JP2022054768A - Image recognition inspection apparatus and image recognition inspection system including the same - Google Patents

Abstract

To provide an image recognition inspection apparatus capable of inspecting a person recognition system by always using the same object (person image) in a stable environment, and an image recognition inspection system including the image recognition inspection apparatus.SOLUTION: In an image recognition inspection apparatus 200 which is provided for inspecting whether a person recognition system normally operates or not, a box-shaped device body 210 includes a window part 213 which is opened in one direction, and a person image display sheet 217 is arranged so as to face the window part 213 on an inner surface of the device body 210. Inside the device body 210, an LED lamp 220 is arranged for emitting light toward the person image display sheet 217. Accordingly, the person recognition system can be inspected by using the same object (person image) always in the same environment without being influenced by brightness of the surroundings or changes of background.SELECTED DRAWING: Figure 9

Description

The present invention relates to an image recognition inspection device used for inspecting whether or not a person recognition system in a work vehicle such as a garbage truck operates normally, and an image recognition inspection system including the image recognition inspection device.

Conventionally, as an example, a garbage truck is equipped with a dust loading device inside the dust loading box, and the dust thrown from the dust loading port of the dust loading box is dumped by the operation of the dust loading device. It is designed to be loaded in a storage box. Further, in order to prevent a worker (person) or the like who injects dust into the dust inlet from being inadvertently caught in the dust loading device, the person in the vicinity of the dust inlet is recognized (for example). , Patent Document 1). That is, a camera as an object image acquisition unit is arranged in the upper rear part of the dust input box, and a predetermined area near the dust input port is imaged by the camera. Then, if the data of the image captured by the camera while the dust loading device is operating is transmitted to the image processing device and it is determined that a person has invaded the intrusion prohibited area set in advance in this image, the dust loading device is performed. I try to stop the operation of the device.

Japanese Unexamined Patent Publication No. 2018-193203

By the way, at the time of shipment from the production line of the dust collecting vehicle or at the time of maintenance, it is possible that the person recognition system composed of the camera and the image processing device operates normally (well recognizes the person). It is necessary to inspect whether it is.

In the conventional inspection, a person stands in a predetermined area near the dust inlet in a factory or an inspection site, and the person recognition system can recognize the person well by taking an image of this predetermined area with the camera. I was trying to check if it wasn't. For example, in this inspection, if the person recognition score, which is an index of the degree of recognition of a person, is equal to or higher than a predetermined value, it is determined that the inspection is passed.

However, in the conventional inspection, the brightness and background of the surrounding environment may change every time the inspection is performed, and there is no guarantee that the inspection can always be performed in the same environment. In addition, the position of a person standing in a predetermined area near the dust inlet may be different at each inspection. For this reason, even if the person recognition system operates normally under the specified conditions, if the brightness of the surrounding environment is insufficient or the position of the person standing in the predetermined area is significantly deviated. There was a risk that the person recognition score would be less than the predetermined value and the test would be erroneously determined as unsuccessful (the person recognition system is not operating normally).

The present invention has been made in view of such a point, and an object thereof is an image recognition inspection device capable of inspecting a person recognition system in a stable environment and always under the same conditions. An object of the present invention is to provide an image recognition inspection system equipped with the image recognition inspection device.

The solution of the present invention for achieving the above object is whether or not the person recognition system that recognizes a person in the predetermined area based on the image in the predetermined area captured by the object image acquisition unit operates normally. This is an image recognition inspection device used for the inspection of the above, and is a box-shaped device main body having a window portion opened in one direction and arranged so that the window portion faces the object image acquisition portion at the time of the inspection. A person image display surface on which an image of a person is arranged, which is a surface of the inner surface of the apparatus main body facing the window portion, and a person image display surface which is arranged inside the apparatus main body and faces the window portion. It is characterized by having a light emitting means for brightening.

According to the above configuration, when inspecting the person recognition system, the image recognition inspection device is arranged so that the window portion of the main body of the apparatus faces the object image acquisition unit, and in this state, the device is provided by the object image acquisition unit. An image of a person (personal image) in the main body of the device is imaged through a window portion of the main body, and the person recognition system is inspected depending on whether or not the person can be recognized based on the captured image.

In the present solution, the image of the person is arranged on the person image display surface which is the surface of the apparatus main body facing the window portion, and the person image display surface is the light emission arranged inside the apparatus main body. It is brightened by the light from the means. The main body of the device is open to the outside only at the window portion, and when the person recognition system is inspected, the window portion faces the object image acquisition portion, so that external light hardly enters the inside of the main body of the device. .. That is, most of the light that brightens the person image display surface is the light of the light emitting means. Further, since an image of a person is arranged on the person image display surface, the image of this person is within the imaging range of the object image acquisition unit when the window portion faces the object image acquisition unit. Will be located in an appropriate position (eg, in the center of the imaging range). Further, by pressing the outer peripheral edge portion of the window portion of the main body of the apparatus against the object image acquisition portion, the distance from the object image acquisition portion to the image of a person can be made constant. Therefore, this inspection can always be performed under the same environment and using the same detection target (human image) without being affected by the brightness of the surrounding environment or the like. In the conventional technique in which a person stands in a predetermined area for inspection, the brightness of the surrounding environment is insufficient or the person is in the predetermined area even though the person recognition system operates normally. If the standing position of the person is significantly deviated, it may be erroneously determined that the inspection has failed, but according to this solution, the same detection target is always detected in a stable environment. Since it is possible to inspect the person recognition system using the above, it is possible to improve the reliability of the inspection.

In the present invention, the apparatus main body is formed of a rectangular parallelepiped box body, and the window portion of the apparatus main body is formed by opening the central portion of one surface of the apparatus main body, and the light emitting means is the above-mentioned light emitting means. It is preferable that the device is disposed on the inner surface of the device body in the frame-shaped portion located outside the window portion on the one surface of the device body.

According to this configuration, when inspecting a person recognition system, when an image of a person on a person image display surface is captured by an object image acquisition unit, the object image is acquired due to the presence of a frame-shaped portion on one surface of the main body of the apparatus. The light emitting means does not enter the field of view of the unit. That is, the object image acquisition unit does not image the light emitting means. Therefore, the light from the light emitting means is not directly incident on the object image acquisition unit as a disturbance, and the image of the person on the person image display surface can be captured satisfactorily. This makes it possible to inspect the person recognition system in a more stable environment, and further improve the reliability of the inspection.

It is preferable that the person image display surface is provided with a color display unit for causing the person recognition system to recognize colors in the image captured by the object image acquisition unit.

As described above, for example, in the case of a garbage truck, when a person intrudes into a preset intrusion prohibited area based on the image data captured by the object image acquisition unit while the dust loading device is operating. The operation of the dust loading device is stopped. Then, as a means for determining that a person has invaded the intrusion prohibited area, the color feature data of the wearer worn on the hand or foot by the operator is set and saved (registered) in advance in the storage unit of the person recognition system. The same data as the color feature data of the attached object is extracted from the image data captured by the object image acquisition unit during the operation of the dust loading device so that the hands and feet of the operator can be recognized. There is. Therefore, in the inspection of the person recognition system, it is also possible to inspect whether or not the person recognition system can accurately recognize the color in the image captured by the object image acquisition unit. It is preferable to do so. In the present solution, the person recognition system accurately recognizes colors by providing a color display unit for causing the person recognition system to recognize colors on the person image display surface arranged inside the main body of the device. It is possible to inspect whether it is possible to do so.

Further, in the present invention, the image recognition inspection system provided with the above-mentioned image recognition inspection device is also in the category of the technical idea. That is, in this image recognition inspection system, when a person can be recognized based on an image acquired by imaging the person image display surface by the object image acquisition unit at the time of the inspection, the person recognition system operates normally. It is characterized in that it is provided with a determination unit for determining that the image is being used.

As described above, the image recognition inspection system using the image recognition inspection device always uses the same detection target (personal image) under the same environment without being affected by the brightness of the surrounding environment. Therefore, it is possible to inspect whether or not the person recognition system operates normally. This makes it possible to construct an image recognition inspection system with high inspection reliability.

In the present invention, as an image recognition inspection device used for inspecting whether or not a person recognition system operates normally, a box-shaped device main body is provided with a window portion opened in one direction, and the inner surface of the device main body is provided. A person image display surface is arranged on the surface of the device facing the window portion, and a light emitting means for brightening the person image display surface is provided inside the main body of the apparatus. This makes it possible to inspect the person recognition system in a stable environment and always using the same detection target (person image). Therefore, it is possible to improve the reliability of the inspection of the person recognition system.

It is a side view which shows the garbage truck which concerns on 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 an X1 line arrow view of FIG. It is a perspective view which shows the camera unit. It is a hydraulic circuit diagram of the dust loading device of a garbage truck. It is a block diagram which shows the schematic structure of the control system of a garbage truck. It is an example of an image taken by a camera, and is a figure which shows the time of loading of dust. It is an exploded perspective view of the image recognition inspection apparatus. It is a front view of the image recognition inspection device. FIG. 3 is a cross-sectional view taken along the line XI-XI in FIG. It is a rear view of the image recognition inspection apparatus. It is a block diagram which shows the apparatus configuration for demonstrating the time of system inspection. It is a perspective view which shows the arrangement state of the image recognition inspection apparatus at the time of system inspection. It is a flowchart which shows the procedure at the time of system inspection. It is a figure which shows an example of the screen on a personal computer at the time of a system inspection. It is a flowchart which shows an example of the person recognition processing executed by an image processing unit. It is a flowchart which shows an example of the person recognition processing executed by an image processing unit.

Hereinafter, an embodiment in which the image recognition inspection device and the image recognition inspection system according to the present invention are applied to a 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".

Before describing the image recognition inspection device and the image recognition inspection system, the garbage truck to which these are applied will be described.

-Outline structure of garbage truck-
1 and 2 show a garbage truck 100 according to an embodiment of the present invention. The garbage truck 100 is provided with a dust storage box 2 and a dust storage box 3 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. .. 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 tilting cylinders (not shown). There is.

Further, a substantially rectangular dust input port 4 for charging dust G (see FIG. 8) is opened in a lower portion on the back surface of the dust input box 3, and a tailgate 5 that can be raised and lowered allows dust to be charged. The slot 4 is opened and closed. The tailgate 5 is provided with handles 51, 51 that the operator grips during the opening / closing operation. A switch box 6 for operating a dust loading device (operating various actuators) and the like is provided on the left side of the dust input port 4. Further, a camera unit 7 is arranged above the dust input port 4 so as to capture an image of the dust input port 4 and an 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. 1 to 5, 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 capable of acquiring an object image of an object in the vicinity of the dust input port 4 as a moving image, a detection lamp 73, and an operating lamp 72. The camera 71 is provided for determining whether or not a person in the vicinity of the dust input port 4 is in a dangerous area during the loading operation of the dust G by image processing. The camera 71 is also used as a back camera for the operator to monitor the rear of the vehicle when the vehicle is retracted. The camera 71 is a monocular camera having a CCD image sensor and a CMOS image sensor. The data of the image (moving image) captured by the camera 71 is stored in the storage unit (memory) M (see FIG. 7) of the image processing unit 9 described later.

The camera 71 is attached to the rear upper part of the dust input box 3 at a predetermined attachment angle. Specifically, the camera 71 is mounted via a mounting bracket 75 in the recesses 74 provided in the left and right center portions of the camera unit 7. The camera 71 has an image pickup lens 71a, and the image pickup lens 71a is attached to the mounting bracket 75 of the camera unit 7 so as to be vertically rotatable and adjustable so as to face 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 tilted rearward and upward with respect to the horizontal plane (inclined upward toward the rear of the vehicle). The 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 both 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 inside of the dust loading box 3 is equipped with a dust loading device (movable device) for loading the thrown dust G into the dust storage box 2. By this dust loading device, the dust G thrown into the dust loading box 3 is pushed into the dust storage box 2 serially 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 discharged plate is moved to the rear of the dust storage box 2 by a discharge cylinder to discharge the dust G.

Next, the dust loading device of the present embodiment will be specifically described. In the dust loading device of the present embodiment, the dust G is scraped up by the rotation of the rotating plate (loading member) 10, and the dust G is pushed into the dust storage box 2 by the pushing plate 20, so-called rotary plate type dust loading device. It is configured as a built-in device. A rotating shaft 11 is erected at the lower part of the dust input box 3 so as to extend in the width direction thereof, and the base end side of the rotating plate 10 is fixed to the rotating shaft 11.

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

On the other hand, the push-in plate 20 is provided above the rotary plate 10 over the entire width direction of the dust input box 3, and can swing in the front-rear direction around the left-right swing shaft 21 provided above the push-in plate 20. It is supported. Further, the push plate 20 is provided with an extension portion 22 extending 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.

Specifically, as shown by the solid line in FIG. 3, when the push-in plate 20 is in the most swung position (advance limit position) toward the dust storage box 2, it rotates without interfering with the push-in plate 20. The plate 10 rotates upward, and the push plate 20 swings toward the dust inlet 4 side after this. Then, even after the push-in plate 20 swings most toward the dust input port 4 and reaches the retreat limit position shown by the virtual line in FIG. 3, the rotation of the rotary plate 10 is continued.

The rotary plate 10 that rotates in this way scrapes the dust G 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 plate 20 swings toward the dust storage box 2 this time, and the dust G on the rotary plate 10 is pushed into the dust storage box 2. Then, when the push-in plate 20 reaches the forward limit position again, the rotary plate 10 rotates upward again.

By repeating the rotation of the rotary plate 10 and the swing of the push plate 20 in synchronization with each other in this way, the dust G thrown into the dust loading box 3 is continuously loaded into the dust storage box 2. Is done. 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 backward 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 and turn off when the rotating plate 10 rotates by a predetermined angle from the set stop position. Has been done.

The switches LS1 and LS2 are designed to detect a dog (not shown) provided at the end of the swing shaft 21 of the push plate 20, and the switches LS3 and LS4 are the rotary shaft 11 of the rotary plate 10. It is designed to detect a dog (not shown) provided at the end of the. Further, as these switches LS1 to LS4, for example, limit switches, photoelectric switches, proximity switches 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 portion (lower edge portion) 4b, and is a sensor for detecting that the rotating plate 10 is operating in the vicinity of the dust input port 4. ..

Further, as shown in FIGS. 1 and 2, emergency stop switches 60 and 61 for stopping the operation of the dust loading device, an emergency stop plate 62, and the like are arranged in the vicinity of the dust input port 4. There is. On the side surface of the switch box 6 provided on the left side of the dust loading port 4, there is a loading device operation switch 64 for cycle-operating the dust loading device and an emergency stop switch 60 for urgently stopping the dust loading device. Is arranged, and an emergency stop switch 61 is arranged on the right side of the dust input port 4. The emergency stop plate 62 is arranged so as to turn on / off the switch SW2 (see FIG. 3) below the dust input port 4. 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 operated to temporarily release the emergency stop of the dust loading operation of the dust loading device based on the image analysis described later.

-Control system of dust loading device-
Next, a control system for operating the dust loading device will be described with reference to FIGS. 6 and 7. This control system is a rack that outputs control signals to the hydraulic motor 13 of the dust loading device, 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 device body control unit PLC (programmable logic controller) and an image processing unit 9 that performs person recognition processing based on image data from the camera 71. The PLC of the frame main body control unit controls not only the drive of the dust loading device but also the drive of the dust discharging device. Further, the image processing unit 9 and the PLC of the frame main body control unit constitute a control device for the garbage truck 100.

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. The electromagnetic control valve V1 has a solenoid SOLa, a solenoid SOLb, and a spool (not shown). When the solenoid SOLa is excited by the PLC of the mounting body control unit, the electromagnetic control valve V1 switches to the first communication position (upper position in FIG. 6), and the hydraulic oil from the hydraulic pump P is transferred to the pair of push cylinders 24. Supply to the oil chamber on the rod side. On the other hand, the electromagnetic control valve V1 switches to the second communication position (lower position in FIG. 6) when the solenoid SOLb is excited by the PLC of the mounting body control unit, 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 FIG. 6).

The electromagnetic control valve V2 has a solenoid SOLc, a solenoid SOLd, and a spool (not shown). When the solenoid SOLc is excited, the electromagnetic control valve V2 switches to the first communication position (lower position in FIG. 6), supplies hydraulic oil to the oil chamber on the normal rotation side of the hydraulic motor 13, and causes the hydraulic motor 13 to operate. In addition to the forward rotation operation, 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. 6), supplies hydraulic oil to the oil chamber on the reversing side of the hydraulic motor 13, and causes the hydraulic motor 13 to operate. Reverse operation.

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. 6). 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, a schematic configuration of the control system of the garbage truck 100 will be described with reference to FIG. 7. The control system of the garbage truck 100 includes the erection main body control unit PLC and the image processing unit 9. The PLC of the main body control unit and the image processing unit 9 are connected by a signal line so that control signals and the like can be transmitted and received.

The mounting body control unit PLC includes a PTO switch (power source switch) SWP, the loading device operation switch 64, a discharge device operation switch 65, a loading / discharging changeover switch 66, actuators 13 and 24 for the loading device, and the loading device. Sensors (switches) LS1 to LS4, actuators 30 and sensor 31 for the discharge device, solenoids SOLa to SOLd of the control valves (electromagnetic control valves) V1 and V2 for the loading device, and solenoid SOLe of the control valve V5 for the discharge device. It is connected by a signal line.

The PTO switch SWP excites a relay coil (not shown) and closes the contact of the relay coil when the ignition (not shown) is turned on, thereby supplying electric power to the PLC of the main body control unit. Then, the main body control unit PLC is put into an operable state.

When the loading device operation switch 64 is turned on, it outputs a signal for operating the dust loading device to the PLC of the mounting body control unit, and cycle-operates the dust loading device (dust loading operation). ).

When the discharge device operation switch 65 is turned on, it outputs a signal for operating the dust discharge device to the PLC of the frame main body control unit, and discharges the dust G contained in the dust storage box 2. (Dust discharge operation) is performed.

The loading / discharging switch 66 is a switch for switching between the dust loading operation by the dust loading device and the dust discharging operation by the dust discharging device.

The actuators 13 and 24 for the loading device are actuators for causing the dust loading device to perform a dust loading operation, and correspond to the hydraulic motor 13 and the pushing cylinder 24 described above.

The sensors (switches) LS1 to LS4 for the loading device are sensors for detecting the positions of the rotating plate 10 and the pushing plate 20, and correspond to the above-mentioned switches LS1 to LS4.

The actuator 30 for the discharge device is an actuator for causing the dust discharge device to perform a dust discharge operation, and corresponds to the above-mentioned dump cylinder or discharge cylinder.

The sensor 31 for the discharge device detects the amount of expansion and contraction of the actuator 30 when the dust discharge device performs the dust discharge operation.

The control valves V1 and V2 for the loading device adjust the hydraulic pressure supplied to the hydraulic motor 13 and the push cylinder 24, and correspond to the electromagnetic control valves V1 and V2 described above.

The solenoids SOLa to SOLd for the loading device are for switching the control valves V1 and V2 for the loading device, and correspond to the above-mentioned solenoids SOLa to SOLd.

The control valve V5 for the discharge device is for adjusting the hydraulic pressure supplied to the actuator 30 for the discharge device.

The solenoid SOL for the discharge device is for switching the control valve V5 for the discharge device.

The mounting main body control unit PLC sets the hydraulic motor 13, the push cylinder 24, etc. according to a preset procedure based on the signals input from various switches SWP, 64, 65, 66, sensors LS1 to LS4, 31 and the like. It is programmed to output a control signal to the corresponding solenoids SOLa to SOLe in order to operate or operate a dump cylinder, a discharge cylinder, or the like.

For example, when the dust loading device performs the dust loading operation, the PTO switch SWP is closed, the contact of the relay coil is closed, the PLC of the mounting body control unit is in an operable state, and the solenoids SOLa to SOLd are appropriately operated. The control signal will be output to.

Upon receiving this control signal, the solenoids SOLa to SOLd are excited, and the spool positions of the electromagnetic control valves V1 and V2 are appropriately switched to supply 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. 3, 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. 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 is also ON from the switch LS3. When the signal is output, the control signal is output from the PLC of the mounting body control unit that receives the signal of the loading device operation switch 64, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 13 is moved. The normal rotation operation is started. As a result, the rotating plate 10 starts to rotate upward.

Then, when a predetermined period elapses, a control signal is output from the PLC of the mounting body control unit 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 contracts. Start. 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 PLC of the mounting body control unit 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 rotating plate 10 continues, and the dust G is scraped into the dust storage box 2 side, and the rotating plate 10 rotates in this way. Reachs the setting stop position, and an ON signal is output from the switch LS3.

In response to this, the PLC of the mounting body control unit 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. do. Further, the mounting 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 starts the extension operation. 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 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. .. In response to this, the PLC of the mounting body control unit 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 extended. The forward swing stops, and the series of operations ends.

-Image processing control system-
By the way, when the dust loading device is performing the dust loading operation as described above, there is a risk that the worker (person) who is loading the dust G into the dust loading port 4 is inadvertently caught in the rotating plate 10 or the like. There is. Therefore, in the dust collecting vehicle 100 of the present embodiment, the camera 71 is arranged so as to take an image of the vicinity of the dust input port 4, and it is determined by image processing that a person in the vicinity of the dust input port 4 is in a dangerous area. If so, the operation of the dust loading device is immediately stopped.

That is, as shown in FIGS. 1 to 3, a camera 71 is arranged in the upper part of the back surface of the dust input box 3, that is, above the dust input port 4, and the image pickup lens 71a thereof is directed diagonally downward to the rear. There is. As shown in FIG. 8 as an example, the camera 71 is adapted to take an image of a predetermined range of the dust inlet 4 and its rear (nearby).

The optical axis of the image pickup lens 71a of the camera 71 is turned from vertically downward to the rear in order to image the rear of the dust input port 4, and the person H in the vicinity of the dust input port 4 is imaged from above. ..

Then, as shown in FIG. 7, the camera 71 is an image processing unit 9 (an image processing device, for example, arranged around the driver's seat as shown by a broken line in FIG. 1) via an image distributor 77. And is connected to the display unit (monitor) 93. The display unit 93 provides an image of the camera 71 to the worker H who drives the garbage truck 100. Further, based on this image, the image processing unit 9 determines whether or not the worker H or the like is in a dangerous area.

That is, FIG. 8 shows a state in which a worker (person) H standing in the vicinity of the dust input port 4 extends both arms forward and loads a garbage bag (dust) G, and this person H is shown. The image processing unit 9 determines whether or not the user is in a dangerous area. In the present embodiment, the image processing unit 9 determines whether or not the head or hand of the worker H is in a dangerous area. The details of this dangerous area will be described later. In addition, in this embodiment, whether or not the hand of the worker H is in the dangerous area is determined by changing the color of the glove GL in view of the fact that the worker H generally wears the glove GL. The glove GL color feature data (from the image data captured by the camera 71 while the dust loading device is operating, is set and saved (registered) in advance in the storage unit M of the image processing unit 9 according to the color setting mode ( The same data (same color data) as the color feature data) can be extracted to recognize the worker H (recognize the hand of the worker H).

As schematically shown in FIG. 7, the image processing unit 9 is provided with an image processing unit DSP that inputs image data from the camera 71 and performs image processing described below. The image processing unit DSP is an integrated circuit that performs image processing logic at high speed, and executes an image processing (person recognition processing) routine as shown in the flowchart of FIG. 17, for example. More specifically, this image processing unit DSP corresponds to an image analysis unit together with a control unit (central processing unit) CPU described later. The image processing unit DSP and the control unit CPU refer to the dictionary data stored in the storage unit M and the color feature data described above based on the moving image data acquired by the camera 71, and thereby the vicinity of the dust input port 4. It is determined by image analysis whether or not the person H is in the dangerous area (whether the head or hand of the person H is in the dangerous area).

The image processing unit 9 includes a control unit CPU that executes a predetermined program to perform various controls, a storage unit M that stores data used in the control unit CPU and the image processing unit DSP, and an image processing unit 9. An operation switch SW4 or the like for switching between operation and stop is also provided. Then, while the image processing unit DSP determines that the person H is outside the dangerous area (the head or hand of the worker H is outside the dangerous area), the control unit CPU sends a person safety signal. It is output to the PLC of the main body control unit. On the other hand, if the image processing unit DSP determines that the person H is in a dangerous area (the head or hand of the person H is in the dangerous area), the control unit CPU controls the person safety signal on the main body. It is not output to the part PLC. When the person safety signal is no longer output from the control unit CPU of the image processing unit 9, the mounting body control unit PLC stops the operation of the dust loading device triggered by the interruption of the input of the person safety signal. Further, the image processing unit 9 is also provided with an external device connection terminal ET for connecting a terminal device such as a personal computer by wire with a USB cable or the like, and a color setting mode switch 91 for switching ON / OFF of the color setting mode. ing.

-Image recognition inspection device-
By the way, at the time of shipment from the production line of the dust collecting vehicle 100 or at the time of maintenance, the person recognition system composed of the camera 71 and the image processing unit 9 can operate normally (good person recognition). It is necessary to inspect whether or not it is (system inspection).

In the conventional inspection, a person stands in a predetermined area near the dust inlet in a factory or an inspection site, and the person recognition system can recognize the person well by taking an image of this predetermined area with the camera. I was trying to check if it wasn't. For example, in this inspection, if the person recognition score, which is an index of the degree of recognition of a person, is equal to or higher than a predetermined value, it is determined that the inspection is passed. However, in the conventional inspection, the brightness and background of the surrounding environment may change every time the inspection is performed, and there is no guarantee that the inspection can always be performed in the same environment. In addition, the position of a person standing in a predetermined area near the dust inlet may be different at each inspection. For this reason, even if the person recognition system operates normally under the specified conditions, if the brightness of the surrounding environment is insufficient or the position of the person standing in the predetermined area is significantly deviated. There was a risk that the person recognition score would be less than the predetermined value and the test would be erroneously determined as unsuccessful (the person recognition system is not operating normally).

Therefore, in the present embodiment, the person recognition system is inspected for the purpose of making it possible to inspect the person recognition system in a stable environment and always using the same detection target (personal image). I am trying to use the image recognition inspection device that is used. Hereinafter, this image recognition inspection device will be specifically described.

FIG. 9 is an exploded perspective view of the image recognition inspection device 200. FIG. 10 is a front view of the image recognition inspection device 200. FIG. 11 is a cross-sectional view taken along the line XI-XI in FIG. FIG. 12 is a rear view of the image recognition inspection device 200.

As shown in these figures, the image recognition inspection device 200 includes a device main body 210 made of a box body having a substantially rectangular parallelepiped shape. The device main body 210 is made of resin, for example, and is configured by integrally assembling the main body case 211 and the main body cover 212. In the following description, the right side in FIG. 11 (the side where the window portion 213 described later is provided) is referred to as the front side of the device main body 210, and the left side in FIG. 11 (the side where the main body cover 212 is located) is the rear side of the device main body 210. We will call it the side.

The main body case 211 includes a front plate 211a, an upper plate 211b, a lower plate 211c, and left and right side plates 211d and 211e. The rear side of the main body case 211 is open, and the main body cover 212 is attached to this open portion to close the rear side of the main body case 211.

Further, a rectangular window portion (opening) 213 is formed in the central portion of the front plate 211a. As an example of the dimensions of the window portion 213, the length dimension in the horizontal direction (horizontal direction) is set to about 4/5 of the length dimension in the horizontal direction of the main body case 211, and the length in the vertical direction (vertical direction). The dimension is set to about 2/3 of the vertical length dimension of the main body case 211. These dimensions are not limited to this. As described above, since the window portion 213 is formed in the central portion of the front plate 211a, in the front plate 211a, the frame-shaped portion 214 which is the outer region of the window portion 213 and surrounds the window portion 213. It has become.

Further, a square tubular hood 215 extending continuously toward the front side of the main body case 211 is provided on the outer edge of the window portion 213. The dimension of the hood 215 in the extending direction is set to about 1/4 of the length dimension in the front-rear direction of the main body case 211. This dimension is not limited to this.

As shown in FIGS. 10 to 12, mounting seats 216, 216 that support each corner of the main body cover 212 when the main body cover 212 is assembled to each of the four rear corners inside the main body case 211. , ... are provided. Inside the mounting seat portion 216, a nut N into which a bolt B is screwed when assembling the main body cover 212 is embedded on the rear side of the main body case 211. These nuts N are embedded inside the mounting seat portion 216 so that the female screw holes extend along the front-rear direction of the main body case 211. When the main body cover 212 is assembled to the main body case 211, as shown in FIGS. 9 and 11, the bolt insertion holes 212a formed at each corner of the main body cover 212 and the inside of each mounting seat portion 216. The nut N embedded in the bolt N is aligned, and the bolt B is inserted through the bolt insertion hole 212a and the nut N and screwed into the nut N.

As a feature of the image recognition inspection device 200, as shown in FIGS. 9 and 11, a person image display in which an image of a person is drawn between the main body case 211 and the main body cover 212 assembled as described above. It is at the point where the sheet 217 is sandwiched. The person image display sheet 217 is, for example, a paper sheet whose outer shape is set to be the same as or slightly smaller than the outer shape of the main body cover 212, and a photograph of the person (person image H1) is printed in the center thereof. It is a thing. The person image H1 printed on the person image display sheet 217 is an image (of the person) when the person is photographed by the camera 71 while the person is standing in a predetermined range behind (near) the dust input port 4. The image is similar to the image taken from diagonally above the area around the head).

Further, when the main body cover 212 is assembled to the main body case 211, the main body case 211 and the main body cover 212 are integrated by sandwiching the person image display sheet 217 between the main body case 211 and the main body cover 212. In the state of being assembled to, each corner portion of the front surface of the person image display sheet 217 abuts on each of the mounting seats 216, 216, ..., And the entire rear surface of the person image display sheet 217 abuts on the front surface of the main body cover 212. It will be. As a result, each corner of the person image display sheet 217 is sandwiched between the mounting seat 216 of the main body case 211 and each corner of the front surface of the main body cover 212, and the person image display sheet 217 is the main body. It is arranged so as to be overlapped on the front surface of the cover 212, and this state is maintained. In this state, the front surface of the person image display sheet 217 faces the window portion 213, and the person image H1 on the person image display sheet 217 is seen through the window portion 213 from the front side of the image recognition inspection device 200. Is ready to be seen (see FIG. 10). Therefore, the front surface of the person image display sheet 217 is the "person image display surface on which the image of the person is arranged" in the present invention.

Further, in the area on the person image display sheet 217 that is different from the display area of the person image H1, the color display units C1 and C2 having the same color as the color of the gloves GL that the worker H may wear. , C3 is drawn. For example, when red, blue, and green are assumed as the colors of the gloves GL that the worker H may wear, the square color display units C1, C2, and C3 in these colors are the person image display sheet 217. It is drawn above.

Further, on the inner surface of the frame-shaped portion 214 in the front plate 211a of the main body case 211, a plurality of LED (Light Emitting Diode) lamps 220, 220 as light emitting means for brightening the front surface of the person image display sheet 217. , ... are arranged. Specifically, LED lamps 220 are arranged at each of the four corners of the inner surface (inner surface facing the person image display sheet 217) of the frame-shaped portion 214 of the front plate 211a. Further, the LED lamp 220 is arranged so as to irradiate light toward the rear (toward the person image display sheet 217). Therefore, when each of the LED lamps 220, 220, ... Is turned on, light is emitted toward the person image H1 and the color display units C1, C2, C3 printed on the front surface of the person image display sheet 217. become. A plurality of LED lamps 220 may be provided over the entire inner surface of the frame-shaped portion 214.

To supply power to the LED lamps 220, 220, ..., A power line (not shown) extending from each LED lamp 220, 220, ... Is drawn from the lower plate 211c of the main body case 211, for example, an image processing unit 9 or a personal computer (system). The configuration is such that power can be supplied by USB connection (power supply by USB bus power) to a personal computer connected to the image processing unit 9 at the time of inspection. Further, the electric power may be supplied by the mobile battery.

-Image recognition inspection-
Next, an image recognition inspection (system inspection) using the image recognition inspection device 200 will be described. This system inspection is performed at the time of shipment from the production line of the garbage truck 100 and at the time of maintenance.

FIG. 13 is a block diagram showing an apparatus configuration (appearance of the image processing unit 9 and the like) for explaining the time of system inspection. As an outline of the system inspection, as shown in FIG. 13, a personal computer PC is connected (for example, USB connection) to the external device connection terminal ET provided in the image processing unit 9, and as shown in FIG. 14, an operator Holds the image recognition inspection device 200 and makes the window portion 213 face the camera 71 of the camera unit 7 (the hood 215 of the image recognition inspection device 200 is pressed against the camera unit 7), and prints on the front surface of the person image display sheet 217. The person image H1 and the color display units C1, C2, and C3 are imaged by the camera 71. As a result, it is inspected whether or not the person can be recognized normally by taking the person image H1 and the color can be recognized normally by taking the color display units C1, C2, and C3.

The personal computer PC is provided with an input unit 300 (keyboard and mouse) for performing operations for launching application software for inspection, and a determination unit 310 for determining whether the inspection is passed or failed by the system inspection. , A display unit 320 (monitor) for displaying inspection results is provided. As an example of the determination operation in the determination unit 310, a person recognition score which is an index of the recognition degree of a person is calculated, and this person recognition score is displayed on the display unit 320 together with the inspection result. By connecting the personal computer PC to the image processing unit 9 in this way, the image recognition inspection system according to the present invention is constructed by the image recognition inspection device 200, the image processing unit 9, and the personal computer PC. The specific procedure of system inspection will be described below.

FIG. 15 is a flowchart showing a procedure at the time of system inspection. As shown in FIG. 15, the ACC (accessory) power supply of the garbage truck (vehicle) 100 is turned on in step S1. At this time, the PTO switch SWP is still in the OFF state. Then, in step S2, the inspection application software pre-installed on the personal computer PC is launched.

In step S3, the personal computer PC and the image processing unit 9 are connected by a cable, whereby the image processing unit 9 is put into the maintenance mode.

In this state, imaging of the camera 71 (imaging in a state where the window portion 213 of the image recognition inspection device 200 is not facing the camera 71) is performed. At this time, while checking the image of the display unit 93 arranged around the driver's seat, the tilt of the camera 71 is adjusted by rotating the camera 71 with respect to the mounting bracket 75 around the horizontal axis (step S4). ).

Then, in step S5, the LED lamps 220, 220, ... Of the image recognition inspection device 200 are turned on, and in step S6, as shown in FIG. 14, the window portion 213 of the image recognition inspection device 200 is made to face the camera 71. As a result, the person image H1 and the color display units C1, C2, and C3 printed on the front surface of the person image display sheet 217 are imaged by the camera 71. When the window portion 213 of the image recognition inspection device 200 is opposed to the camera 71 in this way, external light hardly enters the inside of the device main body 210. That is, most of the light that brightens the person image H1 and the color display units C1, C2, and C3 on the front surface of the person image display sheet 217 is the light emitted from the LED lamp 220. Further, in this state, the person image H1 captured by the camera 71 is located substantially in the center of the image pickup range of the camera 71. Further, by pressing the hood 215 of the image recognition inspection device 200 against the camera unit 7, the distance from the camera 71 to the person image H1 can be made constant.

When the person image H1 and the color display units C1, C2, and C3 are imaged by the camera 71 in this way, the inspection result is displayed on the display unit of the personal computer PC together with the image captured by the camera 71 by the application software. This makes it possible to confirm the inspection result (step S7).

FIG. 16 is an example of an image displayed on the display unit 320 of the personal computer PC. The image I captured by the camera 71 is displayed in the center. Further, the periphery of the image recognized as the vicinity of the head of the person H is surrounded by a square frame L, and the person recognition score is displayed in the lower left portion of the frame L. If the person recognition score is equal to or higher than a predetermined value, it can be determined that the person is H. In the case shown in FIG. 16, the person recognition score is "82", and the person H has high accuracy. It represents a state that can be recognized as being present.

When it is confirmed by this system inspection that the person recognition system is operating normally, the garbage truck 100 is shipped from the production line or the maintenance is completed. On the other hand, if it is determined by this system inspection that the person recognition system is not operating normally, it can be determined that a defect (malfunction, etc.) has occurred in the camera 71 or the image processing unit 9, and maintenance of the person recognition system is performed. I will move on to work.

-Image processing routine-
Next, an image processing routine (image processing routine in the image processing unit 9) performed at the garbage collection site after it is confirmed that the person recognition system is operating normally will be described. This image processing routine differs between the shape recognition of the head of the person H and the color recognition of the hand (wearing object) of the person H. First, an image processing routine for recognizing the shape of the head of the person H will be described.

The image processing routine for recognizing the shape of the head of the person H is executed in a state where the feature data (dictionary data) of the person is set and stored in the storage unit M of the image processing unit 9. The feature data of a person is obtained by taking an image of the head of many people in advance and extracting features such as the size and shape thereof.

The image processing unit DSP is a general integrated circuit that performs known image processing logic at high speed as described above. By the cooperation of the image processing unit DSP and the control unit CPU, for example, binarization processing of input image data, labeling processing of regionalizing each pixel close to each other in the binarized image data, and labeling. Person identification processing that identifies the area of the object image aread by the above is the shape of the head of the person, and determination of the position of the person that determines whether the position of the object image identified as the head of the person is a dangerous area. Processing is done.

Specifically, the image processing routine will be described with reference to the flowchart of FIG. 17, and first, the binarization processing is performed in step S11 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 S12, a labeling process is performed. This is to regionalize each pixel that is close to each other extracted in the above-mentioned 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. It is a process. The labeling process is performed on the entire image plane, and the one area is recognized as an object image.

Then, in the following step S13, the person identification process for each of the object images is performed. In the present embodiment, feature data (dictionary data) of the head of a person, for example, data indicating the size and shape thereof, is referred to, and an object image satisfying the conditions of the feature data is determined to be the head of the person H. do.

With respect to the object image thus identified as the head of the person H, in step S14, it is determined whether or not the object image is in a preset dangerous area.

In the present embodiment, as shown in FIG. 8, the area corresponding to the entire dust input port 4, that is, the area in front of the trailing edge portion 4b (boundary line B2) of the dust input port 4 is a dangerous area with respect to the head. It is said to be the second area. Then, it is determined whether or not the position coordinates of the pixels forming the outer shape of the object image (region) identified as the head of the person H as described above are in front of the boundary line B2 of the second area. ..

If it is determined affirmatively that the head of the person H is in the dangerous area (YES), the control unit CPU of the image processing unit 9 should proceed to step S15 to stop the operation of the dust loading device. Stops the output of the person safety signal to the PLC of the main body control unit of the frame, and ends the image processing routine (end). On the other hand, if it is negatively determined that the head of the person H is not in the dangerous area (NO), the output of the person safety signal is maintained and the image processing routine is terminated (end).

Next, an image processing routine for recognizing the hand (wearing object) of the person H based on the color will be described.

The image processing routine for recognizing the hand (wearing object) of the person H is executed in a state where the color feature data of the glove GL is set and stored in the storage unit M of the image processing unit 9 by the color setting mode described above.

By collaborating with the image processing unit DSP and the control unit CPU, for example, color binarization processing of input image data, labeling processing for regionalizing each pixel close to each other in the binarized image data, and labeling. The person identification process that identifies the person wearing the wearer because the area of the object image aread by is within a predetermined range, and the position of the object image identified as the person image are dangerous. The person position determination process for determining whether or not the area is in the area is performed.

Specifically, the image processing routine will be described with reference to the flowchart of FIG. 18. First, the color binarization processing is performed in step S21 after the start. For example, the input image data is converted from the RGB color space to the HSV color space, and when the hue, saturation, and lightness of each pixel are within the preset threshold range, the color is set as the extracted color. If the color is out of the threshold range, the color is excluded from the extraction target. Most of the effects of noise and changes in the amount of light are removed from the generated color binarized image data.

The extracted color used as the determination criterion here is the color feature data set and stored in the storage unit M of the image processing unit 9 by the color setting mode described above. That is, in the color binarization process, the pixels that match the color feature data are extracted from the data of the image captured by the camera 71.

Next, in step S22, a labeling process is performed. This is to domain each pixel that is close to each other extracted in the color binarized image data, for example, one region for a plurality of pixels that belong to the same color feature data and are close to each other within a predetermined distance. It is a process to be regarded as. The labeling process is performed on the entire image plane, and each area is recognized as an object image.

Then, in the subsequent step S23, the person identification process for each of the object images is performed. In the present embodiment, the person H is determined to be an object image that satisfies the condition that the size is within a predetermined range by referring to the data indicating the size. That is, in step S23, when the object image matches the color feature data of the glove GL set and stored in the storage unit M of the image processing unit 9 by the color setting mode, the size thereof is within a predetermined range. By limiting the existence, the hand of the person H is recognized.

With respect to the object image thus identified as the hand of the person H, in step S24, it is determined whether or not the object image is in a preset dangerous area.

In the present embodiment, as shown in FIG. 8, the front side of the central boundary line B1 of the leading edge portion 4a and the trailing edge portion 4b of the dust input port 4, that is, the back side of the dust input port 4 is dangerous with respect to the hand. It is said to be the first area, which is an area. Then, it is determined whether or not the position coordinates of the pixels forming the outer shape of the object image (region) identified as the hand of the person H as described above are in front of the boundary line B1 of the first area.

If it is determined affirmatively that the hand of the person H is in the dangerous area (YES), the control unit CPU of the image processing unit 9 is set to proceed to step S25 to stop the operation of the dust loading device. , The output of the person safety signal to the main body control unit PLC is stopped, and the image processing routine is terminated (end). On the other hand, if it is negatively determined that the hand of the person H is not in the dangerous area (NO), the output of the person safety signal is maintained and the image processing routine is terminated (end).

When the input of the person safety signal from the control unit CPU is stopped, the PLC of the mounting body control unit that receives the signal is dangerous if the signal from the switch LS4 is ON, that is, the rotating plate 10 is dangerous. If it is in the angle range Z, the energization of all the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 is stopped. 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.

-Effect of embodiment-
As described above, in the present embodiment, as the image recognition inspection device 200 used for inspecting whether or not the person recognition system operates normally, the box-shaped device main body 210 has a window opened in one direction. A person image display sheet 217 is provided on the inner surface of the apparatus main body 210 facing the window portion 213, and the inside of the apparatus main body 210 is irradiated with light toward the person image display sheet 217. The LED lamp 220 is provided. As a result, the person recognition system can be inspected under the same environment and using the same detection target (personal image) without being affected by the brightness of the surrounding environment or the like. As a result, the reliability of the inspection can be improved.

Further, in the present embodiment, the LED lamp 220 is arranged on the inner surface of the device main body 210 in the frame-shaped portion 214 located on the outer peripheral side of the window portion 213 in the front plate 211a of the main body case 211. According to this, when the camera 71 captures the image of the person on the person image display sheet 217 when inspecting the person recognition system, the LED lamp 220 is in the field of view of the camera 71 due to the presence of the frame-shaped portion 214. I can't enter. That is, the camera 71 does not take an image of the LED lamp 220. Therefore, the light from the LED lamp 220 is not directly incident on the image pickup lens 71a of the camera 71 as a disturbance, and the image of the person on the person image display sheet 217 can be satisfactorily captured. This makes it possible to inspect the person recognition system in a more stable environment, and further improve the reliability of the inspection.

Further, in the present embodiment, the color display units C1, C2, and C3 having the same color as the color of the glove GL that the worker H may wear are drawn on the person image display sheet 217. This makes it possible to inspect whether or not the person recognition system can accurately recognize colors.

-Other embodiments-
The embodiments disclosed this time are exemplary in all respects and are not grounds 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 scope of claims. In addition, the technical scope of the present invention includes all modifications within the meaning and scope equivalent to the scope of claims.

In the above embodiment, an image recognition inspection device 200 applied to a garbage truck 100 equipped with a so-called rotary plate type dust loading device will be described as an example, and the main part of the dust loading device is a rotating plate 10 and a push-in device. It was supposed to be composed of a 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 pushing plate, and the structure thereof is not particularly limited. Further, the present invention can be applied to work vehicles other than dust collection vehicles such as dump trucks, mixer trucks, tank trucks, container cargo handling vehicles, suction vehicles, etc., and dust can be used as a movable device mounted on the chassis. Various devices other than the loading device can be considered.

Further, in the above embodiment, the person image display sheet 217 on which the person image H1 is drawn is sandwiched between the main body case 211 and the main body cover 212. The present invention is not limited to this, and the person image display sheet 217 may be attached to the front surface of the main body cover 212. Further, the person image H1 may be drawn on the front surface of the main body cover 212. In this case, the front surface of the main body cover 212 is the person image display surface according to the present invention.

Further, in the above-described embodiment, the personal computer PC is provided with a determination unit 310 for determining whether or not the person recognition system is operating normally. The present invention is not limited to this, and the image processing unit 9 may be provided with a determination unit 310 so that it can be confirmed whether or not the person recognition system is operating normally by the display or the like on the image processing unit 9. ..

Further, in the above-described embodiment, the color display units C1, C2, and C3 are provided on the person image display sheet 217. This is to recognize the glove GL worn by the worker H, but in a system that does not recognize this, the color display units C1, C2, and C3 are not necessarily required on the person image display sheet 217. not.

Further, in the above embodiment, the object image acquisition unit is configured as a monocular camera having a CCD image sensor or a CMOS image sensor, but the present invention is not limited to this, and a stereo camera or a distance image and a color image can be used. The object image acquisition unit may be configured by a distance image sensor that can be acquired at the same time.

Further, in the above-described embodiment, the person image display surface is composed of a paper person image display sheet 217 whose outer shape is set to be the same as or slightly smaller than the outer shape of the main body cover 212. Further, a plurality of LED lamps 220, 220, ... As light emitting means for brightening the front surface of the person image display sheet 217 are arranged on the inner surface of the frame-shaped portion 214 in the front plate 211a of the main body case 211. Was there. The present invention is not limited to this, and instead of the human grain image display sheet 217, a person image display surface may be configured by a display capable of displaying image data. In this case, the light emitting means may be a backlight of a display or an organic EL element that emits light by itself.

If the person image display surface is configured with a display, the person image switching work can be easily performed and a moving image can be displayed. This makes it possible to change the situation and perform the inspection. For example, it is possible to move a person on the display to a dangerous area for stopping the operation of the dust loading device and verify whether or not the actually operating dust loading device is stopped.

INDUSTRIAL APPLICABILITY The present invention is applicable to an image recognition inspection device used for inspecting whether or not a person recognition system operates normally at the time of shipment from a production line of a garbage truck or at the time of maintenance.

71 Camera (object image acquisition unit)
200 Image recognition inspection device 210 Device body 213 Window part 214 Frame-shaped part 217 Person image display sheet (person image display surface)
220 LED lamp (light emitting means)
310 Judgment unit C1 to C3 Color display unit H Worker (person)

Claims (4)

An image recognition inspection device used for inspecting whether or not a person recognition system that recognizes a person in a predetermined area based on an image in a predetermined area captured by an object image acquisition unit operates normally.
A box-shaped device body having a window portion open in one direction and arranged so that the window portion faces the object image acquisition portion at the time of the inspection.
A person image display surface on which an image of a person is arranged, which is a surface of the inner surface of the main body of the device facing the window portion.
An image recognition inspection device, which is disposed inside the main body of the device and includes a light emitting means for brightening the person image display surface. In the image recognition inspection apparatus according to claim 1,
The main body of the device consists of a rectangular parallelepiped box.
The window portion of the apparatus main body is formed by opening the central portion of one surface of the apparatus main body.
The image recognition inspection device is characterized in that the light emitting means is arranged on the inner surface of the device body in a frame-shaped portion located outside the window portion on the one surface of the device body. In the image recognition inspection apparatus according to claim 1 or 2.
The image recognition inspection device is characterized in that the person image display surface is provided with a color display unit for causing the person recognition system to recognize colors in an image captured by the object image acquisition unit. .. An image recognition inspection system including the image recognition inspection device according to claim 1, 2 or 3.
When a person can be recognized based on an image acquired by imaging the person image display surface by the object image acquisition unit at the time of the inspection, a determination unit for determining that the person recognition system is operating normally is used. An image recognition inspection system characterized by being equipped.

Images