JP7311377B2 - Garbage truck maintenance equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to a garbage collection vehicle maintenance apparatus comprising a garbage collection box having a garbage collection port on the rear side of the vehicle and a garbage loading device provided inside the garbage collection box.

Conventionally, in this type of garbage collection vehicle, when the garbage loading operation is performed by the garbage loading device, the area near and behind the garbage inlet opening on the back of the garbage box is photographed by a camera, and the image data The image processing device that inputs is used to determine whether or not there is a person in the first detection area (detection area at the time of loading) in the vicinity of the garbage inlet. It is known that a camera captures an image, the image data is input to an image processing device, and the image processing device performs person detection determination to determine whether or not a person is in a second detection area (reversing detection area). (See, for example, Patent Document 1). This second detection area includes the first detection area and the area behind it.

JP 2019-108214 A

However, conventional garbage trucks have a problem that the positions and ranges of multiple detection areas cannot be easily and appropriately set.

The present invention has been made in view of the above points, and an object of the present invention is to enable the positions and ranges of a plurality of detection areas to be set easily and appropriately.

In order to achieve the above object, in the first invention,
A garbage throwing box having a garbage throwing port on the rear side of the vehicle, an object image acquisition unit provided in the garbage throwing box and capturing an image of the garbage throwing port and the rear of the vehicle, and a garbage pile provided inside the garbage throwing box. A garbage collection vehicle equipped with a loading device, a display unit that displays an image captured by the object image acquisition unit, and a control device,
The control device is
Based on the image data captured by the object image acquisition unit, a person detection unit that determines whether a predetermined person shape is detected in a person detection area near the garbage inlet,
A color detection unit for determining whether a predetermined color is detected in a color detection area near the garbage inlet based on the image data,
The control device is
Further, it has an area maintenance mode, in which the sizes and positions of the person detection area and the color detection area can be individually set.

According to the above configuration, the sizes and positions of the person detection area and the color detection area can be set individually, so that optimal safety measures can be easily and reliably taken according to the situation. Specifically, since the workers who carry out the garbage loading work use their hands to throw the garbage into the garbage inlet, the hands of the workers should enter the dangerous area before the heads of the workers. There are many. Therefore, for example, while the human head shape is detected by the person detection unit, the color detection unit detects the color of the attachment worn on the person's hand, and further, from the boundary of the person detection area for head shape detection Also, the boundary of the color detection area for wearing object detection can be set at a position close to the dangerous area. In addition, since the objects to be detected are different between person detection and color detection, the detection accuracy may differ. Therefore, for example, the person detection area and the color detection area are set at different positions and sizes according to the detection accuracy, and the size of the area where false detection is likely to occur is made smaller to compensate for the difference in detection accuracy. be able to.

In a second invention, in the maintenance device of the first invention,
Connected to the control device and having a display unit and an input unit,
After setting the person detection area in the above area maintenance mode, by pressing the synchronization button displayed on the display unit via the input unit, the position and size of the color detection area are automatically matched to the person detection area. is configured to

According to the above configuration, it is not necessary to manually align the color detection area with the person detection area after setting, and the setting can be performed very easily. The display unit may be the monitor of the garbage truck or the monitor of the connected PC. Similarly, the input unit may be a touch panel or buttons that the garbage truck has, or a keyboard or touch panel that the connected PC has.

In a third invention, in the second invention,
The display unit is configured to be able to display a first centering button for collectively centering the person detection area and the color detection area.

According to the above configuration, the center of the person detection area and the color detection area are usually aligned in the vehicle width direction, and the centering can be easily performed by simply pressing the first centering button.

In a fourth invention, in the second or third invention,
The above person detection area is
A loading time detection area that detects a person when the garbage loading device operates,
detecting a person when the vehicle is reversing and having a reversing detection area that is wider than the loading detection area;
In the area maintenance mode, when the automatic generation button is pressed after setting the first person detection area, the reverse detection area is automatically set based on the loading detection area.

According to the above configuration, normally, if the detection area for loading can be set, the detection area for reversing can be set in a moderately wide range rearward of the vehicle, so the setting can be easily performed.

In a fifth invention, in the second or third invention,
The person detection area is an area for emergency stop of the garbage loading device if a person is recognized, an emergency stop area near the garbage inlet, an area only for recognizing a person, and the above having a normal detection area wider than the emergency stop area,
The display unit is configured to be able to display a second centering button for collectively centering the emergency stop area and the normal detection area.

According to the above configuration, by providing the emergency stop area and the normal detection area wider than the emergency stop area, appropriate control can be performed for each area. Also, centering work in these areas can be easily performed.

As described above, according to the present invention, the positions and ranges of multiple detection areas can be set easily and appropriately.

It is a side view showing a garbage truck concerning an embodiment of the present invention. Figure 2 is a rear view of the garbage truck of Figure 1; It is an explanatory view of the operation of the garbage loading device equipped on the garbage truck. FIG. 4 is a view taken along line IV in FIG. 3; FIG. 5 is a perspective view showing the camera unit of FIG. 4; 6 is a perspective view showing a cross section of the camera unit cut along line VI-VI of FIG. 5; FIG. It is a hydraulic circuit diagram of the garbage loading device of the garbage truck. It is the schematic which shows the main-body control part of a refuse collection vehicle, an image processing unit, and those input-output states. It is an explanatory view of a worker loading a garbage bag into the garbage inlet as seen from the side. FIG. 4 is an example of an image captured by a camera, showing a person detection area and a color detection area; In the control of the garbage loading device based on the image processing performed in the garbage truck, it is a flow chart showing the flow of control executed by the main body control unit. It is a flow chart showing the flow of control executed by the image processing unit in the image processing control performed by the garbage truck. 4 is a flowchart showing an example of person recognition processing executed by an image processing unit; 4 is a flowchart showing an example of wearable object recognition processing executed by an image processing unit; FIG. 10 is a diagram showing an example of an image on a monitor in position adjustment mode; It is a figure which shows the outline|summary of a control apparatus. It is a figure which shows an example of the display screen on a personal computer.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings.

An embodiment in which the present invention is applied to a rotary garbage truck will be described with reference to the drawings.

1 and 2 show a garbage collection vehicle 1 according to an embodiment of the present invention, and this garbage collection vehicle 1 is provided with an operator's cab 3, a garbage storage box 4 and a garbage input box 5 on a chassis 2. there is The rear opening 4a of the garbage storage box 4 and the front opening of the garbage throwing box 5 are in communication. In addition, the trash throwing box 5 is pivotally supported with respect to the trash receiving box 4 by a lateral tilting shaft 5a provided at the top thereof, and is tilted by a pair of left and right tilting cylinders (not shown). ing.

In addition, a substantially rectangular garbage inlet 6 for throwing in garbage is opened at the lower part on the back of the garbage box 5, and the garbage inlet 6 is opened and closed by a tailgate 7 that can be raised and lowered. It's like For example, on the left side of the garbage inlet 6, a switch box 8 for operation such as operation of the garbage loading device is provided. In addition, above the garbage inlet 6, a camera unit 10 is arranged so as to photograph the garbage inlet 6 and the area in the vicinity thereof. The camera unit 10 is arranged above the garbage inlet 6. The inclined rear surface portion (curved rear surface portion) 5b of the garbage throwing box 5 is arranged above the garbage throwing box 5. fixed on top.

Specifically, as shown in FIGS. 2 to 6, the support member 9 is formed of a frame-shaped frame having base ends at both left and right end portions of the inclined rear surface portion 5b. The camera unit 10 is fixed, for example, at the support member 9 at the left-right central portion of the garbage box 5 . The camera unit 10 has a camera 11 as an object image acquisition section, an operating lamp 12 and a detection lamp 13 .

The camera 11 is mounted via a mounting bracket 15 in a concave portion 14 provided in the left-right central portion of the camera unit 10, and is configured to be capable of imaging the garbage inlet 6 and the rear of the vehicle. The camera 11 has an imaging lens 11a, which is attached to a mounting bracket 15 of the camera unit 10 so as to be vertically rotatable about a horizontal axis so that the imaging lens 11a faces obliquely downward. On both left and right sides of the concave portion 14 of the camera unit 10, fixed surfaces 10a are provided that are inclined rearward and upward with respect to the horizontal plane (that is, inclined upward toward the rear of the vehicle). An operating lamp 12 is mounted downward on the left fixed surface 10a. A detection lamp 13 is attached downward to the right fixing surface 10a. Thus, the operating lamp 12 and the detection lamp 13 are provided on both left and right sides of the camera 11 near the imaging lens 11a of the camera 11 .

As shown in FIG. 1, for example, the driver's cab 3 is provided with a monitor 93 as a display section for displaying an image captured by the camera 11 . On the monitor 93, for example, as shown in FIG. 15, a mark portion M is displayed at a predetermined fixed position on the display screen of the monitor 93. As shown in FIG. By vertically rotating the camera 11 with reference to the mark portion M, the imaging area of the camera 11 is adjusted.

Next, as shown in FIG. 3, inside the garbage throwing box 5, a garbage loading device 20 for loading the thrown garbage into the garbage housing box 4 is equipped. By this garbage loading device 20, the garbage thrown into the garbage throwing box 5 is pushed into the garbage storage box 4 connected in front of the garbage throwing box 5. - 特許庁The trash storage box 4 is provided with a trash discharge device (not shown) for discharging the stored trash. As this dust discharge device, for example, the dust storage box 4 is tilted by a dump cylinder interposed between the chassis 2 and the dust storage box 4 to discharge the dust, or provided inside the dust storage box 4 It is conceivable to discharge the dust by moving the discharge plate to the rear of the dust storage box 4 by the discharge cylinder.

Next, the garbage loading device 20 of this embodiment will be specifically described. The garbage loading device 20 of this embodiment, as shown in FIG. It is configured as a so-called rotary garbage loading device 20 that pushes in. A rotating shaft 22 is installed so as to extend in the width direction in the lower part of the trash throwing box 5, and the base end side of the rotating plate 21 is fixed to this.

A hydraulic motor 24 capable of forward and reverse rotation is connected to the end of the rotating shaft 22 via a reduction mechanism 23 . The rotation of the hydraulic motor 24 is torqued up by the speed reduction mechanism 23 and transmitted to the rotary shaft 22. By rotating the rotary plate 21 integrally with the rotary shaft 22, the distal end of the hydraulic motor 24 has a substantially semicircular cross section. It comes to move in the front-back direction along the bottom wall of the formed garbage throwing box 5.

On the other hand, the pushing plate 25 is provided over the entire width direction of the garbage throwing box 5 above the rotating plate 21, and is freely swingable in the front-rear direction around the swing shaft 26 in the left-right direction provided at the upper part. Supported. Further, the pushing plate 25 is provided with an extending portion 27 extending upward from the swing shaft 26, and a pushing cylinder 28 is installed between the extending portion 27 and a support pin 28a in front of the extending portion 27, The expansion/contraction operation causes the push plate 25 to swing back and forth.

Specifically, as shown by the solid line in FIG. 3, when the pushing plate 25 is in the most rocked position (advance limit position) on the side of the garbage storage box 4, it rotates without interfering with this pushing plate 25 After the plate 21 is rotated upward, the pushing plate 25 swings toward the garbage inlet 6 side. Then, even after the push-in plate 25 swings most toward the garbage inlet 6 and reaches the retreat limit position indicated by the virtual line in FIG. 3, the rotation of the rotary plate 21 is continued.

The rotary plate 21 rotating in this way scrapes the dust into the dust storage box 4 side, and once stops at the set stop position extending forward toward the dust storage box 4 side, as shown by the solid line in FIG. 3 . Then, the pushing plate 25 swings toward the garbage container 4 side, and pushes the garbage on the rotating plate 21 into the garbage container 4.例文帳に追加Then, when the pushing plate 25 reaches the forward limit position again, the rotary plate 21 rotates upward again.

By repeating the rotation of the rotary plate 21 and the rocking motion of the push-in plate 25 in synchronism with each other in this manner, the garbage loaded into the garbage container 4 is continuously loaded with the garbage thrown into the garbage throw-in box 5. done. The configuration of the hydraulic circuit and control system for operating the rotary plate 21 and the pushing plate 25 in this way will be described later.

Switches LS1 to LS4 for detecting the positions of the rotating plate 21 and the pushing plate 25 are provided inside the trash throwing box 5. As shown in FIG. Specifically, as shown in FIG. 3, switches LS1 and LS2 are turned on when the pushing plate 25 is at the forward limit position or the backward limit position, respectively, and switches LS1 and LS2 are turned on when the rotary plate 21 is at the set stop position. and a switch LS4 which is turned on when the rotary plate 21 is rotated by a predetermined angle in the positive direction (clockwise in FIG. 1) from the set stop position, and is turned off when it is further rotated by a predetermined angle. It is

Furthermore, as shown in FIGS. 2 and 3, in the vicinity of the garbage inlet 6, emergency stop buttons 60 and 61 for stopping the operation of the garbage loading device 20, an emergency stop plate 62, etc. are arranged. ing. As shown in FIG. 1, an emergency stop button 60 (corresponding to the switch SW1 in FIG. 8) is arranged on the side of the switch box 8 provided on the left side of the garbage inlet 6, and as shown in FIG. An emergency stop button 61 (corresponding to the switch SW3 in FIG. 8) is arranged on the right side of the garbage inlet 6. The emergency stop plate 62 is arranged below the garbage inlet 6 to turn on and off the switch SW2. Further, as shown in FIG. 2, a stop release switch 63 is arranged on the rear surface of the switch box 8. As shown in FIG. The stop release switch 63 is arranged to turn on and off the momentary switch SW4, for example. The stop release switch 63 is operated when the emergency stop of the trash loading operation of the trash loading device 20, which will be described later, is released. The loading button 64 is operated when one cycle operation of the garbage loading device 20 is started.

-Control system of garbage loading device 20-
Next, a control system for operating the garbage loading device 20 will be described with reference to FIGS. 7 and 8. FIG. As a control device for the garbage truck 1, based on the image data captured by the camera 11, whether or not a person was detected in the emergency stop area Y12 near the garbage inlet 6 (indicated by a thick dashed line in FIG. 10) It has a person detection unit for determination and an emergency stop unit for making an emergency stop of the operation of the garbage loading device 20 when a person is detected in the emergency stop area Y12. Specifically, the control system of the garbage truck 1 includes the hydraulic motor 24 of the garbage loading device 20, the hydraulic circuit for controlling the hydraulic pressure supplied to the push-in cylinder 28, and the electromagnetic control valve provided in this hydraulic circuit. A body control unit PLC (programmable logic controller) as an emergency stop unit that outputs control signals to V1 and V2, and an image processing unit 90 as a person detection unit that performs person recognition processing based on image data from the camera 11. I have. In addition, the main control unit PLC controls not only the driving of the garbage loading device 20 but also the driving of the garbage discharging device.

First, the hydraulic circuit will be described with reference to FIG. This hydraulic circuit includes a hydraulic pump P, an oil reservoir T, an electromagnetic control valve V1 for controlling the pushing cylinder 28, and an electromagnetic control valve V2 for controlling the hydraulic motor 24. 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 driving source.

As an example, the electromagnetic control valves V1 and V2 are both 6-port 3-position electromagnetic directional switching valves. The electromagnetic control valve V1 is switched to the first communication position (upper position in FIG. 7) when the solenoid SOLa is energized by the body control unit PLC, and the hydraulic oil from the hydraulic pump P is transferred to the rod side oil of the pair of pushing cylinders 28. supply the room. On the other hand, when the solenoid SOLb is energized by the body controller PLC, the electromagnetic control valve V1 is switched to the second communication position (lower position in FIG. 7) to supply hydraulic fluid to the head-side oil chamber.

When hydraulic oil is supplied to the head-side oil chamber from the electromagnetic control valve V1, the pair of push-in cylinders 28 are extended to swing the push-in plate 25 forward. On the other hand, when hydraulic oil is supplied to the rod-side oil chamber, the pair of push-in cylinders 28 contract to swing the push-in plate 25 rearward.
Further, when neither solenoid SOLa, SOLb is energized, the electromagnetic control valve V1 returns to the neutral position (central position in FIG. 7).

When the solenoid SOLc is energized, the electromagnetic control valve V2 is switched to the first communication position (lower position in FIG. 7) to supply hydraulic oil to the forward rotation side oil chamber of the hydraulic motor 24, causing the hydraulic motor 24 to move forward. In addition to the rolling action, the pushing cylinder 28 can also be telescopically operated. On the other hand, when the solenoid SOLd is energized, the electromagnetic control valve V2 is switched to the second communication position (upper position in FIG. 7) to supply hydraulic oil to the reverse rotation side oil chamber of the hydraulic motor 24, causing the hydraulic motor 24 to rotate in reverse rotation. activate.

Further, when neither solenoid SOLc, SOLd is energized, the electromagnetic control valve V2 returns to the neutral position (central position in FIG. 7). When both of the electromagnetic control valves V1 and V2 are in the neutral position, hydraulic oil flows back to the oil reservoir T.

Next, input/output states of signals of the main body controller PLC and the image processing unit 90 will be described with reference to FIG. First, power is supplied to the main body control unit PLC by the battery BT. An ignition switch SWK, a PTO switch SWP, a relay coil R1, and the like of the garbage truck 1 are interposed in an energization line K2 extending from the positive electrode of the battery BT to the right side of FIG. 8 and reaching the ground line K1.

Further, the upstream end of the energization line K3 is connected so as to branch from the energization line K2 in the middle of the ignition switch SWK and the battery BT. A relay switch) r1 is interposed. A power lamp L is interposed in the power supply line K3, and when the relay coil R1 is energized and the contact r1 is closed, the power supply lamp L is lit by energizing the power supply line K3.

Further, the upstream end of the energization line K4 is connected so as to branch off from the energization line K3 at an intermediate point between the contact r1 of the relay coil R1 and the power lamp L, thereby providing a signal power supply unit (illustrated) of the main control unit PLC. omitted). In other words, when the contact r1 is closed, power is supplied to the main control unit PLC through the power lines K3 and K4.

Further, the power supply line K5 branched from the power supply line K4 always energizes the body control unit PLC during the dust loading operation of the dust loading device 20 . That is, the energization line K5 is a line for inputting a so-called loading continuation signal, and includes switches SW1 to SW3 that are opened and closed in response to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 described above. is interposed. When these switches SW1 to SW3 cut off the energization (that is, the input of the loading continuation signal), the main control unit PLC outputs a control signal for exciting the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2. is turned off. As a result, the electromagnetic control valves V1 and V2 return to their neutral positions, and the operation of the garbage loading device 20 is stopped.

Further, from the energization line K5, a energization line K22 that connects the energization line K5 and the main body control unit PLC is branched, and the energization line K22 is provided with an adjustment switch SW8 used in a position adjustment mode described later. It is The adjustment switch SW8 may be a dedicated switch, or may be used as a rotating plate reversing switch, which is conventionally provided in the switch box 8 together with the loading button 64, for removing dust from being caught.

Further, a plurality of branch lines branching off from the middle of the conducting line K4 are connected, and the above-described switches LS1 to LS4 are interposed in each of these branch lines. Signals from the switches LS1 to LS4 are input to the main control unit PLC, and based on these signals, the positions of the rotary plate 21 and the pushing plate 25 of the garbage loading device 20, in other words, the operating conditions are detected. be done.

Furthermore, in addition to the switches LS1 to LS4, on the input side to the main body control unit PLC, there is a loading switch (loading button) SW5 for cyclically operating the garbage loading device, a garbage loading device for the garbage loading device 20. Changeover switch SW6 for switching operation or dust discharge operation of the dust discharge device, switch SW7 for tilting and opening the dust throwing box 5, single-acting or continuous selection switch for dust loading operation (not shown), rotation A switch (not shown) for independently operating the plate 21 and the pushing plate 25 is also electrically connected. The change-over switch SW6 is provided at a branch position where the current-carrying line K5 branches from the current-carrying line K4, and the current-carrying line K5 is connected to the loading side of the change-over switch SW6.

Various switches are connected to the input side as described above, while the solenoids SOLa to SOLd of the above-described electromagnetic control valves V1 and V2 are connected to the output side of the main control unit PLC. Then, the main body control unit PLC operates the hydraulic motor 24, the pushing cylinder 28, etc. in accordance with a preset procedure based on the signals input from the switches SW1 to SW3, LS1 to LS4, etc., to operate the corresponding solenoids SOLa to Programmed to output to SOLd.

Specifically, when the dust loading device 20 performs the dust loading operation, when both the ignition switch (accessory power supply) SWK and the PTO switch SWP on the power supply line K2 are turned on, the relay coil R1 is excited. As a result, the contact r1 of the relay coil R1 is closed, so that power is supplied to the body control unit PLC through the energization lines K3 and K4, so that the body control unit PLC becomes operable and the solenoids SOLa to SOLd are operated accordingly. to output the control signal. In response to this control signal, the solenoids SOLa to SOLd are energized, and the positions of the electromagnetic control valves V1 and V2 are appropriately switched, thereby supplying hydraulic pressure to the hydraulic motor 24, the pushing cylinder 28, and the like. As a result, the hydraulic motor 24, the push-in cylinder 28, etc. are respectively operated, and as described above, the rotation of the rotary plate 21 and the rocking motion of the push-in plate 25 are repeated in synchronization with each other.

Specifically, as shown by solid lines in FIG. When the ON signal is output, a control signal is output from the body control unit PLC that receives the signal from the loading switch SW5, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 24 is normally rotated. to start. As a result, the rotating plate 21 begins to rotate upward.

After a predetermined period of time has elapsed, a control signal is output from the main control unit PLC to the solenoid SOLa of the electromagnetic control valve V1, the electromagnetic control valve V1 is switched to the first communication position, and the pushing cylinder 28 starts contracting. . As a result, the push-in plate 25 swings toward the garbage inlet 6, and when the push-in plate 25 reaches the backward limit position, the switch LS2 outputs an ON signal.

In response to this, the main control unit PLC stops outputting the control signal to the solenoid SOLa, so that the electromagnetic control valve V1 returns to the neutral position and the pushing plate 25 stops swinging. Further, even while the push-in plate 25 is rocking, the rotation of the rotary plate 21 continues, and the trash is scraped into the trash storage box 4 side. When the set stop position is reached, an ON signal is output from the switch LS3.

In response to this, the main control unit PLC stops outputting the control signal to the solenoid SOLc of the electromagnetic control valve V2, whereby the electromagnetic control valve V2 returns to the neutral position and the hydraulic motor 24 stops rotating. In addition, the body control unit PLC outputs a control signal to the solenoid SOLb of the electromagnetic control valve V1, switches the electromagnetic control valve V1 to the second communication position, and pushes the push cylinder 28 by starting the extension operation. 25 begins to swing forward.

In this way, the pushing plate 25 swinging forward toward the garbage container 4 pushes the garbage on the rotary plate 21 into the garbage container 4, and when it reaches the forward limit position, an ON signal is output from the switch LS1. In response to this, the main control unit PLC stops outputting the control signal to the solenoid SOLb, so that the electromagnetic control valve V1 returns to the neutral position, and the push cylinder 28 is extended, that is, the push plate 25 is moved forward. The rocking stops and the series of motions ends.

Further, as shown in FIG. 8, an upstream end of a conducting line K6 is connected between the ignition switch SWK and the PTO switch SWP, and an image processing unit 90 as a person detecting section is connected to the conducting line K6. It is When the ignition switch SWK is turned on, power is supplied to the image processing unit 90 via this power supply line K6. The image processing unit 90 is connected to the camera 11 of the camera unit 10 via the power line K7. Further, the image processing unit 90 is adapted to receive a reverse signal based on the driving operation of the vehicle via the power supply line K8.

The image processing unit 90 includes a central processing unit CPU that executes a predetermined program and performs various controls, an image processing unit DSP that acquires image data from the camera 11 and performs image processing, a central processing unit CPU, and an image processing unit. A memory M as a storage unit for storing data used in the DSP, an image output unit VOP for receiving instructions from the central processing unit CPU to display the results of image processing on a monitoring monitor 93 (see FIG. 1), data A clocking unit C for clocking the log time, a camera control unit (not shown) for controlling the camera 11, and the like are provided. The image processing unit DSP is an integrated circuit that performs image processing logic at high speed, and executes, for example, a person recognition processing routine as shown in the flowchart of FIG.

Further, the image processing unit 90 is connected to a conducting line K10 branching from the conducting line K5. This energization line K10 does not function during the garbage discharging operation of the garbage loading device 20 for the person recognition processing by the image processing unit 90, but functions during the garbage loading operation of the garbage loading device 20. input signal line. The energization line K10 is connected to the loading side of the changeover switch SW6, and when the PTO switch SWP is on and the changeover switch SW6 is switched to the loading side, the image processing unit 90 is connected to the loading line. A signal is input.

An operation switch SWS is interposed between the image processing unit 90 and the main body controller PLC. The image processing unit 90 is provided with an output port for a person safety signal, and this output port and the operation switch SWS are connected by a power line K16. Further, the image processing unit 90 is provided with an input port for a data log start signal, and this input port and the operation switch SWS are connected by an electric line K17. An energization line K15 branched from the energization line K10 is connected to the operation switch SWS.

When the operation switch SWS is switched to the ON side, the output port of the person safety signal of the image processing unit 90 and the main body controller PLC are connected via the power line K16 and the power line K12.

In addition, two energization lines K18 and K19 extend from the input/output port of the color detection section (attachment detection section) of the image processing unit 90, and the ends of the two energization lines K18 and K19 are attached. It is connected to the object detection ON switch SWC. The attached object detection ON switch SWC is connected to an energization line K20 extending from the energization line K17 and to an energization line K21 connected to the energization line K13. The energization line K20 is connected to the energization line K13 via the operating lamp PL16, and the energization line K21 is connected to the energization line K13 via the detection on-lamp PL17.

Here, the person safety signal output from the image processing unit 90 is input to the main body control unit PLC through the energization line K16 and the energization line K12. However, when the person or the wearing object R enters the emergency stop area Y12 during the garbage loading operation of the garbage loading device 20, the person safety signal is not output from the image processing unit 90, and the person safety signal is sent to the main body control unit PLC. is not entered. The main body control unit PLC performs an emergency stop of the garbage loading operation of the garbage loading device 20 under one of the conditions that there is no input of the person safety signal.

Further, when the operation switch SWS is switched to the ON side, the energization line K11 branched from the energization line K6 is connected to the energization line K17. In this case, when the ignition switch SWK is turned on, a data log start signal is sent to the image processing unit 90 through the energization line K11 and the energization line K17 by energizing the energization line K6. Data logging is executed using this as a trigger. Further, by energizing the energization line K20 branched from the energization line K17, the operation lamp PL16 of the operation switch SWS provided in the image processing unit 90 is lit. Further, in this state, when the mounted object detection ON switch SWC is ON, the detection ON lamp PL17 of the mounted object detection ON switch SWC provided in the image processing unit 90 lights up. Two energization lines K18 and K19 from input/output ports of the image processing unit 90 for detection of attached objects are connected. When the object detection ON switch SWC is OFF, the detection ON lamp PL17 of the object detection ON switch SWC is not lit, and the two energization lines K18 and K19 from the input/output port for object detection of the image processing unit 90 are turned off. , not connected.

On the other hand, when the operation switch SWS is switched to the OFF side, the energization line K10 and the main control unit PLC are connected via the energization line K15 and the energization line K12. In this case, when the loading line signal is input to the image processing unit 90, the voltage from the energization line K10 is input to the main body controller PLC instead of the person safety signal. Therefore, regardless of whether or not the image processing unit 90 has recognized a person in the emergency stop area Y12, the main body control unit PLC recognizes that the person safety signal is constantly being input.

A switch SW4 corresponding to the stop release switch 63 is interposed between the image processing unit 90 and the main body controller PLC. The switch SW4 is interposed in an energization line K13 branched from the energization line K10. When the stop canceling switch 63 is not turned on, the switch SW4 is in the off state, and no signal is input to the main control unit PLC. On the other hand, when the stop release switch 63 is turned on, the switch SW4 is turned on, and when the loading line signal is input to the image processing unit 90, the voltage from the energization line K10 is released. is input to the main control unit PLC as an ON signal of the .

When the main body control unit PLC recognizes the ON signal of the stop release switch 63, even if the input of the person safety signal from the image processing unit 90 is lost, the garbage loading operation of the garbage loading device 20 is urgently performed on the condition of it. It is designed not to stop.

The image processing unit 90 is electrically connected to a pilot lamp (not shown) arranged around the driver's seat, an operating lamp 12 arranged near the dust inlet 6, and a detection lamp 13. The lighting control of these lights is performed by the central processing unit CPU. The image processing unit 90 is also connected to a buzzer 91 that outputs a warning sound for reversing, and this control is also performed by the central control unit CPU. The low potential sides of the operating lamp 12, the detection lamp 13, the buzzer 91, the operating lamp PL16, and the detection on lamp PL17 are connected to the ground line K1 via the conducting line K14.

The operating lamp 12 and the detection lamp 13 will now be described in detail.

In this embodiment, an operating lamp 12 and a detection lamp 13 are arranged on both left and right sides of the imaging lens 11a of the camera 11 (see FIGS. 4 to 6). In principle, the operating lamp 12 is turned on (lit) when a loading line signal is input to the image processing unit 90 . In principle, the detection lamp 13 is turned on when a loading line signal is input to the image processing unit 90 and when it is determined that a person is in the person detection area near the garbage inlet 6 by the person recognition processing described later. (lit).

On the other hand, the operating lamp 12 and the detection lamp 13 determine that a person is in the person detection area near the garbage inlet 6 while the image processing unit 90 is receiving the loading line signal. Even if it does, it may not turn on as an exception. This exception is a case where an on-signal for canceling the stoppage has been input to the main control unit PLC after the stop canceling switch 63 was turned on. In this case, the body control unit PLC excites the relay coil R2 and the relay switch r2 cuts off the output from the image processing unit 90 to the operating lamp 12 and the detection lamp 13, so that the operating lamp 12 and the detection lamp 13 are , is forced to turn off. As a result, the operator can be reliably notified that the person recognition processing function of the image processing unit 90 has been disabled.

In addition, as shown in FIGS. 1, 9, and 10, a camera 11 is disposed at the upper part of the back surface of the garbage throwing box 5, in other words, above the garbage throwing port 6, and the imaging lens 11a is obliquely rearward. directed downwards. In Figures 9 and 10, a person H (worker) standing in the vicinity of the garbage inlet 6 stretches both arms forward and shows how the garbage 50 (garbage bag in Figures 9 and 10) is loaded. It is The camera 11 is originally used as a back camera for the driver of the garbage truck 1 to monitor the rear, and as shown in FIGS. It is designed to take pictures.

The optical axis of the imaging lens 11a of the camera 11 extends approximately in the direction along the arrow IV in FIG. The person H and the garbage 50 in the vicinity of are photographed from above. The camera 11 is designed so that its photographing angle can be adjusted at the time of shipment, maintenance, or the like.

－Area maintenance mode－
As shown in FIGS. 8 and 16, the image processing unit 90 is configured to be connectable with a personal computer (PC 94) as a maintenance device, and the PC 94 can be connected at the time of shipment, maintenance, or the like. . The PC 94 is connected to the image processing unit 90 and has a display section 96 such as a liquid crystal display section, an input section 95 such as a keyboard, and a known CPU, memory, storage device, and the like. If the maintenance device is, for example, a tablet terminal, the touch panel serves as both the display section 96 and the input section 95 .

As described above, the image processing unit 90, based on the image data captured by the camera 11, human detection area Y near the garbage inlet 6 (normal detection area Y11, emergency stop area Y12, backward detection area Y2 ) and determines whether a predetermined color is detected in the color detection area Z near the garbage inlet 6 based on the image data. and a color detector.

Specifically, the image processing unit 90 has an area maintenance mode, and is configured so that the size and position of the person detection area Y and the color detection area Z can be individually set in this area maintenance mode. The display unit 96 of the PC 94 connected to the image processing unit 90 can display an area setting display screen as shown in FIG. 17, for example. On this display screen, a photographed image display portion 96a photographed by the camera 11, a person detection setting portion 96b, and a color detection setting portion 96c are displayed.

After setting the person detection area Y in this area maintenance mode, by pressing the synchronization button 97 displayed on the display unit 96 via the input unit 95, the person detection area Y (normal detection area Y11 or emergency stop area Y12) The position and size of the color detection area Z are automatically adjusted to the position and size of .

Although not shown in FIG. 17, the display unit 96 may display a first centering button for collectively centering the person detection area Y and the color detection area Z at the center in the vehicle width direction.

The person detection area Y is a loading detection area Y1 (the sum of the normal detection area Y11 and the emergency stop area Y12) that detects a person when the garbage loading device is operating, and a person when the vehicle moves backward. It also has a detection area Y2 at the time of reversing that is wider toward the rear of the vehicle than the first person detection area. Although not shown in detail, in the area maintenance mode, when the automatic generation button is pressed after setting the loading detection area Y1, the backward detection area Y2 may be automatically set. In this case, the size (length) in the vehicle width direction of the reversing detection area Y2, which is rectangular in plan view, is matched with the size (length) in the vehicle width direction of the loading detection area Y1, which is rectangular in plan view. The size (length) in the longitudinal direction of the vehicle of the detection area Y2 during reversing is set larger than the size (length) in the longitudinal direction of the vehicle in the longitudinal direction of the detection area Y1 during loading. The vehicle front side of the reversing detection area Y2, which is rectangular in plan view, is set to overlap the vehicle front side of the loading detection area Y1 (emergency stop area Y12), which is rectangular in plan view. .

Further, the display unit 96 may be configured to be able to display a second centering button for collectively centering the normal detection area Y11 and the emergency stop area Y12. With this configuration, by providing the emergency stop area Y12 and the normal detection area Y11 wider behind the vehicle than the emergency stop area Y12, appropriate control can be performed for each area. Also, centering work in these areas can be easily performed.

-How to adjust the angle of the camera-
Here, a method for adjusting the angle of the camera 11 will be specifically described.

First, in the sticker pasting process at the time of shipment, as shown in FIG. A pasting member 30 is pasted as a mark portion M such as a triangular sticker. Depending on the characteristics of the imaging lens 11a of the camera 11, the image may be distorted. In this way, if the mark portion M is composed of the pasting member 30 such as a sticker pasted on the display screen of the monitor 93, the position of the mark portion M can be specified simply and inexpensively, although the pasting work is manual. can be done. When the sticking member 30 is stuck on the display screen of the monitor 93 at the time of shipment, the sticking member 30 always exists on the display screen. Therefore, when the imaging area of the camera 11 is adjusted again by maintenance work after shipment, the seal sticking process is not required.

Next, with the mark portion M displayed on the display screen of the monitor 93, the operator sets the garbage loading device 20 to the position adjustment mode, and moves the rotating plate 21 inside the garbage inlet 6 to the monitor 93. It is moved to a position where the operator (person H) can easily see it on the display screen. In this embodiment, the main control unit PLC has this position adjustment mode, and the operator operates the adjustment switch SW8 to rotate the rotary plate 21 by 180° from the normal rotation start position. (This is the rearmost position on the rotation locus of the rotor plate 21 indicated by the virtual line C in FIG. 3, and this position is the position for adjustment). At this time, when the operator presses the adjustment switch SW8 once, the rotary plate 21 may automatically move to the adjustment position. You may make it move manually to the position for adjustment. When the main body control unit PLC automatically moves the rotary plate 21 to the adjustment position, a sensor is separately provided to detect that the rotary plate 21 has reached the adjustment position, and the main body is controlled based on the detection result of the sensor. Preferably, the part PLC stops the rotating plate 21 from moving. In addition, when the operator manually moves the rotating plate 21 to the adjustment position, for example, a movable member mark that matches the position when the rotating plate 21 is at the adjustment position is placed on the garbage throwing box 5. It is preferable that the mark for the movable member is drawn in advance on the inner surface of the side wall, and the operator moves the rotating plate 21 with this movable member mark as a target.

After the rotary plate 21 is adjusted to the adjustment position, for example, two workers cooperate to adjust the angle of the camera 11 . That is, one person watches the monitor 93 while the other manually adjusts the angle of the camera 11 so that the tip of the sticking member 30 on the display screen of the monitor 93 is aligned with the tip of the rotary plate 21 .

In this embodiment, when the rotary plate 21 is at the adjustment position, the emergency stop unit (main body control unit PLC) does not operate the rotary plate 21 regardless of whether or not a person is detected in the emergency stop area Y12. Control. As a result, when the operator manually changes the angle of the camera 11 in accordance with the mark M on the monitor 93, the rotating plate 21 near the camera 11 can be prevented from suddenly starting to move. Safety is ensured.

Thus, since the display screen of the monitor 93 has the mark portion M, the angle of the camera 11 can be easily and reliably adjusted according to the mark portion M. FIG. Further, since the adjustment is made on the monitor 93, the adjustment can be made according to the actual mounting state of the camera 11 at the time of adjustment.

If the tip of the sticking member 30 on the display screen of the monitor 93 can be aligned with the tip of the rotary plate 21, the angle of the camera 11 can be adjusted. Thereafter, the operator again operates the adjustment switch SW8 or operates the loading switch SW5 to move the rotary plate 21 to the solid line position in FIG. Then, photographing by the camera 11 and normal person recognition by the image processing unit 90 are started.

That is, based on the data of the image photographed by the camera 11 and input to the image processing unit 90, the image processing unit 90 determines whether the person H such as the worker and the wearing object R are piled up in the garbage inlet 6 and behind it. It is determined whether or not it exists in the detection area Y1 or the color detection area Z at the time of loading. In addition, if the image processing unit 90 determines that the person H or the wearing object R exists in the emergency stop area Y12 or the color detection area Z of the loading detection area Y1, the main body control unit PLC detects the garbage loading device 20 It is determined whether or not to stop the operation of

Specifically, the loading detection area Y1 is divided into a normal detection area Y11 (indicated by a dashed line in FIG. 10) and an emergency stop area Y12 (indicated by a thick one-dot chain line in FIG. 10). The emergency stop area Y12 is provided closer to the garbage inlet 6 than the normal detection area Y11, and functions as a no-entry area. In addition, the color detection area Z has an area boundary closer to the garbage inlet 6 than the emergency stop area Y12, and has a smaller size (length) in the longitudinal direction of the vehicle than the emergency stop area Y12. This color detection area Z also functions as a no-entry area.

The image processing unit 90 determines whether or not a person H exists in the loading detection area Y1, or whether or not a wearing object R exists in the color detection area Z, and determines whether or not an emergency stop area Y12 is set as a no-entry area. If it is determined that the person H (wearing object R) exists in the (color detection area Z), a stop signal is sent to the body control unit PLC, and the body control unit PLC stops the operation of the garbage loading device 20. For example, the normal detection area Y11 is a normal area when the worker performs garbage loading work, and is set in a rectangular area near the garbage inlet 7. The emergency stop area Y12 is set in a rectangular area between the front edge 6a of the garbage inlet 6 and the vicinity of the rear edge 6b. This emergency stop area Y12 is set to include at least part of the area surrounded by the front edge 6a, the rear edge 6b, the left edge 6c, and the right edge 6d of the garbage inlet 6.

In addition to this, when the vehicle is backing up, the image processing unit 90 determines whether the person H is in the backing detection area Y2 behind the garbage inlet 6 (indicated by a thin dashed line in FIGS. 9 and 10). be judged. Then, if it is determined that the person H exists in the detection area Y2 for reversing, the image processing unit 90 notifies the driver to call attention. The reverse detection area Y2 is set to a rectangular area including the emergency stop area Y12, the normal detection area Y11, and the area behind it. On the monitor 93, along with the image captured by the camera 11, a line corresponding to the outer edge of the normal detection area Y11 (indicated by a dashed line in FIG. 10) and an outer edge of the emergency stop area (intrusion prohibited area) Y12 are displayed. A line (indicated by a thick one-dot chain line in FIG. 10) and a line corresponding to the outer edge of the detection area Y2 during reversing (indicated by a thin one-dot chain line in FIG. 10) are displayed.

－How to set the area－
Next, a method for individually setting the size and position of the person detection area Y and the color detection area Z in the area maintenance mode will be described.

First, the PC 94 is connected to the image processing unit 90 as shown in FIGS. A dedicated application is installed in the PC 94 in advance.

Next, the input section 96 of the PC 94 is operated to launch a dedicated program.

Next, the person detection function is turned on, the area display is selected, and an area setting display screen is displayed on the display unit 96 as shown in FIG. 17, for example.

The parameters are then set. Since the detection parameters of the person detection function are set to default values, the settings are basically completed by pressing a default setting button (not shown).

Next, in the person detection setting section 96b, the area setting mode is selected, and the loading detection area Y1 of the person detection areas Y is set with a mouse or the like. At this time, for example, a dummy doll of about 200 cm should be placed in the vicinity of the garbage inlet 6. Next, in the area maintenance mode, after setting the loading detection area Y1, the "automatic generation" button that appears on the display unit 96 is pressed to automatically set the backward detection area Y2. Normally, if the detection area Y1 during loading can be set, the detection area Y2 during reversing can be set in a range that is moderately wider than the detection area Y1, so the setting can be easily performed. For example, the reverse detection area Y2 has the same width as the loading detection area Y1 and is only extended rearward.

Next, the color detection function is set.

First, turn on the color detection function and select area display. Each parameter value is collectively set by selecting a color candidate. For example, when it is desired to use the red color of the wearable article R as the detection color, the red color is selected from among the color candidates. For example, any one of red, blue, and green may be selected as the set color.

Next, in the color detection setting section 96c, the area setting mode is selected, and the color detection area Z is set with a mouse or the like.

In this embodiment, a synchronization button 97 is provided in the color detection setting section 96c of the display section 96. FIG. By using this synchronization button 97, automatic setting of the color detection area Z is also possible. Specifically, after setting the loading detection area Y1 (and the reversing detection area Y2) in the area maintenance mode, the synchronization button 97 with the loading detection area Y1 displayed on the display unit 96 is pressed by the input unit 95. press through. Then, synchronization is performed, and the position and size of the color detection area Z are automatically adjusted to correspond to the loading detection area Y1.

As described above, in this embodiment, since the size and position of the loading detection area Y1 of the person detection area Y and the color detection area Z can be individually set, optimum safety measures can be easily and reliably taken according to the situation. . Moreover, if the synchronization button 97 is operated, there is no need to manually align the person detection area Y after setting with the loading detection area Y1, and the setting can be performed very easily.

If the color detection area Z is manually set without pressing the synchronization button 97, the center may be slightly misaligned or the setting may be changed by the operator. Therefore, the loading detection area Y1 of the person detection area Y and the color detection area Z may be centered collectively by operating the first centering button that appears on the display unit 96 . In this manner, the center of the person detection area Y and the color detection area Z usually coincide with each other in the vehicle width direction, and the centering can be easily performed by simply pressing the first centering button.

- Image processing routine -
Next, with reference to the flow charts of FIGS. 11 and 12, a control routine based on image processing performed by the garbage truck 1 will be described. 11 and 12, for convenience, the control executed by the main body control unit PLC shown in FIG. 11 and the control executed by the image processing unit 90 shown in FIG. 12 are shown separately.

First, the flow of control executed by the main body control unit PLC will be described with reference to the flowchart of FIG. As shown in FIG. 11, in step S1 after the start, the operator switches the ignition switch from OFF to ON, and in step S2, the operator switches the PTO switch SWP from OFF to ON. When done, the power of the main body control unit PLC is turned on. Next, in step S3, the main body control unit PLC resets the stop release. Here, the stop release flag is reset to 0. In this manner, the stop release flag is reset as the PTO switch SWP is turned on. The stop cancellation flag is set based on the operation status of the stop cancellation switch 63, and the stop cancellation flag is set to 1 as the stop cancellation switch 63 is operated from off to on.

Next, in step S4, the body control unit PLC determines whether or not the selector switch SW6 is switched to the loading side. If the switch SW6 is switched to the loading side (YES), the process proceeds to step S5, and if the switch SW6 is switched to the discharge side instead of the loading side (NO), the process proceeds to step S14.

In step S5, the body control unit PLC determines whether or not the stop release flag is 1, and if the stop release flag is 1 (YES), the process proceeds to step S8. On the other hand, if the stop release flag is 0 (NO), the process proceeds to step S6, and the main body control unit PLC determines whether or not the operator has performed an operation to switch the stop release switch 63 from off to on. Then, if the stop release switch 63 is switched from OFF to ON (YES), in step S7, the main body control unit PLC sets the stop release flag to 1, and proceeds to step S8. If the stop release switch 63 has not been switched from off to on (NO), the process proceeds to step S10.

In step S8, the body control unit PLC excites the relay coil R2 to turn off the relay switch r2. As a result, the detection lamp 13 and the operating lamp 12 are turned off in step S9.

Next, in step S10, the body control unit PLC determines whether or not the loading switch SW5 is turned on. When the loading switch SW5 is turned on (YES), the process proceeds to step S11, and the main body control unit PLC executes the garbage loading operation of the garbage loading device 20. On the other hand, if the loading switch SW5 is off (NO), the body control unit PLC waits until the loading switch SW5 is turned on.

Next, in step S12, the body control unit PLC determines whether or not the emergency stop buttons 60, 61 are turned on. If the emergency stop buttons 60, 61 are turned on (YES), the process proceeds to step S13, and if the emergency stop buttons 60, 61 are off (NO), the process proceeds to step S15.

In step S<b>13 , the main control unit PLC executes an emergency stop of the garbage loading operation of the garbage loading device 20 . Then, in step S14, when the power of the main body control unit PLC remains on (NO), the main body control unit PLC returns to step S4, and executes the processing after step S4 again. On the other hand, in step S14, if the power of the main body control unit PLC is turned off (YES), this routine ends (END).

If the emergency stop buttons 60 and 61 are off (NO) in the determination in step S12 described above, in step S15, the main body control unit PLC determines that the rotating plate 21 of the garbage loading device 20 is within the dangerous angular range Z1 (Fig. 3) is determined. This determination is made based on the presence or absence of a signal from switch LS4. If the signal from the switch LS4 is ON and the rotating plate 21 of the garbage loading device is in the dangerous angular range Z1 (YES), the process proceeds to step S16. On the other hand, if the signal from the switch LS4 is off and the rotating plate 21 is not in the dangerous angular range Z1 (NO), the process proceeds to step S18.

Next, in step S<b>16 , the main body control unit PLC determines whether or not a person safety signal has been input from the image processing unit 90 . The person safety signal is output from the image processing unit 90 to the main body control unit PLC based on the processing of the image processing unit 90 in steps S8 to S14 and S16 to S19 which will be described later. Specifically, when the operation switch SWS is on and a person enters the normal detection area Y12 of the detection area Y1 during loading during the garbage loading operation of the garbage loading device, the image processing unit The person safety signal is not output from 90, and the person safety signal is not input to the main control unit PLC (step S14).

On the other hand, when the operation switch SWS is off, when the person is not detected in the loading detection area Y1 and the color detection area Z during the garbage loading operation of the garbage loading device 20, and when the loading detection area When a person is detected only in the normal detection area Y11 of Y, a person safety signal is input to the main control unit PLC (steps S17 and S19). If the human safety signal has not been input (YES), the process proceeds to step S17, and if the human safety signal has been input (NO), the process proceeds to step S18.

In step S17, the main body control unit PLC determines whether or not the stop release flag is 0. If the stop release flag is 0 (YES), the process proceeds to step S13, and the main body control unit PLC loads the garbage. Execute an emergency stop of the garbage loading operation of the device 20 . On the other hand, if the stop release flag is 1 (NO), the process proceeds to step S18.

In step S18, the main control unit PLC determines whether or not the rotating plate 21 of the garbage loading device 20 is at the stop position (1-cycle stop position) for stopping the garbage loading operation. If the rotary plate 21 of the garbage loading device 20 is at the one-cycle stop position (YES), the process proceeds to step S19, and the garbage loading operation of the garbage loading device 20 is normally stopped. On the other hand, when the rotating plate 21 of the garbage loading device 20 is not at the one-cycle stop position (NO), the process returns to step S11, and the processes after step S11 are executed again.

Next, the flow of control executed by the image processing unit 90 will be described with reference to the flowchart of FIG. As shown in FIG. 12, in step T1 after the start, when the operator performs an operation to switch the ignition switch SWK from off to on, the power of the image processing unit 90 is turned on from off. At step T2, initialization processing (startup processing) of the image processing unit 90 is performed.

This initialization process (startup process) takes at least several seconds. Until this initialization process is completed, that is, during start-up, the image processing unit 90 does not output a person safety signal, and does not output an ON signal to the operating lamp 12 and the detection lamp 13 ( The image processing unit 90 controls the operating lamp 12 and the detection lamp 13 so as not to operate).

If an operator turns on the PTO switch SWP while the image processing unit 90 is running, the main body control unit PLC can recognize that there is no human safety signal input from the image processing unit 90, and work can be performed. Even if the person presses the loading button 64 after the PTO switch SWP is turned on, the main body control unit PLC controls the garbage loading device 20 not to drive based on the lack of input of the person safety signal.

At step T3, the central processing unit CPU of the image processing unit 90 determines whether the entire image processing unit 90 is operating normally. If the image processing unit 90 is operating normally (YES), the process proceeds to step T4, and if the image processing unit 90 is not operating normally (NO), the process proceeds to step T20. In steps T20 and T21, the image processing unit 90 does not turn on the operating lamp 12, but turns on the error indicator provided on the substrate, and proceeds to step T15.

Next, at step T4, the central processing unit CPU of the image processing unit 90 determines whether or not a reverse signal based on the driving operation of the vehicle has been input. The reverse signal is input to the image processing unit 90 via the energization line K8 when the vehicle is reversed, and the determination in step T4 is performed based on the presence or absence of the reverse signal. If the reverse signal has not been input (YES), the process proceeds to step T5, and if the reverse signal has been input (NO), the process proceeds to step T22.

Next, at step T5, the central processing unit CPU of the image processing unit 90 determines whether or not a loading line signal has been input. The loading line signal is input to the image processing unit 90 via the energization line K10 when the PTO switch SWP is on and the switch SW6 is switched to the loading side. The determination of step T5 is made based on the presence or absence of this loading line signal. If the loading line signal has been input (YES), the process proceeds to step T6, and if the loading line signal has not been input (NO), the process returns to step T4, and steps T4 and T5 are determined again.

Next, at step T6, the central processing unit CPU of the image processing unit 90 turns on the operating lamp 12. FIG. In step T7, the central processing unit CPU sets the feature data (dictionary data) used for person recognition processing to the feature data for loading, and sets the detection area used for person detection determination to the loading detection area Y1. set. The loading feature data is stored in the memory M of the image processing unit 90 and is referred to during the person recognition process (step T8), which will be described later. The feature data for loading is obtained by photographing images of a large number (for example, tens of thousands) of people's heads in advance and extracting features such as size and shape. The features extracted as the loading feature data are mainly based on the head shape of the person when viewed from above. The loading detection area Y1 is used for person detection determination, and is stored in the memory M of the image processing unit 90 . As described above, the detection area Y1 at the time of loading includes the normal detection area Y11 set as the normal area when the worker performs the garbage loading work, and the emergency stop area Y12 for emergency stopping the garbage loading device 20. Each area is stored in the memory M.

-Person Recognition Processing-
Next, at step T8, the central processing unit CPU of the image processing unit 90 causes the image processing unit DSP to execute person recognition processing. Details of the person recognition processing executed by the image processing section DSP of the image processing unit 90 will be described with reference to the flowchart of FIG. First, in step S81 after the start, image data (input image data) captured by the camera 11 and input to the image processing unit 90 is binarized by the image processing unit DSP. This binarization process is, for example, a process of setting a maximum luminance value when the luminance value of each pixel of the input image data is equal to or higher than a preset threshold value, and a minimum luminance value 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 S82, labeling processing is performed by the image processing unit DSP. In this labeling process, each pixel close to each other in the binarized image data is regionized. For example, a plurality of pixels belonging to the same luminance value and close to each other within a predetermined distance are regarded as one region. . The labeling process is performed on the entire image plane, and each of the regions thus defined is recognized as an object image.

Then, in steps S83 to S85, the image processing unit DSP performs person identification processing on each of the object images detected in the normal detection area Y11 or the emergency stop area Y12. In this embodiment, the camera 11 is arranged above the garbage inlet 6, and the vicinity of the lower garbage inlet 6 is photographed from almost directly above. Therefore, in the image, as an example is shown in FIG. 10, the head of the person H is displayed in a large size, and a part of the face seen from above is also displayed. Therefore, in step S83, preset loading feature data is referenced, and an object image that satisfies the conditions of the loading feature data is provisionally determined to be the head of the person H. FIG.

Next, in steps S84 and S85, the object image temporarily determined to be the head is discriminated from other object images. First, in step S84, a change in the position of the object image is detected by differential processing (processing for obtaining a difference in brightness value for each pixel) of a plurality of image data input from the camera 11 in time series. This change in position, that is, the moving distance of the object image is divided by the time required (time interval for acquiring image data) to calculate the moving speed of the object image.

Next, in step S85, it is determined whether or not the moving speed calculated in step S84 is equal to or less than a preset threshold value. This threshold is set in advance by experiment etc. so that the movement speed of the worker's head who throws garbage into the garbage inlet 6 and the movement speed of the garbage to be thrown can be distinguished. If the calculated moving speed is higher than the threshold value, the movement is too fast, so it is identified that it is not the head of the person H, a negative determination is made (NO), and the routine ends (END).

On the other hand, if an affirmative determination is made in step S85 that the calculated moving speed is equal to or less than the threshold (YES), it is determined that the object image is the head of person H (final determination), and the process proceeds to step S86. Outputs a detection signal.

Next, in step S87, it is determined whether or not the object image determined to be the head of the person H is within the above-described emergency stop area Y12. The determination in step S87 can be made by determining whether or not the position coordinates of the pixels forming the outline of the area forming the object image are included in the emergency stop area Y12, even if only partially.

If it is determined that the object image identified as the head of the person H is in the emergency stop area Y12 (YES), the process proceeds to step S88 to stop the operation of the garbage loading device 20. A stop signal is output to the internal CPU, and the routine ends (END). On the other hand, if a negative determination is made that the object image is not in the emergency stop area Y12 (NO), the routine is terminated without outputting the stop signal (END).

- Wearing Object Recognition Processing -
Returning to the flowchart of FIG. 12, in step T30, the central processing unit CPU of the image processing unit 90 causes the image processing unit DSP to execute the wearable object recognition process. Details of the wearing object recognition processing executed by the image processing section DSP of the image processing unit 90 will be described with reference to the flowchart of FIG. 14 . First, in step S31 after the start, binarization processing for image data (input image data) captured by the camera 11 and input to the image processing unit 90 is performed by the image processing unit DSP in the same manner as the person recognition processing. done.

Next, in step S32, labeling processing is performed by the image processing unit DSP in the same manner as the person recognition processing.

Then, in steps S33 to S35, the image processing unit DSP performs wearing object recognition processing for each of the object images detected in the color detection area Z described above. As an example is shown in FIG. 10, the wearable item R is displayed in a large size, and the color of the wearable item R viewed from above is also displayed. Therefore, in step S33, preset color data is referred to, and an object image that satisfies the conditions of the color data is tentatively determined to be the object R to be worn.

Next, in steps S34 and S35, the object image provisionally determined to be the object R is discriminated from other object images. First, in step S34, a change in the position of the object image is detected by differential processing (processing for obtaining a difference in brightness value for each pixel) of a plurality of image data input from the camera 11 in time series. This change in position, that is, the moving distance of the object image is divided by the time required (time interval for acquiring image data) to calculate the moving speed of the object image.

Next, in step S35, it is determined whether or not the moving speed calculated in step S34 is equal to or less than a preset threshold value. This threshold is set in advance by experiment etc. so that the moving speed of the attached object R of the worker who throws in the garbage into the garbage inlet 6 and the moving speed of the thrown garbage can be distinguished. If the calculated moving speed is higher than the threshold value, the movement is too fast, so it is identified as not the wearable object R, a negative determination is made (NO), and the routine ends (END).

On the other hand, if it is affirmatively determined in step S35 that the calculated moving speed is equal to or less than the threshold value (YES), it is determined that the object image is the wearing object R (final determination), and the process proceeds to step S36 to detect the wearing object. Output a signal.

Next, in step S37, it is determined whether or not the object image determined to be the wearing item R is within the color detection area Z described above. The determination in step S37 can be made by determining whether or not the position coordinates of the pixels forming the outline of the area forming the object image are included in the color detection area Z even partially.

Then, if it is affirmatively determined that the object image identified as the wearing object R is in the color detection area Z (YES), the process proceeds to step S38 to stop the operation of the garbage loading device 20. output a stop signal to and terminate the routine (end). On the other hand, if a negative determination is made that the object image is not within the color detection area Z (NO), the routine is terminated without outputting the stop signal (END).

Returning to the flowchart of FIG. 12 again, at step T9, the central processing unit CPU of the image processing unit 90 determines whether or not the operation switch SWS is on. If the operation switch SWS is on (YES), the process proceeds to step T10, and if the operation switch SWS is off (NO), the process proceeds to step S16.

Then, at step T10, the central processing unit CPU of the image processing unit 90 saves in the memory M the processing results (logs) of the person recognition processing at step T8 and the wearing object recognition processing at step T30. Specifically, whether or not a person detection signal is output (step S86), whether or not a stop signal is output (step S88), whether or not a wearable object detection signal is output (step S36), or whether or not a stop signal is output (step S38). ) are stored in the memory M of the image processing unit 90 .

Next, in step T11, the central control unit CPU of the image processing unit 90 detects a person in the loading detection area Y1 or the color detection area Z by the person recognition process in step T8/the wearing object recognition process in step T30. determine whether or not At this time, the memory M of the image processing unit 90 is referenced to determine whether or not the person detection signal or the wearing object detection signal has been output. If the person detection signal or the object detection signal is output (YES), the process proceeds to step T12, and if the person detection signal or the object detection signal is not output (NO), the process proceeds to step T16.

Next, at step T12, the central processing unit CPU of the image processing unit 90 performs the person recognition process at step T8/the attached object recognition process at step T30 to determine whether a person is in the emergency stop area Y12 or the color detection area Z as an intrusion prohibited area. determines whether or not has intruded. At this time, the memory M of the image processing unit 90 is referenced to determine whether or not a stop signal has been output. When the stop signal is output (YES), the process proceeds to step T13, and when the stop signal is not output (NO), the process proceeds to step T18.

Next, the central processing unit CPU of the image processing unit 90 outputs an ON signal for the detection lamp 13 in step T13, does not output a person safety signal to the main body control unit PLC in step T14, and then proceeds to step T15. move on. Further, the central processing unit CPU does not output an ON signal for the detection lamp 13 in step T16, outputs a person safety signal to the main body control unit PLC in step T17, and then proceeds to step T15. Further, the central processing unit CPU outputs an ON signal for the detection lamp 13 in step T18, outputs a person safety signal to the main body control unit PLC in step T19, and then proceeds to step T15.

Then, in step T15, when the image processing unit 90 is still powered on (NO), the image processing unit 90 returns to step T3, and executes the processes after step T3 again. On the other hand, in step T15, if the image processing unit 90 is powered off (YES), this routine ends (end).

If there is an input of the backward signal in the determination in step T4 described above (NO), the image processing unit 90 does not output an ON signal for the operating lamp 12 in step T22, and outputs a person safety signal to the body in step T23. It does not output to the control unit PLC, and then proceeds to step T24.

Then, in step T24, the feature data (dictionary data) used for person recognition processing is set as the feature data for reversing, and the detection area used for person detection determination is set as the reversing detection area Y2 for reversing. The backward feature data is stored in the memory M of the image processing unit 90 and is referred to during the person recognition process (step T25) described later. The feature data for retreating is obtained by photographing images of the heads of many people in advance and extracting features such as the size and shape of the head. The feature extracted as the reversing feature data is mainly the shape of the head when the person is viewed obliquely from above, closer to the front than the above-described loading feature data. The third detection area Y2 is used for person detection determination, and is stored in the memory M of the image processing unit 90. FIG. As described above, the backward detection area Y2 includes the loading detection area Y1 for loading and the area behind it.

Next, in step T25, person recognition processing is performed by the image processing unit DSP. The person recognition processing in step T25 is substantially the same as the person recognition processing in step T8 (see FIG. 13) described above, and includes binarization processing, labeling processing, person identification processing, and the like. In the person identification process, the object image satisfying the conditions of the retreating feature data set in step T24 is used, and the person H is determined. Recognition of the person H is not limited to identifying the head shape, and for example, the hands and feet may be identified.

Then, in step T26, the central processing unit CPU of the image processing unit 90 saves in the memory M the processing result (log) of the person recognition processing in step T25 described above. Next, at step T27, the central processing unit CPU of the image processing unit 90 determines whether or not a person has been detected in the backward detection area Y2 by the person recognition processing at step T25. At this time, the memory M of the image processing unit 90 is referenced to determine whether or not the person detection signal has been output. When the person detection signal is output (YES), the image processing unit 90 operates the buzzer 91 to output a backward warning sound in step T28, and then proceeds to step T15. On the other hand, if no person detection signal is output (NO), the image processing unit 90 does not activate the buzzer 91 in step T29, and then proceeds to step T15.

As described above, according to the embodiment of the present invention, the positions and ranges of a plurality of detection areas (normal detection area Y11, emergency stop area Y12, reverse detection area Y2, color detection area Z) can be easily and appropriately detected. Can be set.

(Other embodiments)
The present invention may be configured as follows for the above embodiment.

The person detection area Y described above (the normal detection area Y11, the emergency stop area Y12, and the backward detection area Y2) is an example, and areas other than the above may be employed. For example, the entire area on the front side of the rear edge 6b of the garbage inlet 6 may be set as the emergency stop area Y12. In this case, in the determination of step S87, if the position coordinates of the pixels forming the outer shape of the area forming the object image described above are included in the front side of the rear edge portion 6b of the garbage inlet 6, urgent It may be determined that an object image identified as a person is detected in the stop area Y12.

In the above embodiment, the entire color detection area Z has a function as an intrusion prohibited area. It can be divided into two types.

In the above embodiment, the image processing control (see FIGS. 11 to 14) in the garbage truck 1 is shared by the main body control unit PLC as an emergency stop unit and the image processing unit 90 as a person detection unit. Image processing control in the garbage truck 1 may be performed by only one control device. For example, the main control unit PLC may be provided with the function of the image processing unit 90, and the flow charts of FIGS. 11 to 14 may be executed only by the main control unit PLC.

In the above-described embodiment, the support member 9 of the camera unit 10 has a frame shape having base ends at both left and right ends of the inclined rear surface portion 5b of the garbage throwing box 5, but the present invention is not limited to this. The member 9 may be a single member that protrudes linearly rearward from the left-right center of the inclined rear surface portion of the garbage throwing box.

In the above embodiment, a case is described in which the present invention is embodied as a garbage truck 1 equipped with a so-called rotary garbage loading device 20, and the main part of the garbage loading device 20 is a rotating plate 21 and a pushing plate 25. Although not shown in detail, the garbage loading device 20 includes a sliding plate that slides in the vertical direction, and a compression plate as a movable member attached to the lower end of the sliding plate so as to be able to swing in the longitudinal direction of the vehicle body. may have. In this case, the position for adjusting the compression plate is set at a position where the sliding plate is lowered and the front end of the compression plate is extended rearward of the vehicle. For example, when there is rubber on the compression plate, it is preferable to turn over the rubber portion and align the mark portion M with the tip of the metal portion for adjustment. In this case as well, it is possible to grasp the position of the tip of the compression plate that is closest to the operator, so that it is easy to set the no-entry area.

The above embodiments are essentially preferable examples, and are not intended to limit the scope of the present invention, its applications, or uses.

1 Garbage truck
2 chassis
3 Driver's cab
4 Garbage bin
5 Garbage bin
5a tilting axis
5b Inclined rear surface
6 Garbage inlet
6a leading edge
6b trailing edge
6c left edge
6d right edge
7 Garbage inlet
8 switch box
9 support member
10 camera unit
10a fixed surface
11 camera (human image acquisition unit)
11a imaging lens
12 Working lamp
13 detection lamp
14 recess
15 Mounting bracket
20 Garbage loading device
21 rotating plate
22 rotation axis
23 reduction mechanism
24 pushing cylinder
24 hydraulic motor
25 pushing plate
26 swing axis
27 extension
28 pushing cylinder
28a support pin
30 sticking member
50 Garbage
60 Emergency stop button
61 Emergency stop button
62 emergency stop plate
63 stop release switch
64 loading button
80 support member
90 image processing unit (person detection unit, color detection unit)
91 Buzzer
93 monitor
94 PC (maintenance device)
95 input section
95 Display
96 Display
96a Photographed image display unit
96b Person detection setting unit
96c Color detection setting section
97 Synchronization button PL16 Operation lamp PL17 Detection on lamp PLC Main unit control unit (Emergency stop unit)
Y Person detection area Y1 Loading detection area Y11 Normal detection area Y12 Emergency stop area (intrusion prohibited area)
Y2 Reversing detection area Z Color detection area M Mark part

Claims (4)

A garbage throwing box having a garbage throwing port on the rear side of the vehicle, an object image acquisition unit provided in the garbage throwing box and capturing an image of the garbage throwing port and the rear of the vehicle, and a garbage pile provided inside the garbage throwing box. a display unit for displaying an image captured by the object image acquisition unit; and a control device having a person detection unit and a color detection unit ,
It has a switch for switching on and off of the color detection unit,
The person detection unit is
Based on the image data captured by the object image acquisition unit, it is determined whether a predetermined human shape is detected in the human detection area near the garbage inlet,
The color detection unit is
Based on the image data, it is determined whether a predetermined color is detected in the color detection area near the garbage inlet,
The control device
Furthermore, it has an area maintenance mode, and in the area maintenance mode, the size and position of the person detection area and the color detection area can be set individually .
A maintenance device for a garbage truck,
Connected to the control device and having a display unit and an input unit,
After setting the person detection area in the above area maintenance mode, by pressing the synchronization button displayed on the display unit via the input unit, the position and size of the color detection area are automatically matched to the person detection area. configured to
A maintenance device characterized by: In the maintenance device according to claim 1 ,
The maintenance device according to claim 1, wherein the display unit is configured to be able to display a first centering button for collectively centering the person detection area and the color detection area. The maintenance device according to claim 1 or 2 ,
The above person detection area is
A loading time detection area that detects a person when the garbage loading device operates,
detecting a person when the vehicle is reversing and having a reversing detection area that is wider than the loading detection area;
In the area maintenance mode, when an automatic generation button is pressed after setting the detection area during loading, the detection area during reversing is automatically set based on the detection area during loading. A maintenance device characterized by: The maintenance device according to claim 1 or 2 ,
The person detection area is an area for emergency stop of the garbage loading device if a person is recognized, an emergency stop area near the garbage inlet, an area only for recognizing a person, and the above having a normal detection area wider than the emergency stop area,
The maintenance apparatus according to claim 1, wherein the display unit is configured to be able to display a second centering button for collectively centering the emergency stop area and the normal detection area.

Images