JP5848576B2 - Waste collection system and waste collection vehicle - Google Patents

Description

  The present invention relates to a waste collection system and a waste collection vehicle for collecting and collecting garbage and other waste in a storage bag, and more particularly to a waste collection system and a waste collection vehicle that improve the detection accuracy of the storage bag. It is about.

Various types of waste recovery systems as described above are known.
For example, Patent Document 1 discloses a disposal that is installed in a place where a waste container is collected and includes an ID reading device that transmits and receives electromagnetic waves that resonate with a non-contact identification element from a transmitting antenna and a receiving antenna. An object recovery system is disclosed. In this system, the resonance circuit incorporated in the non-contact identification element is individualized by a plurality of stages of resonance frequencies different for each resonance circuit, and the transmitting antenna and the receiving antenna provided in the ID reader This is a waste collection system in which the resonance frequency of the electromagnetic wave transmitted and received from is set in a plurality of stages corresponding to the resonance frequency of the resonance circuit individualized in the plurality of stages.
The resonance frequency of the electromagnetic wave transmitted and received from the transmitting antenna and the receiving antenna provided in such an ID reader is in a plurality of stages corresponding to the resonance frequency of the resonance circuit individualized in the plurality of stages. Since it is set, it is possible to identify the waste consisting of individualized IDs in the same way, and to deal with a lot of information such as the type of waste storage bag, which is extremely useful.
However, in actual waste collection, detection of waste by the wireless device as described above is costly and difficult to implement.

Therefore, it is practical to install a camera at the waste input port of the waste collection vehicle and detect the waste storage bag passing through the waste input port imaged by this camera.
In a waste collection vehicle, waste storage bags are thrown from a waste input port one by one by one or two workers. As an example of a system for imaging waste by such a camera and detecting the waste, a system described in Patent Document 2 is known.
In the system described in Patent Document 2, the type of garbage, examples of articles belonging to the type of garbage, and the like are described, and a separate garbage display sticker that is peeled off from the release paper and attached to the garbage collection container when used is disclosed. It is already known that the type of garbage is displayed on a sticker and attached to a garbage bag. Patent Document 2 also describes changing the color for each type of dust.
Further, Patent Document 3 discloses that a material-specific barcode is printed in advance on a trash container (bag) and the waste barcode is read to separate and collect the waste. Patent Document 3 can be said to be a document that particularly discloses a display on a container by printing.
In addition, the waste collection container in Patent Document 4 is composed of a plurality of types having materials, shapes and functions having an optimal storage function according to the form of the industrial waste, and is further collected separately. This is an illustration of identification stickers attached to stickers, which are configured to be identifiable by their colors and marks. ing. Each figure has a mark such as ○, ◎, etc. and its color coding.
Therefore, it can be said that it is a well-known technique to discriminate the contents based on the seals with marks of different shapes and colors corresponding to the contents.
Patent Document 5 discloses a technique for determining the type of container from an image of a video camera.

JP 2009-066751 JP 2003-72901 A JP-A-10-128305 Japanese Patent Laid-Open No. 9-140483 Japanese Unexamined Patent Publication No. 2000-514709

If the detection target in the technique of Patent Document 5 is a sealed container in Patent Document 4, a mark corresponding to the content of the waste is attached to a waste container (such as a bag), and this is the waste input port. It is considered that the type of waste can be easily detected from the image by taking an image with the camera provided in the above.
However, the above-mentioned identification mark or the like is pasted on the waste storage bag, and this is detected by a camera to perform image discrimination to determine the contents of the waste storage bag (information including the amount of stored waste). ), It is extremely difficult to detect the actual amount of waste. This is because the bag containing waste actually has a three-dimensional bulge, so if the surface with the sticker above happens to face the camera, it will pass in front of the camera. The camera can accurately capture the seal and analyze the seal information from the image analysis.
However, on the other hand, if the surface with the above-mentioned sticker happens to be attached to the surface opposite to the surface facing the camera of the storage bag, or on the surface that is sharply inclined with respect to the camera's field of view. If it passes in front of the camera in the attached state, the camera cannot image this sticker at all or cannot accurately image it. As a result, it is impossible to analyze seal information from the image analysis.
In particular, since two workers usually put waste at the same time from the waste inlet, the waste inlet is not so wide. Generally, the maximum diameter of a storage bag filled with waste is About 70% of the dimension is set for the top and bottom and left and right widths of the slot. For this reason, such a large-sized waste may pass through in a full space between the waste input ports. Therefore, with one camera, the information described on the sticker affixed to the surface of the adjacent storage bag Cannot be read accurately. Also, even if multiple cameras are used, if waste overlaps in the width direction of the inlet, it is special to detect whether it is one waste or two wastes. This is impossible without using a simple configuration.
Therefore, the present invention takes into consideration the actual work at the site of waste collection as described above, and a waste collection system with high detection accuracy capable of accurately detecting the storage bag thrown from the waste slot, and The purpose is to provide a waste collection vehicle used for this purpose.

In order to achieve the above object, a waste collection system according to the present invention includes:
A waste collection vehicle having a waste input port for loading a storage bag containing waste;
Based on information from a camera provided in the waste input port of the waste collection vehicle to image the storage bag input from the waste input port, the type of the storage bag and the number of input storage bags are determined. Means for detecting the amount of waste input to be detected;
A waste collection system comprising waste management means for managing the type and number of storage bags detected by the waste input amount detection means;
The waste input port has a rectangular frame shape that opens in the input direction of the storage bag,
The camera includes a fisheye lens, and is provided at a corner of the rectangular frame-shaped waste input port.
The storage bag is formed with a storage bag identification display indicating the type of the storage bag formed in a substantially circular shape around the axis of the bag in a state where a waste object is stored in the vicinity of the bottom of the storage bag. This is a waste collection system.
Considering the size of a normal waste collection vehicle, if there is one waste input port, there is a possibility that two or more storage bags may be simultaneously input into one input port. With such a loading method, there is a possibility that another storage bag may be hidden behind one storage bag, and accurate detection by a camera cannot be performed. Therefore, in this waste collection system, two rectangular waste input ports are formed side by side on the waste collection vehicle. Since the width of the waste input port is narrow in this way, only about one storage bag can be input into one waste input port at the same time, and the reliability in detection of the storage bag is improved. Originally, this system estimates the amount of waste contained in one storage bag as an average amount, so of course, the detection amount of such a storage bag does not need to be perfect.
In other words, a small storage bag can be put in multiple times at the same time, but the probability of such an occurrence is small, and a small storage bag has a small amount of stored items. The amount error is considered to be small.
In this waste collection system, the waste input port has a rectangular frame shape opening in the storage bag input direction, and the camera is provided with a fisheye lens so that an identifier in a wide field of view can be detected. I can do it. When the ratio between the vertical and horizontal dimensions of the waste input port and the effective diameter of the bag filled with the contents is 70%, according to the experiment, it passes through the central part of the rectangular frame-shaped waste input port. The identifier attached to the outer surface of the contents could be read accurately.
In addition, if such a storage bag is displaced to one side of the rectangular frame-shaped waste inlet, the camera on the side close to the storage bag will pass through the storage bag near the focal point of the lens. There is a possibility that the camera cannot read the identifier attached to the storage bag. In this case, the camera far from the opposite storage bag can read the identifier without difficulty.
As a condition for this, it is necessary for the camera to be provided facing the corner on the diagonal of the rectangular frame-shaped waste inlet. In addition, the camera according to the present invention is configured to be provided at each of four corners of one rectangular waste input port.
Also, in order for the camera to be able to read the identifier no matter what angle the camera and the waste storage bag face each other, it is necessary that the identifier is displayed on a wide part of the storage bag. . For that purpose, it is perfect if the identifier is displayed on the entire surface of the storage bag. However, such a full display requires a complicated operation to identify it as a meaningful display, which may increase the cost for that. Therefore, in the present invention, the capacity identification display displayed on the storage bag is formed in a substantially circular shape around the axis of the bag in the state where the waste object is stored near the bottom of the storage bag. . Although it is extremely difficult to judge the vertical relationship and direction on the entire display, if it is displayed in a substantially circular shape, that is, in an arc shape around the storage bag as described above, a straight line can be seen from the side. The shape is almost straight, and the directionality is clear, so the vertical relationship can be easily recognized, and if the vertical relationship is recognized, the direction of reading from left to right can be easily recognized.
The above vertical relationship can be recognized by recognizing that one side of the above-mentioned linear or almost linear strip-like display is up or down, and if it can be read from left to right on that side, the direction is the front. It's good.
In addition, the viewing angle of the fisheye lens provided in the camera that detects the identifier attached to the storage bag in the waste collection system according to the present invention is set to at least 120 °. In this case, the viewing angle means that the camera has a field of view of at least 120 ° both in the vertical direction and in the horizontal direction when the direction of passage of the storage bag is the horizontal direction for the camera. Fisheye lenses with the same uniform viewing angle in both the vertical and horizontal directions are easy to manufacture and are available at low cost. In the present invention, since the camera is provided at the corner of the rectangular waste inlet, it is sufficient to have a viewing angle of at least 90 ° in the vertical direction. On the other hand, in the left-right direction, considering the case where the storage bag passes while rotating, it is desirable to be able to detect both the storage bag entering the inlet and the storage bag going out. It is desirable for the viewing direction to have a viewing angle of 180 ° at the maximum. However, since a fisheye lens with a viewing angle of 180 ° is not actually possible, a fisheye lens of at least 120 ° was used. Experimentally, if there was a viewing angle of 120 °, almost 100% of the storage bag identification display on the surface of the passing storage bag could be detected.
Therefore, even if two wastes are simultaneously input to the waste input port, it is possible to clearly discriminate them as different wastes and to count the capacity.
The capacity of the storage bag varies depending on the size of the bag. Usually, for example, three types of regular bags such as 3 liters, 5 liters, and 7 liters may be sold and used by the user. Therefore, the capacity detected here is not a strict capacity but a fixed capacity of the used bag. The amount of waste contained in such a standard bag can be statistically grasped in advance, and this system is capable of statistically grasping the internal volume of a certain standard bag if it passes. By measuring the amount of waste passed, the approximate amount of waste passed is measured.
Further, as the waste object detection means, the storage bag identification display displayed on the storage bag passing through the waste input port is detected from continuously acquired still images and the still image is analyzed. A waste recovery system that detects the amount of waste discharged can be considered. Still images can be captured once and divided into multiple still images, or a high-speed shutter can be used to obtain multiple still images from the beginning. It can be an image.
The present invention can be grasped as a waste collection vehicle used in the waste collection system, but can also be grasped as a storage bag identification tag used in such a waste collection system.
That is, a waste collection vehicle having a waste input port for inserting a storage bag containing waste,
Based on information from a camera provided in the waste input port of the waste collection vehicle to image the storage bag input from the waste input port, the type of the storage bag and the number of input storage bags are determined. Means for detecting the amount of waste input to be detected;
Displayed on the storage bag used in the waste collection system comprising the type of storage bag detected by the waste input amount detection means and the waste management means for managing the number of input, and represents the type of the storage bag A storage bag identification tag,
A code pattern corresponding to the type of the storage bag is displayed,
An invention grasped as a storage bag identification tag to be imaged by the camera provided with the fisheye lens provided at the waste input port is also included in the present invention.
Furthermore, such a storage bag identification tag is
The code pattern may include a color code.

  Since the present invention is configured as described above, it is possible to reliably read the capacity identification displayed on the waste storage bag in the actual work at the site of waste collection, and what kind of waste storage Accurate control over how much bags are discarded. In addition, if the capacity identification display is associated with the amount of waste that can be stored in the storage bag, the total amount of waste discharged can be detected and managed.

The figure which shows the attachment position to the collection vehicle of the transmission / reception antenna used for the waste collection system which concerns on one Embodiment of this invention. The block diagram for demonstrating the outline | summary of the waste collection | recovery system which concerns on one Embodiment of this invention. The block diagram which shows the outline | summary of the signal flow of the waste detection apparatus used for the waste collection | recovery system concerning one Embodiment of this invention. The perspective view which shows the storage bag containing the waste collect | recovered by a waste collection vehicle. The perspective view which shows the rectangular frame body which comprises the waste input port provided in the waste collection vehicle in order to throw in a waste. The enlarged front view of a rectangular frame. The figure which shows the state of the waste storage bag which is passing through the inside of a rectangular frame. The top view which looked at the rectangular frame which shows an example of the viewing angle of the camera provided in the rectangular frame from the upper direction. The top view of the camera provided in a rectangular frame. The figure which shows the storage bag identification display printed on the storage bag and the storage bag. The block diagram which shows the information processing path | route of the whole waste collection system. The figure which shows the line drawing image of the storage bag which accommodated the waste displayed on the monitor. The figure which shows the actual image of the storage bag which accommodated the waste displayed on the monitor. The perspective view which shows the state which the storage bag has passed normally. The flowchart which shows the flow of the information processing in the waste collection system which detects a storage bag. The perspective view which shows an example of the state which abnormality has generate | occur | produced in passage of a storage bag. The flowchart which shows the flow of the abnormal process in the waste collection system which detects a storage bag. The perspective view which shows an example of the state which abnormality has generate | occur | produced in passage of a storage bag. The flowchart which shows the flow of the abnormal process in the waste collection system which detects a storage bag. The figure which shows the storage bag identification display comprised by the color printed on the storage bag and the storage bag.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIG. 2, the waste collection system X according to this embodiment is composed mainly of a management device C, which is an example of waste management means, and includes a line including radio. And connected to a control unit 10 (see FIG. 11) as an example of the waste management means mounted on the waste collection vehicle 1.
Based on the type (capacity) of waste storage bags B (hereinafter referred to as storage bags B) calculated by the control unit 10 and the number thereof, the management device C allows the waste collection vehicle 1 to collect the storage bags B. Manage waste emissions in the areas you visit.

FIG. 1 is a side view (a) and a rear view (b) of a waste collection vehicle 1 (a so-called packer vehicle). As shown in these figures, at the rear part of the waste collection vehicle 1, two waste inlets 2 shown in FIG. 1 (b) are opened to the left and right, and the storage bag B is inserted from here.
FIG. 5 is a perspective view showing a rectangular frame 12 that forms the waste input port 2. As shown in this figure, the waste input port 2 is disposed laterally (vehicle width) to the waste collection vehicle 1. The two are arranged side by side in the direction), and are designed so that two workers can simultaneously perform the collection (input) work. As a result, in many cases, only one storage bag can be input into one waste input port 2 at the same time, so that the certainty in detection of the storage bag is improved.
As shown in FIGS. 5 and 6, CCD cameras 14 (hereinafter simply referred to as cameras 14) are provided at the four corners of the waste inlet 2 formed in the rectangular frame 12. As shown in FIG. 9 in an enlarged manner, each camera 14 is provided in a camera body 14a and includes a lens portion 14b. The lens portion 14b is a fisheye lens. The example shown in FIG. 9 is an example in which two cameras 14 are provided in one camera body 14a, and the imaging directions of the 14 of each camera are different by 90 °.
Cameras 14 are respectively provided at four corners of the rectangular frame 12.
The rectangular frame 12 includes a right rectangular frame 12x and a left rectangular frame 12y. Therefore, if the identifier of x is attached to the right side and y is attached to the left side, four right cameras 14x, 14x, A total of eight cameras 14 of 14x, 14x and four left cameras 14y, 14y, 14y, 14y are provided.

  The viewing angle (viewable angle of view) of the lens portion 14b made of the fisheye lens is 90 ° in total, 90 ° on the insertion side of the storage bag B and 90 ° on the carry-out side. However, the viewing angle can be changed according to various conditions.

For example, as shown in FIG. 8, it is one desirable example to secure a total of 120 °, 30 ° on the input side of the storage bag B and 90 ° on the carry-out side.
On the input side, since the operator throws the storage bag B, the distance that the storage bag B moves may be short, the movement of the storage bag B is complicated, and the camera cannot follow a very long path. Therefore, the viewing angle is narrowed in this way. In addition, if it is visually recognized in a very wide range, the storage bag B being prepared may enter the field of view and may be mistaken. Therefore, the limit of the viewing angle on the input side is 30 °, and 25 ° is an example of a desirable numerical value.
On the other hand, when looking at the carry-out side of the storage bag B, the input storage bags B enter the room one by one, and there is no fear of recognizing a plurality of storage bags B in that range. Since it is considered that the recognition accuracy of the storage bag B is higher when the storage bag B is stored in the field of view for as long as possible, the viewing angle is set to 90 ° here.

The rectangular frame 12 is provided with passing photoelectric sensors 16a and 16b as shown in FIG. Reference numeral 16a denotes a passing photoelectric sensor provided on the input side of the rectangular frame 12, and the right frame side is indicated by 16ax, the left frame side is indicated by 16ay, and 16b is a passing photoelectric sensor provided on the carry-out side of the rectangular frame 12. The sensor is indicated by 16bx on the right frame side and 16by on the left frame side. These passing photoelectric sensors 16ax, 16ay, 16bx, and 16by are an LED on the input side (and an output side) that irradiates light toward the storage bag B that passes therethrough, a reflection mirror that reflects light from the LED, a reflection mirror It comprises a photosensor that detects the reflected light from the mirror, and detects the passage of the storage bag by blocking the light by the storage bag B passing therethrough.
That is, as shown in FIG. 3, the detection signal of the storage bag identification display 18 attached to the storage bag B from the camera represented by the whole 14, and the signal from the passing photoelectric sensor 16 that detects the passage of the storage bag B Is sent to the CPU unit 24 via the waste detection unit 12, and the CPU unit 24 detects the total amount of waste collected through the waste input port 2 and collected in the waste collection vehicle.

On the other hand, the storage bag B is formed in a substantially circular shape around the axis M of the bag in the state where the waste object shown in FIGS. A storage bag identification display 18 "indicating the type of the storage bag B is formed.
FIG. 10A shows such a storage bag B developed in a plane. As shown in FIG. 10 (a), the storage bag identification display 18 is, for example, a black and white barcode (referred to as a pattern code), and has a number of meanings by combining a plurality of barcodes. It is configured to represent. For example, the storage amount of the storage bag B is 10 liters, 15 liters, 20 liters, 25 liters, 30 liters, 45 liters, 50 liters, 75 liters, 90 liters, 120 liters, and the contents of the bag. As a type of flammable (15 liters, 30 liters, 45 liters), non-flammable (15 liters, 30 liters, 45 liters), empty bottles / pet bottles (3015 liters, 30 liters, 45 liters, 4515 liters, 30 liters) In FIG. 10B, an example of a storage bag identification display 18 showing six storage bag identification displays 18 as storage amounts is shown. ing.
When the storage bag identification display 18 is expressed by a color pattern code, it is possible to identify (display) more than 100 types of storage amounts and types of storage bags by combining color arrays.
When the storage bag identification display 18 indicates the storage amount of the storage bag B, the collected amount of waste in the region is managed by counting the data.
In this embodiment, which is an example of the present invention, the storage bag identification display 18 is associated with the storage amount of the storage bag B. However, in addition to such an example, the storage bag identification display 18 is used for the type of waste, disposal What is related with the area etc. which are done may be illustrated.
The present invention can be grasped as a waste collection vehicle used in the waste collection system, but can also be grasped as a storage bag identification tag used in such a waste collection system. The storage bag identification display 18 is an example of the storage bag identification tag.
Such a storage bag identification tag includes a waste collection vehicle 1 having the waste input port 2 for receiving a storage bag B storing waste, and a storage bag B input from the waste input port 2. CPU section 24 that detects the type of storage bag B and the number of storage bags B inserted based on information from the camera 14 provided in the waste input port 2 of the waste collection vehicle 1 to take an image. The storage bag B used in the waste collection system includes a waste input amount detection unit, and a waste management unit that manages the type and number of input storage bags B detected by the waste input amount detection unit. , Pasting, printing method, etc., and a storage bag identification tag indicating the type of the storage bag B, and a code pattern corresponding to the type of the storage bag B (an example is shown in FIGS. 10A and 10B). Is displayed), and waste input port 2 By the camera 14 with provided fisheye lens, the invention is understood as a storage bag identification votes to be imaged are also included in the present invention.
Further, in such a storage bag identification tag, the code pattern may include a color code. Many patterns can be identified when the color code is used.
FIG. 10 shows monochrome patterns by chance, but these patterns are constituted by a color pattern composed of a plurality of color band type displays as shown in FIG. (Types of storage bags) can be displayed, and if the same number of contents are displayed, a smaller number of patterns can be used, and the detection can be improved because the pattern becomes simple. .
In FIG. 20, since the application software does not support color images, the pattern code is expressed in monochrome. In FIG. 20B, an example of these color combinations is shown in the right column as “black”. Since it is displayed in “yellow”, “green”, “blue”, etc., please refer to it.

As shown in FIG. 11, each of the two waste input ports 2 (the right side waste input port 2x and the left side right waste input port 2y) provided in the waste input port 2 of the waste collection vehicle 1 is provided. A high-speed image processing unit 20 that processes images acquired by the four cameras 14 (14x, 14x, 14x, 14x and 14y, 14y, 14y, 14y), and a passage sensor that detects the passage of the storage bag B A signal from the passing photoelectric sensor I / F unit 22 that receives outputs from the left photoelectric sensor 16ay, the carry-in right photoelectric sensor 16ax, the carry-out left photoelectric sensor 16by, and the carry-out right photoelectric sensor 16bx) is sent to the CPU unit 24, and the CPU unit 24 determines the type (capacity) and the number of storage bags B that pass through the waste inlet 2 based on these signals.
At this time, the camera 14 captures a moving image, the CPU unit 24 creates a plurality of still images from the moving image, and analyzes the still images to analyze the type (capacity) of the storage bag B that passes through the waste input port 2. The camera 14 has a built-in high-speed shutter, and opens and closes the shutter at high speed to acquire a still image, and the CPU unit 24 receives these signals. The type (capacity) and the number of storage bags B that pass through the waste input port 2 may be determined based on the number. These are merely examples for acquiring a still image, and the still image may be acquired by any method.
Information from the CPU unit 24 is sent to a CPU unit 24 composed of an in-vehicle computer or the like, and the control unit 10 communicates with the management apparatus C using satellite communication or the like.
In addition, the CPU unit 24 drives the ultra-high brightness LEDs provided in the waste input ports 2x and 2y via the illumination LED luminance control unit 26, and passes through the waste input ports 2x and 2y. The storage bag B to be illuminated is illuminated, and the detection accuracy by the camera 14 is increased.
As described above, the waste detection apparatus according to this embodiment includes eight cameras 14 provided in the waste inlet 2 of the waste collection vehicle 1, and the waste inlet 2 captured by the camera 14 is displayed. Detects waste that passes through.

  The storage bags B are thrown from the waste input port 2 one after another by one or two workers. At that time, it is not possible for three workers to insert the storage bag B at the same time because of the wide opening of the waste input port 2, but considering the work efficiency, At the same time, the storage bag B is frequently introduced.

FIG. 14 is a perspective view showing a state in which the storage bag B to be inserted passes through the waste input port 2x on the left side, and FIG. 15 is a flowchart showing a processing procedure of the CPU unit 24 for detecting the storage bag B passing therethrough.
Hereinafter, the detection processing procedure of the storage bag B by the CPU unit 24 will be described with reference to these drawings. Here, S1, S2,... Are identification codes of processing procedures (steps).
In the drawing, the passing photoelectric sensor is simply expressed as a photo sensor, and the storage bag identification display is simply expressed as a pattern code.

First, the CPU section 24 detects that the left input photoelectric sensor 16xa is blocked by a signal from the left input photoelectric sensor 16xa (S1). Accordingly, it is detected that the storage bag B has entered the detection areas of the cameras 14y, 14y, 14y, 14y provided at the four corners of the left rectangular frame pair 12y. After that, it is detected that the signal from the left side passing photoelectric sensor 6xa is recovered (that is, the light reception is resumed) (S2), so that the storage bag B enters the detection area of the cameras 14y, 14y, 14y, 14y. Is detected.
Similarly, the CPU 24 detects that the signal from the left carry-out side photoelectric sensor 16yb has been blocked (S3), so that the storage bag B has entered the detection area of the camera cameras 14y, 14y, 14y, 14y. Is detected, and then the recovery of the signal from the signal from the carry-out-side photoelectric sensor 16yb (that is, the light reception is resumed) is detected (S4), so that the storage bag B becomes the position of the cameras 14y, 14y, 14y, 14y. It has been detected that the detection area has been passed.
In this way, while it is detected that the storage bag B is in the detection area of the cameras 14y, 14y, 14y, 14y (storage bag B by both the input side passing photoelectric sensor 16ya and the unloading side passing photoelectric sensor 16yb). Image information from the camera cameras 14y, 14y, 14y, 14y is input to the CPU unit 24, and the storage bag identification display 18 is recognized (S5).

Recognition of the storage bag identification display 18 is executed by recognizing in what order the pattern codes of the plurality of stages shown in FIGS. 10 (a) and 10 (b) are arranged (S6). Such recognition of the storage bag identification display 18 is a well-known recognition technique such as a so-called bar code, and the description thereof is omitted here.
Thereafter, the passage of the storage bag B due to the end of the signal from the input side passing photoelectric sensor 16ya is detected, and the passage of the storage bag B is detected due to the end of the signal from the carry-out side photoelectric sensor 16yb. After it is detected that B is completely stored in the waste storage unit, the detection result is paid out to the control unit 10 using the in-vehicle computer as an example and stored in the storage unit (S7).
As described above, as shown by the flow of the storage bag B in (1) and (2) in FIG. 15, the storage bag B passes through the insertion-side passing photoelectric sensor 16ya → passes through the cameras 14y, 14y, 14y, 14y → unloading side. This is a process in the case where a normal waste collection process that passes through the passing photoelectric sensor 16yb and is collected in the waste storage chamber is performed.

On the other hand, an abnormal state in which the storage bag B rebounds at any location and is detected again by any passing photoelectric sensor 16 or stagnates at any passing photoelectric sensor 16 location. Is required.
Various abnormal conditions are possible, but here
A. The storage bag B passes through the insertion-side passing photoelectric sensor 16ya → passes through the cameras 14y, 14y, 14y, and 14y → passes through the unloading-side overphotoelectric sensor 16yb, and then bounces back in the waste storage chamber to form a portion of the unloading-side overphotoelectric sensor 16yb If you get stuck ... Abnormal processing 1
B. The storage bag B passes through the input side over photoelectric sensor 16ya → passes through the cameras 14y, 14y, 14y, and 14y → stops before the discharge side electric sensor 16yb (before going to the waste storage chamber). Abnormal processing 2
These two cases will be described.
A. FIG. 16 and FIG. 17 are used for the abnormal process 1. B. 18 and 19 are used for the abnormal process 2 of FIG.

[A. Abnormal processing 1]
In this case, as shown in FIG. 16, the storage bag B once passes from the position (1) to the storage chamber as indicated by the arrow Y1, and then returns to the detection range of the carry-out side photoelectric sensor 16yb and stops there. . Accordingly, the processing of S1 to S7 shown in FIG. 15 is once completed, whereby it is determined that the storage bag B is completely stored in the waste storage chamber, and the detection result is delivered to the in-vehicle computer. Is stored (S7), the storage bag B returns to the detection range of the carry-out-side passing photoelectric sensor 16yb and stops there, and special processing is required.

In this case, as shown in FIG. 17, on the unloading-side passing photoelectric sensor 16yb side, after the confirmation of the passing of the storage bag B by the unloading-side passing photoelectric sensor 16yb in S4, light shielding by the unloading-side passing photoelectric sensor 16yb is further confirmed. (S8) Since the storage bag B stays at that position, the unloading-side passing photoelectric sensor timer for measuring the ON time of the unloading-side passing photoelectric sensor 16yb exceeds the predetermined staying time (S9). As a result, the CPU unit 24 performs error processing (S10).
The contents of the error processing are blinking of an LED indicating a system abnormality and a buzzer (S11). In response to this abnormality display, the storage bag B in which the worker stays is thrown into the storage room, and an alarm reset switch By pressing (S12), the process of stopping the blinking of the LED and the buzzer sound is required. Thereby, the abnormality process 1 is completed.

[B. Abnormal processing 2]
In this case, as shown in FIG. 18 (1), the storage bag B passes through the insertion-side passing photoelectric sensor 16ya, then passes through the cameras 14y, 14y, 14y, 14y (2), and then the unloading-side passing photoelectric sensor. This is a case (3) where the sensor stops at the unloading side passing photoelectric sensor 16yb without passing through the sensor 16yb.

In this case, the CPU 24 detects that the signal from the closing-side passing photoelectric sensor 16ya is blocked (S1), so that the storage bag B enters the detection area of the cameras 14y, 14y, 14y, 14y. Then, it is detected that the signal from the input side passage photoelectric sensor 16ya has been recovered (that is, the light reception is resumed) (S2), so that the storage bag B is completely placed in the detection region of the input side passage photoelectric sensor 16ya. It is detected that it has entered.
Similarly, the CPU 24 detects that the signal from the carry-out side photoelectric sensor 16yb has been blocked (S3), but since the passage confirmation (S4) from the carry-out side photoelectric sensor 16yb is not performed, Monitoring by the photoelectric sensor 16yb is continued (S16), and eventually the time-out of the carry-out side passing photoelectric sensor 16yb is detected as a predetermined waiting time elapses (S17). Thus, the CPU unit 24 detects that an error has occurred and performs a predetermined error process (S18).

The contents of the error processing here are blinking of an LED for displaying a system abnormality and a buzzer (S19). Control is stopped in response to this abnormality display, and the cameras 14y, 14y, 14y and 14y are used. The count information of the recognized storage bag identification display 18 is cleared. Then, the operator pulls out the stored storage bag B, and further presses the alarm reset switch (S20), thereby restarting the system. Thereafter, the operator again throws the storage bag B into the area of the insertion-side passing photoelectric sensor 16ya, whereby the normal storage bag detection process is executed.
The above processing only describes the case where the storage bag B is inserted into the left waste input port 2y, but this is an example, and when the storage bag B is input into the right waste input port 2x, Alternatively, the same processing is executed even when the storage bag B is introduced into both waste input ports 2x and 2y.

  As described above, the present invention provides a waste collection vehicle having a waste input port for receiving a storage bag storing waste, and the waste to capture an image of the storage bag input from the waste input port. A waste input amount detecting means for detecting the type of the storage bag and the number of input storage bags based on information from a camera provided at the waste input port of the collection vehicle; and the waste input amount detecting means. A waste collection system comprising a waste management means for managing the type and number of input storage bags, wherein the waste input port has a rectangular frame shape that opens in the input direction of the storage bag. The camera is provided with a fisheye lens, and is provided at a corner of the rectangular frame-shaped waste input port. The storage bag has a bag with a waste object stored in the vicinity of the bottom thereof. Seeds of the above storage bag formed in a substantially circular shape around the axis Since a waste recovery system storage bag identification in which is formed representing the it is used for the recovery of such waste and garbage cans, or can be used in the recovery vehicle.

DESCRIPTION OF SYMBOLS 1 ... Waste collection vehicle 2 ... Waste inlet 3 (3L, 3R) ... Camera 10 ... Control part 12 ... Waste detection part 14 ... Partition member 16 ... Background display member Z1 ... First waste detection software-like detection area Z2 ... second waste detection software sensing region Z3 ... third waste detection software sensing area F ... captured image X ... waste collection system
B ... Storage bag

Claims (7)

A waste collection vehicle having a waste input port for loading a storage bag containing waste;
Based on information from a camera provided in the waste input port of the waste collection vehicle to image the storage bag input from the waste input port, the type of the storage bag and the number of input storage bags are determined. Means for detecting the amount of waste input to be detected;
A waste collection system comprising waste management means for managing the type and number of storage bags detected by the waste input amount detection means;
The waste input port has a rectangular frame shape that opens in the input direction of the storage bag,
The camera includes a fisheye lens, and is provided at a corner of the rectangular frame-shaped waste input port.
The storage bag is formed with a storage bag identification display indicating the type of the storage bag formed in a substantially circular shape around the axis of the bag in a state where a waste object is stored in the vicinity of the bottom of the storage bag. Is a waste collection system.   The waste collection system according to claim 1, wherein two rectangular waste inlets are formed side by side on a waste collection vehicle.   3. The disposal according to claim 1, wherein the camera is provided at each of four corners of the rectangular waste inlet, and the viewing angle is set to at least 120 degrees. Material collection system.   The camera is provided at each of four corners of the rectangular waste inlet, and has a viewing angle of at least 120 degrees in the passing direction of the storage bag and at least 90 in a direction perpendicular to the passing direction. The waste collection system according to claim 1 or 2, wherein the waste collection system is set at a time. The storage bag identification is associated with the amount of waste that can be stored in the storage bag;
The waste object detection means detects the discharge amount of waste by detecting the storage bag identification display displayed on the storage bag that passes through the waste input port. Waste collection system.   The waste object detection means detects the storage bag identification display displayed on the storage bag passing through the waste input port from continuously acquired still images, and analyzes the still image to analyze the waste. The waste collection system according to any one of claims 1 to 5, wherein an amount of discharge is detected.   A waste collection vehicle used in the waste collection system according to any one of claims 1 to 6.