JP2021178736A - Person recognition device for garbage truck - Google Patents

Abstract

To more accurately determine whether or not there is a person in a dangerous area in a person recognition device for a garbage truck.SOLUTION: A person recognition device for a garbage truck includes: a camera 7 in which a center of an image pickup lens 70 is located at a leading edge 4a of a dust input port 4 or behind it in a plan view, and an optical axis A of the image pickup lens 70 is directed toward the dust input port 4; an image processing unit 8 that determines whether or not a person H is in front of a trailing edge 4b of the dust input port 4 in an image taken by the camera 7; and an emergency stop device that stops an operation of a dust loading device when it is determined that the person H is in a dangerous area near the dust input port 4. The emergency stop device stops an operation of the dust loading device when it is determined by the image processing unit 8 that the person H is in a dangerous area while it is determined that a rotating plate of the dust loading device is operating in a dangerous angle range, based on a signal from a switch.SELECTED DRAWING: Figure 5

Description

The present invention relates to a person recognition device that recognizes a worker or the like in the vicinity of a dust input port provided at the rear of a dust collecting vehicle by an image processing technique, and particularly relates to a camera layout.

Conventionally, garbage trucks have been equipped with a dust loading device in the dust loading box provided at the rear of the chassis, and the dust thrown from the dust loading port is loaded into the dust loading box by a rotating plate or loading device. It is designed to be scraped with a board or the like and loaded into a garbage storage box. In addition, in order to prevent workers who inadvertently throw in dust into the dust inlet from being inadvertently caught in the dust loading device, there are various monitoring systems that monitor people in the vicinity of the dust inlet. Proposed.

For example, in the monitoring system described in Patent Document 1, a camera as an image pickup means is arranged in the upper rear part of the dust input box so as to take an image of the lower dust input port and a predetermined area behind the camera. Then, if it is determined that a person has entered the preset prohibited area in the image taken by the camera while the dust loading device is operating, the operation of the dust loading device is stopped.

Japanese Patent No. 4283568

However, in the above-mentioned conventional monitoring system, the camera is arranged so as to be tilted diagonally backward, and the optical axis of the image pickup lens is largely directed from the vertical lower side to the rear side. For this reason, in the captured image, a part of the distance between the dust inlet and the person behind (distance in the front-back direction) appears in the depth direction of the screen, and this person is in the immediate vicinity of the dust inlet. There is a difficulty in distinguishing between being in and away.

That is, as shown in FIG. 9, when the optical axis A of the image pickup lens of the camera C is largely directed backward and the inclination angle θ from the vertical downward direction becomes large, a dangerous area above the dust inlet (hatched). Even if the head of the person H is approaching (shown), it is large on the image plane between the trailing edge of the dust inlet, that is, the boundary line B between the dangerous area and the safe area, and the head of the person. It looks like there is an interval D.

As described above, in the conventional monitoring system, when a person crosses the boundary line and enters a dangerous area, the determination is delayed, and the operation of the dust loading device may not be stopped in time. On the other hand, if the judgment criteria are changed so that it does not happen, even though the person has not invaded the dangerous area, it will be misjudged as having invaded, and unnecessary operation stoppage will occur frequently. Convenience may be impaired.

Focusing on this point, an object of the present invention is to devise the layout of the camera, and it is possible to more accurately determine whether or not a person is in the vicinity of the dust inlet (the dangerous area) from the captured image. Is to do so.

The person recognition device of the present invention is equipped in a dust collecting vehicle provided with a dust loading box at the rear of the chassis and a dust loading device provided in the dust loading box and capable of loading dust into the dust storage box. A person recognition device that recognizes a person near the dust input port that opens on the back of the dust input box. It is arranged above the dust input port, and the center of the image pickup lens is in front of the dust input port in a plan view. A camera located at or behind the edge and the optical axis of the image pickup lens is directed toward the dust inlet, and image data taken by the camera are input to the image after the dust inlet. An image processing device that determines whether or not there is a person in front of the edge, and an operation of the dust loading device when the image processing device determines that a person is in a dangerous area near the dust inlet. It is provided with an emergency stop device for stopping the image, and is configured to determine that the loading member of the dust loading device is operating in a dangerous range in the vicinity of the dust input port different from the dangerous area. When the image processing device determines that a person is present in the dangerous area and the loading member is determined to be operating in the dangerous range, the emergency stop device causes the dust accumulation. It is characterized in that it is configured to stop the operation of the built-in device.

In the person recognition device configured in this way, the center of the image pickup lens of the camera arranged above the dust inlet is located at the front edge of the dust inlet or behind it in a plan view. The direction of the optical axis of the image pickup lens from here toward the lower dust inlet is closer to vertically downward than in the conventional example (Patent Document 1). As a result, the depth direction of the image to be captured approaches the vertical direction, and the distance between the dust inlet and the person behind in this image in the front-rear direction mainly appears on the image plane.

Therefore, based on the image data, the image processing apparatus can determine whether or not a person who has approached the dust inlet from behind has invaded a dangerous area more accurately than before. Therefore, by stopping the operation of the dust loading device based on the determination result, it is possible to suppress the delay of the operation stop while reducing the frequency of unnecessary operation stop, and sufficiently secure the safety.

Further, for example, a loading member such as a rotating plate of a rotary dust loading device rotates in the dust loading box on the side opposite to the dust loading port (the side close to the dust storage box), and a person is a person. Although there is no danger in the vicinity of the input port, the operation of the dust loading device will not be stopped urgently based on the result of the determination by the image processing device. That is, the frequency of unnecessary operation stoppage of the dust loading device can be further reduced, and the convenience can be improved.

According to the person recognition device of the dust collecting vehicle according to the present invention, the distance between the dust inlet and the person behind is mainly shown on the image plane in the captured image, and the position of the person by image processing is determined. Judgment can be made more accurately than before. Further, although there is no danger even if a person is in the vicinity of the dust input port, the operation of the dust loading device will not be stopped urgently based on the result of the determination by the image processing device. As a result, sufficient safety can be ensured while suppressing a decrease in convenience due to unnecessary stoppage of operation.

It is a side view which shows the garbage truck which concerns on embodiment of this invention. It is explanatory drawing of the dust loading device equipped in the garbage truck of FIG. It is a hydraulic circuit diagram of the dust loading device of the garbage truck of FIG. 1. It is a schematic diagram which shows the control device of the garbage truck of FIG. 1 and the input / output state thereof. It is explanatory drawing which shows the schematic structure of the person recognition apparatus equipped in the garbage truck of FIG. It is a flowchart which shows an example of an image processing routine. It is explanatory drawing which shows an example of the image taken by a camera. FIG. 5 is a diagram corresponding to FIG. 5 showing another embodiment in which the layout of the camera is different. It is a figure corresponding to FIG. 5 which shows the layout of the camera of the person recognition apparatus of the conventional example.

Hereinafter, embodiments in which the present invention is applied to a rotary garbage truck will be described with reference to the drawings. In the following description, for convenience, the front / rear / left / right of the garbage truck may be simply referred to as front / rear / left / right.

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

Further, a rectangular dust input port 4 (see also FIG. 7) for charging dust is opened at a lower portion on the back surface of the dust input box 3, and is opened and closed by a tailgate 5 that can be raised and lowered. It has become like. A switch box 6 for operating the dust loading device and the like is provided on the left side of the dust inlet 4, and above the dust inlet 4, the dust is described in detail later. The camera 7 is arranged so as to photograph the vicinity of the slot 4.

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

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

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

That is, as shown by the solid line in FIG. 2, when the push plate 20 is in the position where the push plate 20 swings most toward the dust storage box 2 (advance limit position), the rotary plate 10 moves upward without interfering with the push plate 20. The push-in plate 20 swings toward the dust input port 4 side after this. Then, even after the push-in plate 20 swings most toward the dust input port 4 and reaches the retreat limit position shown by the virtual line in FIG. 2, the rotation of the rotary plate 10 is continued.

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

By repeating the rotation of the rotary plate 10 and the swinging of the push-in plate 20 in synchronization with each other in this way, the dust thrown into the dust loading box 3 is continuously loaded into the dust storage box 2 (hereinafter, dust stacking). It is called a built-in operation). The configuration of the hydraulic circuit and the electronic control device (control system) for operating the rotary plate 10 and the push plate 20 in this way will be described below, but for that purpose, the rotary plate 10 and the push plate 10 are inside the dust input box 3. Switches LS1 to LS5 for detecting the position of the plate 20 are provided.

That is, as shown in FIG. 2, the switches LS1 and LS2, which are turned on when the push plate 20 is in the forward limit position or the reverse limit position, respectively, and the switches LS1 and LS2, which are turned on when the rotary plate 10 is in the set stop position, are turned on. The switch LS3, the switch LS4 that turns on when the rotating plate 10 rotates in a positive direction (clockwise in FIG. 1) by a predetermined angle from the set stop position, and the switch LS5 that turns on when the rotating plate 10 further rotates by a predetermined angle. Is provided.

The switches LS1 and LS2 are designed to detect dogs (not shown) provided at the end of the swing shaft 21 of the push plate 20, and the switches LS3 to LS5 are the rotary shafts 11 of the rotary plate 10. A dog (not shown) provided at the end is detected. Further, as these switches LS1 to LS5, for example, a photoelectric switch, a proximity switch, or the like can be used.

In the switches LS4 and LS5 described above, as shown by hatching in FIG. 2, the rotary plate 10 descends from directly below the leading edge portion 4a of the dust inlet 4 while rotating rearward thereof to the dust inlet 4. The angle range Z up to the closest to the trailing edge portion 4b is detected. In this angle range Z, there is a risk that the rotating plate 10 may involve a part of the worker's body, so it is referred to as a dangerous angle range Z below.

Further, as shown in FIGS. 1 and 2, in the vicinity of the dust input port 4, emergency stop buttons 60, 61 for stopping the operation of the dust loading device, an emergency stop plate 62, and the like are arranged. .. As shown in FIG. 1, an emergency stop button 60 is arranged in the switch box 6 on the left side of the dust input port 4, and an emergency stop button 61 is arranged on the right side of the dust input port 4 as shown by a broken line in FIG. It is arranged. The emergency stop plate 62 is arranged so as to turn on / off the switch SW3 below the dust input port 4.

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

First, the hydraulic circuit will be described with reference to FIG. 3. This hydraulic circuit controls the hydraulic pump P, the oil reservoir T, the electromagnetic control valve V1 for controlling the push cylinder 24, and the hydraulic motor 13. The electromagnetic control valve V2 and the like are provided. Although not shown, the driving force of the engine is transmitted to the hydraulic pump P via the PTO (power take-off).

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, the electromagnetic control valve V1 switches to the first communication position (upper position in the figure) and supplies hydraulic oil from the hydraulic pump P to the rod side oil chamber of the pair of push cylinders 24. When the solenoid SOLb is excited, it switches to the second communication position (lower position in the figure) and supplies hydraulic oil to the oil chamber on the head side.

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

On the other hand, the electromagnetic control valve V2 switches to the first communication position (lower position in the figure) when the solenoid SOLc is excited, supplies hydraulic oil to the oil chamber on the normal rotation side of the hydraulic motor 13, and the hydraulic motor 13 Is operated in the normal direction. On the other hand, when the solenoid SOLd is excited, the electromagnetic control valve V2 switches to the second communication position (upper position in the figure), 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 the figure). When both the electromagnetic control valves V1 and V2 are in the neutral position, the hydraulic oil returns to the oil reservoir T. In the illustrated hydraulic circuit, reference numeral V3 is a check valve, and reference numeral V4 is a relief valve for setting an upper limit of the discharge pressure of the hydraulic pump P.

Next, the input / output state of the signal in the control device PLC will be described with reference to FIG. First, the power supply to the control device PLC is performed by the battery BT shown in the upper left of the figure. An energizing line K2 is connected between the battery BT and the ground line K1 on the right side of the figure so as to extend to the left and right at the top of the figure. Here, the key switch SWK and PTO switch of the garbage truck 100 are connected. A SWP, a relay coil CR1 and the like are interposed.

Further, the upstream end of the energization line K3 is connected so as to branch off from the energization line K2 in the middle of the key switch SWK and the battery BT, and the signal power supply unit (signal power supply unit) of the control device PLC is connected via the energization line K3. Power is supplied to (not shown). That is, the contact cr1 of the relay coil CR1 is interposed on the upstream side (the side close to the battery BT) of the energization line K3, and when the relay coil CR1 is turned on, the contact cr1 is closed and the energization line K3 is energized. Will come to do.

This energizing line K3 is always energized during the dust loading operation of the dust loading device, and corresponds to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 described above with reference to FIG. Switches SW1 to SW3 that are opened and closed are interposed. When the energization is cut off by these switches SW1 to SW3, the operation of the control device PLC is stopped, so that the operation of the dust loading device is stopped. An image processing unit 8 is also provided in the energization line K3, which will be described in detail later.

Further, as shown on the left side of FIG. 4, the upstream ends of the plurality of branch lines are connected so as to branch from the energization line K3 on the downstream side (the side far from the battery BT) of the contact cr1. The switches LS1 to LS5 described above are interposed in each of these branch lines with reference to FIG. Based on the signals from these switches LS1 to LS5, the positions of the rotating plate 10 and the pushing plate 20 of the dust loading device, that is, the operating status is detected.

In addition to the switches LS1 to LS5 described above, on the input side to the control device PLC, although not shown, a start / stop switch for the dust loading device, a single-acting or continuous selection switch for the dust loading operation, and dust loading are performed. A switch for selecting a loading operation and a dust discharging operation, a switch for operating the rotating plate 10 and the pushing plate 20 independently, a switch for tilting and opening the dust input box 3 and the like are also connected.

While various switches are connected to the input side as described above, the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 are connected to the output side (right side of FIG. 4) of the control device PLC. Then, the control device PLC sets the corresponding solenoids SOLa to SOLd in order to operate the hydraulic motor 13, the push cylinder 24, etc. according to a preset procedure based on the signals input from the switches SW1 to SW3, LS1 to LS5, and the like. It is programmed to output.

That is, for example, when the dust loading device operates for loading dust, both the key switch SWK and the PTO switch SWP on the energization line K2 are closed and the relay coil CR1 is energized. As a result, the contact cr1 of the relay coil CR1 is closed, so that the control device PLC becomes operable by being energized by the energization line K3, and a control signal is appropriately output to the solenoids SOLa to SOLd. ..

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 to supply the hydraulic pressure to the hydraulic motor 13, the push cylinder 24, and the like. As a result, the hydraulic motor 13, the push cylinder 24, and the like operate respectively, and as described above with reference to FIG. 2, the rotation of the rotary plate 10 and the swing of the push plate 20 are repeated in synchronization with each other.

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

Then, when a predetermined period elapses, a control signal is output from the control device PLC to the solenoid SOLa of the electromagnetic control valve V1, the electromagnetic control valve V1 is switched to the first communication position, and the push cylinder 24 starts the contraction operation. As a result, the push-in plate 20 swings toward the rear dust input port 4, and when the push-in plate 20 reaches the retreat limit position, an on signal is output from the switch LS2.

In response to this, the control device PLC stops the output of the control signal to the solenoid SOLa, so that the electromagnetic control valve V1 returns to the neutral position and the swing of the push plate 20 is stopped. Further, while the push-in plate 20 is swinging, the rotation of the rotary plate 10 is continued, and the dust is scraped into the dust storage box 2 side, and the push-in plate 20 that rotates in this way The setting stop position is reached, and an on signal is output from the switch LS3.

In response to this, the control device PLC stops the output of the control signal to the solenoid SOLc of the electromagnetic control valve V2, so that the electromagnetic control valve V2 returns to the neutral position and the rotation of the hydraulic motor 13 is stopped. Further, the control device PLC outputs a control signal to the solenoid SOLb of the electromagnetic control valve V1, the electromagnetic control valve V1 is switched to the second communication position, and the push cylinder 24 starts the extension operation, whereby the push plate 20 Begins to swing forward.

In this way, the push plate 20 swinging toward the front dust storage box 2 pushes the dust on the rotary plate 10 into the dust storage box 2, and when the forward limit position is reached, the on signal is output from the switch LS1. In response to this, the control device PLC stops the output of the control signal to the solenoid SOLb, so that the electromagnetic control valve V1 returns to the neutral position and the push cylinder 24 is extended, that is, the push plate 20 is shaken forward. The movement stops.

-Person recognition device and emergency stop device-
By the way, when the dust loading device is operating the dust loading operation as described above, the operator who is loading the dust into the dust loading port 4 may be inadvertently caught in the rotating plate 10 or the like. Therefore, in the garbage truck 100 of the present embodiment, the camera 7 is arranged so as to take a picture of the vicinity of the dust input port 4, and it is determined by image processing that a person is in a dangerous area near the dust input port 4. If so, the operation of the dust loading device is immediately stopped.

That is, in addition to appearing in FIGS. 1 and 2 above, as shown in FIG. 5, a camera 7 is arranged at the upper part of the back surface of the dust input box 3, that is, above the dust input port 4, and the dust is below. The vicinity of the slot 4 is photographed. The image data captured in this way is transmitted to the image processing unit 8 (an image processing device, for example, arranged around the driver's seat as shown by a broken line in FIG. 1), and the leading edge portion of the dust input port 4 is transmitted. It is determined whether or not the person H is in the dangerous area (shown with hatching in FIG. 5) between the 4a and the trailing edge 4b.

As described above, both the key switch SWK and the PTO switch SWP are closed during the loading operation of the dust loading device, and the control device PLC is energized by the energizing line K3. Then, as shown in FIG. 4, an image processing unit 8 is interposed in the middle of the energization line K3, and if it is determined that the person H is in the dangerous area as described above, the control device PLC is supplied. It is designed to cut off the power supply.

First, a method of person recognition by image processing will be described below. As shown schematically in FIG. 5, the image processing unit 8 has a central processing unit CPU and a camera that execute a predetermined program to perform various controls. An image processing unit DSP that inputs image data from 7 and performs known image processing as described below, a memory M that stores data used in the central processing unit CPU and the image processing unit DSP, and a central processing unit CPU. A relay switch SW4 or the like that is opened / closed in response to the command of is provided.

Although not shown, the image processing unit 8 is also provided with a buffer for temporarily storing various data such as images, a camera control circuit for controlling the camera 7 in response to a command from the central processing unit CPU, and the like. Further, in the present embodiment, the driver of the dust collecting vehicle 100 uses a back camera for monitoring the rear as the camera 7, and the image processing unit 8 causes the monitor to display the result of image processing and the like. An image output circuit is also provided.

-Image processing routine-
The image processing unit DSP is a general integrated circuit that performs known image processing logic at high speed. For example, binarization processing of input image data and each pixel close to each other in the binarized image data. Labeling process that makes the area of the object image, person identification process that identifies that the area of the object image aread by labeling is a person image, and determination of whether the position of the object image identified as the person image is a dangerous area. Performs the person position determination process.

Specifically, the image processing routine will be described with reference to the flowchart of FIG. 6. First, the binarization processing is performed in step S1 after the start. This is, for example, a process in which the maximum luminance value is set when the luminance value for each pixel of the input image data is equal to or more than a preset threshold value, and the minimum luminance value is set when the luminance value is less than the threshold value. Most of the effects of noise and changes in the amount of light are removed from the generated binarized image data.

Next, in step S2, a labeling process is performed. This is to regionize pixels that are close to each other in the binarized image data, and is, for example, a process that regards a plurality of pixels that belong to the same luminance value and are close to each other within a predetermined distance as one region. .. The labeling process is performed on the entire image plane, and the one area is recognized as an object image.

Then, in the following steps S3 to S5, the person identification process for each of the object images is performed. In the present embodiment, as described above with reference to FIG. 5, the camera 7 is arranged above the dust inlet 4, and the vicinity of the dust inlet 4 below is photographed. Therefore, in the image, the head of the person H is displayed in a large size as shown by an example in FIG. 7, and a part of the face seen from above is also displayed. That is, the image data also includes information on the face of the person H.

Therefore, in step S3, first, the preset characteristic data of the head (including the face), that is, the data indicating, for example, the size and shape of the head, the state of the hair, etc. is referred to, and the condition of this characteristic data is satisfied. Such an object image is tentatively determined to be the head of the person H. The feature data is obtained by taking images of the heads (including faces) of many people in advance and extracting features such as their size and shape, and is stored in the memory M of the image processing unit 8. ing.

In steps S4 and S5, the process of identifying the object image determined to be the "temporarily head" from other object images is performed. First, in step S4, a change in the position of an object image is detected by a difference process (a process of obtaining a difference in luminance value for each pixel) of a plurality of image data input from the camera 7 in time series. Then, this change in position, that is, the moving distance of the object image, is divided by the time required for it (the time interval for acquiring the image data) to calculate the moving speed of the object image.

Then, it is determined in step S5 whether or not the calculated movement speed is equal to or less than the preset threshold value. This threshold value is set in advance by an experiment or the like so that the moving speed of the head of the worker who throws the dust into the dust throwing port 4 can be distinguished from the moving speed of the thrown dust. Therefore, if the calculated movement speed is higher than the threshold value, it is determined that the movement speed is not the head of the person H because the movement is too fast, a negative determination is made, and the (NO) routine is terminated (end).

On the other hand, if it is affirmed that the movement speed is equal to or less than the threshold value in step S5 (YES), the object image is identified as the head of the person H and the process proceeds to step S6, and this object image is preset. Determine if you are in a dangerous area. This can be determined by whether or not the position coordinates of the pixels forming the outer shape of the region forming the object image are in front of the boundary line B (the trailing edge portion 4b of the dust inlet 4) of the dangerous area.

Therefore, if it is affirmed that the object image identified as the head of the person H is in the dangerous area (YES), the process proceeds to step S7 to the central processing unit CPU in order to stop the operation of the dust loading device. Outputs a stop signal and ends the image processing routine (end). On the other hand, if it is negatively determined that the object image is not in the dangerous area (NO), the image processing routine is terminated without outputting the stop signal (end).

When a stop signal is emitted from the image processing unit DSP, the central processing unit CPU that receives the stop signal opens the relay switch SW4. That is, by energizing a relay coil (not shown) to open the contact of the switch, the energization of the control device PLC by the energization line K3 is cut off. As a result, the operation of the control device PLC is forcibly stopped, so that even if there is some abnormality in the control device PLC, the energization of all the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 is stopped. Become.

Therefore, all the electromagnetic control valves V1 and V2 in the first communication position or the second communication position return to the neutral position, and as a result, the operation of the hydraulic motor 13 and the push cylinder 24 is immediately stopped. As described above, in the present embodiment, the central processing unit CPU of the image processing unit 8 and the relay switch SW4 configure an emergency stop device for stopping the operation of the dust loading device.

-Camera layout-
Next, the layout of the camera 7 described above will be described in detail with reference to FIG. In the present embodiment, in step S6 of the flow of FIG. 6, the position coordinates of the pixels forming the outer shape of the object image identified as the head of the person H are the boundary line B (the trailing edge portion 4b of the dust input port 4). It is designed to determine whether or not it has entered a dangerous area beyond it, and in order to make this determination accurately, the camera 7 is arranged almost directly above the dust inlet 4.

That is, as shown in FIG. 9, if the camera 7 is arranged in front of the leading edge portion 4a of the dust inlet 4, in order to photograph the lower dust inlet 4 and the person H behind it. , The optical axis A of the image pickup lens 70 must be largely turned from vertically downward to backward. In this way, it becomes difficult to accurately detect the distance D between the trailing edge portion 4b of the dust inlet 4 and the person H behind in the image taken by the camera 7 on the image plane.

For details, as shown in FIG. 9, when the tilt angle θ from the vertical downward direction to the rear of the optical axis A of the image pickup lens 70 becomes large, a dangerous area (hatching) above the dust input port 4 as shown in the figure. Even if the head of the person H is approaching (shown by), there seems to be a large distance D between the trailing edge 4b (boundary line B) of the dust inlet 4 and the head of the person H on the image plane. Because it looks like.

Therefore, in the present embodiment, the camera 7 is attached to the rear end portion of the stay 71 extending rearward from the upper part of the dust input box 3, and the center of the image pickup lens 70 is viewed in a plan view (not shown, but viewed from above). It is positioned between the front edge portion 4a and the trailing edge portion 4b of the dust input port 4 (almost directly above the trailing edge portion 4b in the example of FIG. 5). The camera 7 is attached to the stay 71 so that the direction of the optical axis A of the image pickup lens 70 can be adjusted.

With this layout, as shown in the figure, the optical axis A of the image pickup lens 70 faces vertically downward and almost passes through the trailing edge portion 4b of the dust inlet 4, and the image taken by the camera 7. The depth direction of is substantially the vertical direction (vertical direction). As a result, as shown in FIG. 5, if there is a gap D between the boundary line B of the dangerous area and the person H behind it, this gap D will appear on the image plane as it is.

That is, in the image shown in FIG. 7, the distance D between the boundary line B of the dangerous area and the head of the person H behind (the vertical distance D in FIG. 7) is the same as the distance D in the front-back direction shown in FIG. Will represent. Therefore, based on the data of this image, it is possible to determine whether or not the person H has crossed the boundary line B and entered the dangerous area (determination in step S6 of the flow of FIG. 6) extremely accurately. ..

In addition, in order to make such an accurate determination based on the image data, it is not necessary to arrange the center of the image pickup lens 70 of the camera 7 almost directly above the trailing edge portion 4b of the dust input port 4 as described above. .. In order to obtain a sufficient effect, the center of the image pickup lens 70 may be arranged between the front edge portion 4a and the trailing edge portion 4b of the dust input port 4 in a plan view. In this case, the front edge portion 4a and the trailing edge portion 4b of the dust input port 4 are also included.

This is because if the center of the image pickup lens 70 is to be positioned behind the trailing edge 4b, the camera 7 protrudes greatly behind the dust collection vehicle 100, and the stay 71 becomes too long, resulting in a problem due to vibration. This is because it invites such things. On the other hand, if the center of the image pickup lens 70 is to be positioned in front of the leading edge portion 4a of the dust input port 4, the tilt angle θ to the rear of the optical axis A naturally increases as described above with reference to FIG. Because it will end up.

From the viewpoint of the accuracy of this determination, it is preferable that the center of the image pickup lens 70 is located rearward from the center of the leading edge portion 4a and the trailing edge portion 4b of the dust input port 4. Then, if the optical axis A of the image pickup lens 70 is oriented vertically downward or slightly tilted backward so as to face the trailing edge portion 4b of the dust input port 4, the person H is substantially the same as in the above embodiment. Can accurately and quickly determine that a has entered a dangerous area.

On the other hand, as shown in FIG. 8, the center of the image pickup lens 70 is moved forward from the center of the leading edge portion 4a and the trailing edge portion 4b of the dust input port 4 (in the example of FIG. 8, the leading edge portion 4a is almost true). It may be positioned (above). Also in this case, it is preferable that the optical axis A of the image pickup lens 70 is tilted rearward from the vertically downward direction so as to be directed toward the trailing edge portion 4b of the dust input port 4. By doing so, since the information about the face included in the image is increased, there is an advantage that it becomes easy to identify the person H.

Further, as the tilt angle θ of the optical axis A of the image pickup lens 70 toward the rear becomes larger, the field of view of the camera 7 expands toward the rear of the dust collecting vehicle 100, which is advantageous in sharing with the back camera. .. However, as the inclination angle θ is increased, the determination that the person H has invaded the dangerous area may be delayed as described above with reference to FIG. 9, so in this case, it is set in the image. The boundary line B may be set slightly behind the trailing edge portion 4b of the dust input port 4.

As described above, according to the person recognition device according to the present embodiment, the image pickup lens 70 of the camera 7 arranged above the dust inlet 4 at the rear of the dust collector 100 is mounted on the trailing edge of the dust inlet 4. Since it is positioned almost directly above 4b and its optical axis A is oriented almost vertically downward, the distance D between the boundary line B of the dangerous area and the person H behind in the captured image is almost the same in the front-back direction. Comes to represent the interval D of.

Therefore, it becomes possible to determine extremely accurately whether or not the person H is in a dangerous area by a known image processing technique, and if the operation of the dust loading device is stopped based on this determination result, an erroneous determination is made. It is possible to reduce the frequency of unnecessary operation stoppages caused by the above, suppress the decrease in convenience, and ensure sufficient safety.

Further, in the present embodiment, among the object images included in the image, it is determined whether or not this is the head of the person H based on the moving speed of the object image determined to be "temporarily head". , The accuracy of identification with the dust thrown into the dust throwing port 4 is improved. The fact that the moving direction (front-back direction) of the person H appears on the image plane as described above is also advantageous in accurately calculating the moving speed.

Further, in the present embodiment, when the dust collecting vehicle 100 is viewed from the side, the optical axis A of the image pickup lens 70 of the camera 7 passes through the substantially trailing edge 4b of the dust inlet 4, and thus the trailing edge. Part 4b, that is, the boundary line B between the safe area and the dangerous area appears almost in the center of the image as shown in FIG. 7. Therefore, there is an advantage that the distance D between the boundary line B and the person H behind the boundary line B is not easily affected by the distortion of the optical system of the camera 7.

-Other embodiments-
Although the preferred embodiment of the present invention has been described above, this is only one specific example and does not particularly limit the present invention. Therefore, the specific configuration and the like can be appropriately redesigned. be. For example, in the above embodiment, the image processing unit 8 is interposed in the energization line K3 to the control device PLC, and the energization to the control device PLC is cut off by opening the relay switch SW4. Not limited.

That is, for example, when the image processing unit 8 determines that the person H is in a dangerous area, a stop signal is output to the control device PLC, and the control device PLC that receives the output outputs the solenoids SOLa to the electromagnetic control valves V1 and V2. The output of the control signal to the SOLd may be stopped, and any other configuration that can stop the operation of the dust loading device can be adopted.

Further, in the above-described embodiment, when the image processing unit 8 receives a stop signal from the image processing unit DSP, the central processing unit CPU opens the relay switch SW4, but the present invention is not limited to this. For example, the signal from the limit switches LS4 and LS5 for detecting the operating state of the rotating plate 10 of the dust loading device is configured to be input not only to the control device PLC but also to the image processing unit 8, and the rotating plate 10 is configured. May be set to open the relay switch SW4 when is in the dangerous angle range Z (see FIG. 2) and the head of the person H is in the dangerous area.

That is, even while the dust loading device is operating, when the rotating plate 10 is rotating outside the dangerous angle range Z, there is no possibility that a part of the worker's body will be caught by this. Occasionally, even if the person H is in a dangerous area, the operation of the dust loading device is not stopped. By doing so, the frequency of unnecessary operation stoppage of the dust loading device is further reduced, so that convenience can be improved.

Further, in the above embodiment, the case where the present invention is applied to a garbage truck 100 equipped with a so-called rotary dust loading device is described, and the main parts of the dust loading device are the rotating plate 10 and the pushing plate 20. However, the present invention is not limited to this, and the main part of the dust loading device may be composed of an elevating plate and a push-in plate, and the structure thereof is not particularly limited.

100 Dust collection vehicle 1 Chassis 2 Dust storage box 3 Dust input box 4 Dust input port 4a Leading edge 4b Trailing edge 7 Camera 70 Image processing lens 8 Image processing unit (image processing device)
10 Rotating plate (loading member, dust loading device)
13 Hydraulic motor (dust loading device)
20 Push-in plate (dust loading device)
24 Push-in cylinder (dust loading device)
A Optical axis of the image pickup lens Central processing unit (emergency stop device) of the CPU image processing unit
SW4 Image processing unit relay switch (emergency stop device)
LS4, LS5 switch (sensor for detecting that the loading member is operating near the dust inlet)

Claims (1)

It is installed in a dust collection vehicle equipped with a dust loading box at the rear of the chassis and a dust loading device provided in the dust loading box that can load dust into the dust storage box, and opens at the back of the dust loading box. It is a person recognition device that recognizes a person near the dust inlet.
It is arranged above the dust inlet, the center of the image pickup lens is located at the front edge of the dust inlet or behind it in a plan view, and the optical axis of the image pickup lens is directed toward the dust inlet. With the camera
An image processing device that inputs image data taken by the camera and determines whether or not there is a person in front of the trailing edge of the dust inlet in the image.
The image processing device is provided with an emergency stop device for stopping the operation of the dust loading device when it is determined by the image processing device that a person is in a dangerous area near the dust inlet.
It is configured to determine that the loading member of the dust loading device is operating in a dangerous range in the vicinity of the dust inlet different from the dangerous area.
When the image processing device determines that a person is present in the dangerous area and the loading member is determined to be operating in the dangerous range, the emergency stop device loads the dust. A person recognition device for a garbage truck, characterized in that it is configured to stop the operation of the device.

Images