device 8 is not performed. In step S5, the central processing unit CPU of the image processing unit 9 outputs an ON signal of the detection lamp 73 to turn on the detection lamp 73 to notify that a person is being detected. Then end the routine (end).

-Emergency evacuation stop processing routine for dust loading operation-
Next, the routine of the emergency evacuation stop processing of the dust loading operation of the dust loading device 8 by the main body control unit PLC will be described with reference to the flowchart shown in FIG. The main body control unit PLC starts the emergency evacuation stop processing routine on condition that the central processing unit CPU of the image processing unit 9 does not output a person safety signal. The emergency evacuation stop process performed by the main body control unit PLC is different depending on which process the rotary plate 10 of the rotary plate type dust collecting vehicle 100 is in.

Specifically, in step E1, the main body control unit PLC determines whether or not the rotating plate (loading plate) 10 is in the scraping rotation process. This determination is made during the period from the output of the ON signal from the switch LS4 to the output of the ON signal by the switch LS3, that is, after the rotating plate 10 starts rotating downward from the position at the end of the avoidance rotation process. This is performed by determining that the period until the plate 10 reaches the set stop position is the scraping rotation process.

If the rotary plate 10 is in the scraping rotation step based on the determination in step E1, the process proceeds to step E2. In step E2, the main body control unit PLC determines whether or not the rotating plate 10 is within the angle range Z. Specifically, the main body control unit PLC determines that it is within the angle range Z while the on signal is input from the switch LS4.

If the rotating plate 10 is within the angle range Z based on the determination in step E2, the process proceeds to step E3.

In step E3, the main body control unit PLC rotates only the rotating rotating plate 10 in the reverse direction in a state where the pushing plate 20 is stopped after the return process, and the reverse operation is continued for a predetermined time by the timer. conduct. FIG. 11 shows an example of the retracting operation of the rotating plate 10. In an example of the figure, when the rotating plate 10 is at the position shown by the solid line in the figure closest to the trailing edge portion (lower edge portion) 4b of the dust input port 4, the image processing unit 9 allows a person to enter the restricted area Y12. When it is determined that the rotating plate 10 is present in the figure, the rotating plate 10 is rotated in the reverse direction (upward direction) for a predetermined time as shown by reference numeral E in the figure, and the rotating plate 10 is retracted. The retract operation is completed at the position. Then, when the reverse rotation operation (evacuation operation) for the predetermined time is completed, the dust loading operation is stopped at the position of the rotating plate 10 in which the evacuation operation is performed, and the routine is terminated (end).

On the other hand, according to the determination in step E1, when the rotary plate 10 is not in the scraping rotation step, that is, when the push plate 20 is in the return step or the push step, and when the rotary plate 10 is in the avoidance rotation step, Proceed to step E4. Further, according to the determination in step E2, even if the rotary plate 10 is in the scraping rotation process but is not within the angle range Z, the process proceeds to step 4.

In step E4, the main body control unit PLC determines whether or not any of the emergency stop switches SW1 to SW3 (emergency stop buttons 60 and 61 and the emergency stop plate 62) has been operated. If it is determined that the operation has been performed, the process proceeds to step E5. If it is determined that the operation has not been performed, the process proceeds to step E6.

In step E5, the main body control unit PLC does not rotate the rotating plate 10 in the reverse direction (evacuation operation), and immediately stops the dust loading operation. In step E5, the rotating plate 10 is in a position where there is no risk of the operator getting caught, and the operator voluntarily suspends the loading operation of the dust loading device 8. Therefore, by immediately stopping the dust loading operation without the evacuation operation, it is possible to suppress unintended movements and loss of work time for the operator.

After the dust loading operation is stopped in step E5, the routine is terminated (end).

On the other hand, in step E6, the main body control unit PLC does not stop the dust loading operation of the rotating plate 10 in the middle of one cycle even though the person safety signal is not input. As a result, it is possible to suppress a malfunction in which the loading operation of the dust loading device 8 is automatically stopped even though there is no danger, and the workability of the operator is improved. In step E6, the main body control unit PLC rotates the rotating plate 10 to the set stop position and ends the routine (end).

As described above, in the present embodiment, in the rotary plate type dust collecting vehicle 100, the dust loading device 8 arranged inside the dust loading box 3 and the dust loading port 4 opened in the dust loading box 3 The control device includes an object image acquisition unit (camera 71) that acquires an object image in the vicinity of the object, a control device that controls the drive of the dust loading device 8 (main body control unit PLC, and an image processing unit 9). Recognizes whether or not the object image acquired by the object image acquisition unit is a person, and determines whether or not a person is in the intrusion prohibition area Y12 near the dust inlet 4. When it is determined by the person detection unit that a person is in the intrusion prohibition area Y12 while the dust loading device 8 is being driven, the dust loading device 8 is retracted and then stopped. It has a retract stop unit (main body control unit PLC).

According to the present embodiment, when the person detection unit determines that a person is in the intrusion prohibition area Y12 near the dust input port 4 while the dust loading device 8 is being driven, the dust loading device 8 Is configured to be retracted once, and then the dust loading device 8 is stopped in this retracted state. Therefore, due to this evacuation operation, for example, the gap between the movable tip portion of the dust loading device 8 and the inner bottom portion 3c of the dust loading box 3 is immediately stopped by the dust loading device 8 (that is, without the evacuation operation). It will spread more than in the case. As a result, even if the clothes of a person such as a worker who has entered the intrusion prohibition area Y12 near the dust input port 4 are caught in the dust or the dust loading device 8 in the dust input box 3. Since the operating range of the worker or the like for releasing the catch is expanded, the worker or the like can easily release the catch and escape from the state where the dust loading device 8 is likely to be caught in a short time. It will be easier. Therefore, the safety of workers and the like can be ensured earlier. Further, since it is possible to escape in such a short time, it is possible to accelerate the restart of the drive of the dust loading device 8, and the dust collecting vehicle becomes safer and has better work efficiency.

In the present embodiment, the dust loading device 8 includes a rotary plate (loading plate) 10 for loading the dust G charged into the dust loading port 4 into the dust loading box 3, and the retracting operation performed by the emergency evacuation stop unit. Is configured to reverse the dust loading operation of the rotating plate 10 for a predetermined time. Therefore, when it is determined that a person such as an operator is in the intrusion prohibition area Y12 when the dust loading device 8 is driven and the rotating plate 10 is performing the dust loading operation, the rotating plate 10 is set. Since the evacuation operation is performed by reversing the dust loading operation for a predetermined time, even if the clothes of the worker or the like are caught on the rotating plate 10 during the dust loading operation, the evacuation operation of the rotating plate 10 and the evacuation operation are performed. The hook on the clothes becomes loose, and the hook can be easily removed. Therefore, the operator or the like can easily escape from the state where the rotating plate 10 is likely to be caught.

Further, in the present embodiment, the dust collecting vehicle 100 is a rotary plate type, and the dust loading device 8 has a pushing plate 20 that rotates in the front-rear direction and a base end (rotating) arranged below the pushing plate 20. It is provided with the rotating plate (loading plate) 10 that can rotate about the shaft 11). Further, in the dust loading device 8 provided with the push plate 20 and the rotary plate 10, the avoidance rotation step of rotating the rotary plate 10 to a position where the rotary plate 10 does not interfere with the backward rotation operation of the push plate 20 and the push plate A product of one cycle including a return step in which the 20 rotates backward, a scraping rotation step in which the rotary plate 10 rotates so as to scrape up dust G, and a push step in which the push plate 20 rotates forward. The retracting operation is configured to perform a pull-in operation, and when it is determined that a person is in the intrusion prohibition area Y12 during the scraping rotation process, only the rotating plate 10 is reversed for a predetermined time in the reverse direction. It is to rotate to.

Therefore, in the rotary plate type dust collecting vehicle 100, the scraping rotation step of the rotary plate 10, particularly, the rotary plate 10 moves forward within the angle range Z (see FIG. 3) near the dust inlet 4 (in the figure). In a situation where the person rotates (clockwise), if the person detection unit determines that a person is in the intrusion prohibition area Y12 near the dust inlet 4, there is a high possibility that the person's clothes will be caught on the rotating plate 10. Become. However, since only the rotating plate 10 performs a retracting operation of reversing (counterclockwise rotation) for a predetermined time, even if the person's clothes are caught on the rotating plate 10, the catching is the retracting operation of the rotating plate 10. (Reverse rotation operation for a predetermined time) makes it easy to remove, and the person can easily escape from the state where he / she is likely to be caught in the rotating plate 10.

On the other hand, when the rotary plate 10 is in the avoidance rotation process, or when the push plate 20 is in the return step or the push step, the push plate 20 and the rotary plate 10 are sufficiently above the inner bottom portion 3c of the dust input box 3. It is in a high position or in a position sufficiently far in front of the dust inlet 4. Therefore, even if it is determined that a person (worker) is in the intrusion prohibition area Y12 near the dust inlet 4, there is a possibility that the clothes of the person may be caught by the push plate 20 or the rotating plate 10. The situation is not high. Therefore, in the avoidance rotation step, the return step, and the push step, when any of the emergency stop buttons 60 and 61 and the emergency stop plate 62 is operated by the operator, the rotary plate 10 or the push plate 20 is operated. There is no problem in the operation of immediately stopping the rotating plate 10 or the push plate 20 without performing the retracting operation (reversing operation).

In the present embodiment, the retracting operation of the rotating plate 10 in the scraping rotation step of the rotating plate 10 is continued for a predetermined time by using a timer, but in addition, for example, a preset retracting position of the rotating plate 10 is detected. A configuration may be adopted in which a switch is arranged and the retracting operation of the rotating plate 10 is terminated by the output of the ON signal of this switch. Further, an angle sensor may be attached to the rotating shaft 11 of the rotating plate 10 to perform a retracting operation in which the rotating plate 10 is rotated in the reverse direction by a predetermined angle.

− Second embodiment −
FIG. 12 shows a second embodiment of the garbage truck. In the first embodiment, an example in which the present invention is applied to a rotary plate type garbage truck 100 is shown, but in the present embodiment, an example in which the present invention is applied to a press type garbage truck is shown.

FIG. 12 is a side view of a main part of the garbage truck 101. In the figure, in the press-type garbage truck 101, a sliding plate 30 and a loading plate 31 are arranged in the dust loading box 3. The loading plate 31 is rotatably connected to the lower end of the sliding plate 30 by a shaft portion 31a in the front-rear direction.

The sliding plate 30 includes rotatable guide rollers 32 provided at the upper and lower ends thereof. The guide roller 32 is slidably engaged with a guide groove portion (not shown) provided on the left and right side walls of the dust input box 3 and extending diagonally downward. Further, a support shaft 34 is inserted through the upper side portion of the sliding plate 30. A sliding cylinder (not shown) made of a hydraulic cylinder is connected to the support shaft 34, and the sliding plate 30 is inclined backward and diagonally downward along the guide groove portion by the expansion and contraction operation of the sliding cylinder. It is designed to move up and down freely.

A rotating cylinder (not shown) made of a hydraulic cylinder is connected to the loading plate 31 at a connecting portion 31b provided behind the shaft portion 31a. The loading plate 31 is configured to rotate in the front-rear direction by the expansion and contraction operation of the rotating cylinder.

Further, a discharge plate 35 that can be moved back and forth is arranged in the dust storage box 2. A discharge cylinder 36 made of a hydraulic cylinder is arranged in the front-rear direction in front of the discharge plate 35, its rear end is fixed to the lower part of the discharge plate 35, and its front end is fixed to the front wall of the dust storage box 2. ..

In the press-type dust collecting vehicle 101, the dust loading device 8'performs one cycle of the dust loading operation as shown in FIG. Specifically, when the sliding plate 30 is in the ascending position shown in the figure and the tip end portion of the loading plate 31 is in the front end position, the loading plate 31 is moved backward by the rotating cylinder about the shaft portion 31a. A reversing step A to rotate, a lowering step B in which the sliding plate 30 is lowered from the reversing step A by a sliding cylinder together with the loading plate 31 by a predetermined distance to a lowering position, and a product from the lowering position. A compression step C in which the filling plate 31 is rotated forward along the inner bottom portion 3c of the dust input box 3 around the shaft portion 31a by a rotating cylinder, and the sliding plate 30 is stacked by the sliding cylinder from this compression step C. The ascending step D, in which the indentation plate 31 is increased from the descending position by the predetermined distance and is positioned at the ascending position, is operated as one cycle.

In this way, the dust loading device 8'repeats the above one cycle to send the dust G thrown into the dust loading box 3 into the dust storage box 2.

In the dust loading device 8', four switches LS5 to LS8 are arranged in the dust loading box 3. The switch LS5 and the switch LS7 detect the movement of the rotating cylinder that rotates the loading plate 31. The switch LS5 outputs an ON signal when the front end of the loading plate 31 is at the rear end position. Further, the switch LS7 outputs an ON signal when the loading plate 31 is in the front end position. The switch LS6 and the switch LS8 detect the movement of the sliding cylinder that raises and lowers the sliding plate 30. The switch LS6 outputs an ON signal when the loading plate 31 is in the lowered position. Further, the switch LS8 outputs an ON signal when the loading plate 31 is in the ascending position.

The ON signals of the four switches LS5 to LS8 are output to the main body control unit (a control unit similar to the main body control unit PLC shown in FIG. 6). In the main body control unit (emergency evacuation stop unit), the image processing unit (person detection unit) executes the routine of the person recognition processing shown in FIG. 9 of the first embodiment, and the intrusion prohibition area near the dust input port 4 is executed. If it is determined that a person is in Y12, the dust loading device 8'is retracted, and then the dust loading device 8'is stopped at the position after the retracting operation. In the present embodiment, among the routines of the person recognition process of FIG. 9, the contents of the emergency evacuation stop process of the dust loading operation by the main body control unit performed in step S4 are different.

FIG. 13 is a flowchart specifically showing the routine of the emergency evacuation stop processing of the dust loading operation of the dust loading device 8'performed by the main body control unit. In the figure, in step F1, it is determined whether or not the dust loading device 8'is in the lowering step B. Specifically, the determination as to whether or not it is in the descending step B is the period from the time when the switch LS8 outputs the off signal to the time when the switch S6 outputs the on signal while the switch LS5 outputs the on signal. It is performed by detecting.

Then, in the lowering step B, in step F2, a predetermined period is measured by a timer, and only the sliding plate 30 is moved only during the predetermined period to raise the sliding plate 30 and the loading plate 31 upward. The retracting operation is performed, and then the sliding plate 30 and the loading plate 31 are stopped at the position where the retracting operation is performed. FIG. 14 shows an example of the evacuation operation and the stop in the lowering step B. In an example of the figure, when the sliding plate 30 and the loading plate 31 are in the middle of the lowering step B as shown by the solid line in the figure, it is determined that the hand h of the person exists in the intrusion prohibition area Y12. As shown by reference numeral F in the figure, the sliding plate 30 and the loading plate 31 move in the reverse direction (diagonally forward and upward direction) for a predetermined time to perform a retracting operation, and the sliding plate 30 indicated by the alternate long and short dash line in the figure. And the retracting operation is completed at the position of the loading plate 31. Then, when the evacuation operation for the predetermined time is completed, the dust loading operation is stopped at the positions of the sliding plate 30 and the loading plate 31 in which the evacuation operation is performed, and the routine is terminated (end).

On the other hand, if it is not in the lowering step B, in step F3, it is determined whether or not the dust loading device 8'is in the compression step C. Specifically, the determination as to whether or not it is in the compression step C is the period from the time when the switch LS5 outputs the off signal to the time when the switch LS7 outputs the on signal while the switch LS6 outputs the on signal. It is performed by detecting.

If the product is in the compression step C as determined in step F3, a retracting operation is performed in which only the loading plate 31 is rotated backward, and the loading plate 31 is positioned immediately before the start of the compression process C (that is, a lowering step). The retracting operation is continued for a predetermined time until the rotation to the end position of B), the retracting operation is terminated when the predetermined time elapses, and the loading plate 31 is at the position where the retracting operation is performed. To stop. The time when the loading plate 31 is rotated to the position immediately before the start of the compression step C is detected when the switch LS5 outputs an ON signal.

FIG. 15 shows an example of retracting operation and stopping of the loading plate 31 in the compression step C. In an example of the figure, when the loading plate 31 is rotated slightly forward from the start of the compression step C as shown by the solid line in the figure, it is determined that the hand h of the person exists in the intrusion prohibition area Y12. As shown by reference numeral J in the figure, only the loading plate 31 performs a retracting operation in which the loading plate 31 is rotated in the reverse direction (diagonally rearward and upward direction), and the loading is performed immediately before the start of the compression step C shown by the alternate long and short dash line in the figure. The retracting operation is completed at the position of the plate 31. Then, when the evacuation operation for the predetermined time is completed, the dust loading operation is stopped at the position of the loading plate 31 in which the evacuation operation is performed, and the routine is terminated (end).

The retracting operation of the loading plate 31 in the compression step C was performed for a predetermined time until the loading plate 31 retreated to the position immediately before the start of the compression step C, but a predetermined time was measured by a timer and the product was loaded for the predetermined time. It may be configured to perform the retracting operation of the insert plate 31.

If it is determined in step F3 that it is not in the compression step C, that is, if the dust loading device 8'is in the ascending step D or the reversing step A, the process proceeds to step F5.

In step F5, the main body control unit determines whether or not any of the emergency stop switches has been operated. If it is determined that the operation has been performed, the process proceeds to step F6. If it is determined that the operation has not been performed, the process proceeds to step F7.

In step F6, the main body control unit does not retract the sliding plate 30 and the loading plate 31, and immediately stops the dust loading operation. In step F6, the loading plate 31 is in a position where there is no risk of the operator getting caught, and the operator voluntarily suspends the loading operation of the dust loading device 8'. Therefore, by immediately stopping the dust loading operation without the evacuation operation, it is possible to suppress unintended movements and loss of work time for the operator.

After the dust loading operation is stopped in step F6, the routine is terminated (end).

On the other hand, in step F7, the main body control unit does not stop the dust loading operation of the sliding plate 30 and the loading plate 31 in the middle of one cycle even though the person safety signal is not input. As a result, it is possible to suppress a malfunction in which the loading operation of the dust loading device 8'is automatically stopped even though there is no danger, and the workability of the operator is improved.

In step F7, the main body control unit ends the routine at the end of the ascending step D (the set position where the sliding plate 30 is in the ascending position and the loading plate 31 is in the front end position).

As described above, in the present embodiment, in the press-type dust collecting vehicle 101, the dust loading device 8'is connected to the ascending / descending sliding plate 30 and the lower end of the sliding plate 30 so as to be rotatable back and forth. A reversing step A for rotating the loading plate 31 backward, a lowering step B for lowering the sliding plate 30 together with the loading plate 31, and the loading plate 31. It is configured to perform one cycle of loading operation including a compression step C for rotating forward and an ascending step D for raising the sliding plate 30 together with the loading plate 31, and the retracting operation is the lowering step B. And the compression step C are both configured to be performed.

Therefore, in the present embodiment, in one cycle of the dust loading device 8', both the lowering step B and the compression step C, that is, the loading plate 31 operates toward the inner bottom portion 3c of the dust loading box 3. In such a situation, if the person detection unit determines that a person is in the intrusion prohibition area Y12 near the dust inlet 4, the person's clothes are more likely to be caught on the loading plate 31. However, since the retracting operation is performed in both the lowering step B and the compression step C, even if the clothes of the worker or the like are caught on the loading plate 31, the retracting operation causes the loading plate 31 and dust. The gap between the loading box 3 and the inner bottom portion 3c is widened, so that the operator or the like can easily remove the clothes from the loading plate 31. Therefore, it becomes possible for an operator or the like to easily escape from a state in which the loading plate 31 is likely to be caught in the loading plate 31.

Further, in the present embodiment, when it is determined by the person detection unit that a person is in the intrusion prohibition area Y12, the evacuation operation of the dust loading operation is performed together with the loading plate 31 in the lowering step B. 30 is raised for a predetermined time, and only the loading plate 31 is rotated backward for a predetermined time in the compression step C.

That is, in the present embodiment, in the dust loading operation by the dust loading device 8', when it is determined that a person is in the intrusion prohibition area Y12 during the lowering step B, the sliding operation is performed. When both the plate 30 and the loading plate 31 are retracted for a predetermined time and it is determined that a person is in the intrusion prohibition area Y12 during the compression step C, the plate 30 and the loading plate 31 are rotated forward. A retracting operation is performed in which only the loading plate 31 is reversed (rotated backward). Therefore, even if the clothes of the worker or the like are caught on the loading plate 31, the retracting operation widens the gap between the loading plate 31 and the inner bottom portion 3c of the dust input box 3, so that the worker or the like can use the clothes. Makes it easier to remove the clothes from the loading plate 31, and makes it easier for an operator or the like to escape from a state in which the clothes are likely to be caught in the loading plate 31.

Further, the evacuation operation performed in the lowering step B and the compression process C is an unintended movement for the worker who is caught in the clothes, but when this evacuation operation is large, the movement is not intended for the worker. The range becomes larger and there is a possibility that a secondary disaster will occur. However, in the present embodiment, since this evacuation operation can be kept to the minimum necessary, the possibility of a secondary disaster can be suppressed to a small extent. Further, even if the person detection unit makes an error in determining that a person is in the intrusion prohibition area Y12 and the sliding plate 30 or the loading plate 31 retracts due to erroneous recognition, the retracting operation is performed. Since it is small, the sliding plate 30 and the loading plate 31 can be returned to their original positions in a short time before the evacuation operation, and the loss of work time in the dust loading operation can be minimized. ..

In the present embodiment, in the press-type dust collecting vehicle 101, the retracting operation is performed in both the lowering step B and the compression step C of the dust loading device 8', but the lowering step B or the compression step C is performed. Even when the retracting operation is performed with only one of the two, it is possible to produce an effect that the operator or the like can easily escape from the state where the loading plate 31 is likely to be caught.

-Other embodiments-
The first and second 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.

The above-mentioned person detection area (first detection area Y11, second detection area Y12) is an example, and an area other than the above may be adopted. For example, the entire area on the front side of the trailing edge portion 4b of the dust inlet 4 may be set as the second detection area Y12 (intrusion prohibition area).

In the first embodiment, the camera 71 is used as the object image acquisition unit, but the object image acquisition unit may be other than the camera 71, for example, a distance image sensor, a stereo camera, 3D-LIDAR, or the like. It may be capable of acquiring an image and measuring a distance.

Further, in the first embodiment, the case where the main body control unit PLC and the image processing unit 9 are provided in the garbage truck 100 as a control device has been described, but as a configuration in which only a single control device is provided in the garbage truck 100. May be good. For example, the main body control unit PLC may be provided with the function of the image processing unit 9, and the main body control unit PLC may be made to execute the flowchart of FIG.

Further, in the first embodiment, the rotating plate 10 descends from directly below the leading edge portion (upper edge portion) 4a of the dust input port 4 while rotating backward in the angle range Z of the dust input port 4. The angle range is set until it is closest to the trailing edge portion (lower edge portion) 4b, but other angle ranges may be used. For example, the angle range may be set by expanding the movable tip portion of the rotating plate 10 to the point where it has entered the inner bottom portion 3c of the dust input box 3.

In addition, in the first embodiment, the rotary plate 10 is configured to retract and stop only while it is within the angle range Z of the rotary plate 10 which is a part of the scraping rotation process. The present invention is not limited to this, and the rotating plate 10 may be configured to retract and stop in the entire scraping rotation process.

Further, in the first embodiment, in the rotating plate type dust collecting vehicle 100, in one cycle of the dust loading operation of the dust loading device 8, the retracting operation (reversing operation) is performed only in the scraping rotation step of the rotating plate 10. ), But in the case of the avoidance rotation step and the return step, the rotary plate 10 and the push plate 20 may be retracted and then stopped.

Further, in the second embodiment, the evacuation operation in the press-type garbage truck 101 is configured to be performed in both the lowering step B and the compression step C, and the loading plate 31 is performed in the compression step C. It was configured to rotate only backward for a predetermined time. The present invention is not limited to this, and for the retracting operation in the compression step, only the sliding plate may be raised for a predetermined time without rotating the loading plate. Even with this configuration, when clothes of a worker or the like are caught on the loading plate, the gap between the loading plate and the inner bottom of the dust loading box can be widened by the retracting operation. As a result, the worker or the like can easily remove the clothes from the loading plate, and the worker or the like can easily escape from the state where the clothes are likely to be caught in the loading plate.

The present invention is a dust collecting vehicle including a dust loading device arranged inside a dust loading box and an object image acquisition unit for acquiring an object image in the vicinity of a dust loading port opened on the back surface of the dust loading box. It is available for.

2 Dust storage box 3 Dust input box 3c Inner bottom 4 Dust input port 8, 8'Dust loading device 9 Image processing unit (control device, person detection unit)
10 Rotating plate (loading plate)
20 Push-in plate 30 Sliding plate 31 Loading plate 71 Camera (object image acquisition unit)
100, 101 Garbage truck Y11 1st detection area Y12 2nd detection area (intrusion prohibited area)
PLC main unit control unit (control device, emergency evacuation stop unit)
A Inversion process B Lowering process C Compression process D Ascending process

Claims (5)

Controls the drive of the dust loading device arranged inside the dust loading box, the object image acquisition unit that acquires an object image in the vicinity of the dust loading port opened in the dust loading box, and the dust loading device. With a control device to
The control device is
A person detection unit that recognizes whether or not the object image acquired by the object image acquisition unit is a person, and determines whether or not a person is in the intrusion prohibited area near the dust inlet.
When the person detection unit determines that a person is in the intrusion prohibited area while the dust loading device is being driven, an emergency evacuation stop unit that retracts the dust loading device and then stops the dust loading device. A garbage truck characterized by having. In the garbage truck according to claim 1.
The dust loading device includes a loading plate for loading the dust charged into the dust loading port into the dust loading box.
A garbage truck characterized in that the evacuation operation performed by the emergency evacuation stop unit is configured to reverse the dust loading operation of the loading plate for a predetermined time. In the garbage truck according to claim 2.
The dust loading device is
A push-in plate that rotates in the front-rear direction and a loading plate that can rotate around a base end arranged below the push-in plate are provided.
An avoidance rotation step in which the loading plate rotates to a position where it does not interfere with the backward rotation operation of the push-in plate, a return step in which the push-in plate rotates backward, and a loading plate so as to scoop up dust. It is configured to perform one cycle of loading operation including a rotating scraping rotation step and a pushing step in which the pushing plate rotates forward.
The evacuation operation is characterized in that when it is determined that a person is in the intrusion prohibition area during the scraping rotation step, only the loading plate is rotated in the reverse direction for a predetermined time. Garbage truck. In the garbage truck according to claim 2.
The dust loading device is
A sliding plate that can be raised and lowered and a loading plate that is rotatably connected to the lower end of the sliding plate are provided.
A reversing step of rotating the loading plate backward, a lowering step of lowering the sliding plate together with the loading plate, a compression step of rotating the loading plate forward, and the loading plate together with the loading plate. It is configured to perform one cycle of loading operation including an ascending step of ascending the sliding plate.
A garbage truck characterized in that the retracting operation is configured to be performed in one or both of the lowering step and the compressing step. In the garbage truck according to claim 4.
The evacuation operation during the lowering step is to raise the sliding plate together with the loading plate for a predetermined time when the person detecting unit determines that a person is in the intrusion prohibited area.
The evacuation operation during the compression step is characterized in that when the person detection unit determines that a person is in the intrusion prohibited area, only the loading plate is rotated backward for a predetermined time. Garbage truck.

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