JP7438636B2 - work vehicle - Google Patents

Description

The present invention relates to a work vehicle such as a garbage collection vehicle, and more particularly to a work vehicle that recognizes the color of a person's clothing (such as gloves) from image data acquired by an object image acquisition unit.

Conventionally, as an example, in a garbage collection vehicle, a garbage loading device is installed in a garbage input box provided at the rear of the vehicle chassis, and the garbage inputted from the garbage input port into the garbage input box is loaded onto a rotary plate or the like. The garbage is scraped in using a push plate or the like and then loaded into the garbage storage box. In addition, in order to prevent workers (persons) who are putting garbage into the garbage inlet from getting caught in the garbage loading device due to inadvertence, we have developed a person recognition system that recognizes people near the garbage inlet. A device has been proposed (for example, see Patent Document 1).

In the technique described in Patent Document 1, a camera serving as an object image acquisition unit is disposed at the rear upper part of the garbage input box, and images a predetermined area near the garbage input port. Then, when the image data (image data) captured by the camera while the garbage loading device is in operation is sent to the image processing device, and it is determined that a person has entered the preset no-entry area based on this image. , the operation of the garbage loading device is stopped. Furthermore, in Patent Document 1, since the worker loads garbage bags (garbage) into the garbage inlet with his hands or kicks the garbage bags into the garbage inlet with his feet, it is possible to accurately recognize hands and feet. In view of the fact that it is desirable to be able to do this, it has been disclosed that an image processing device is used to determine the color of an item worn by a worker on his or her hands or feet. In other words, the color characteristic data of the attached object (color characteristic data) is set and saved (registered) in the storage section of the image processing device in advance, and the The same data as the color characteristic data of the worn object is extracted to enable recognition of the worker's hands and feet. If the recognized hand or foot enters the prohibited area, the operation of the garbage loading device is stopped.

Japanese Patent Application Publication No. 2018-193203

However, in the conventional garbage collection vehicle as disclosed in Patent Document 1, when setting and saving the color characteristic data of the attached object in the storage section of the image processing device in advance, a terminal device such as a personal computer is installed in the driver's cab. Connect the image processing device by wire (cable connection) and input the RGB values of the color directly by operating the terminal device, or display the image including the worn object captured by the camera on the screen of the terminal device, and It was necessary to specify the position with a pointing device such as a mouse and specify the color of the worn object (hereinafter referred to as color specification task). The work of connecting a terminal device to an image processing device and the work of specifying a color are complicated, and when the color of the wearable object is changed, this complicated work is required every time the color characteristic data of the wearable object is saved. There were issues that required more work.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle that can simplify the work of setting and saving color characteristic data of objects worn by a person. It is in.

The present invention constitutes means for solving the above-mentioned problems as follows. That is, the present invention provides an object image acquisition section, an image processing unit that recognizes the color of a person's clothing from image data acquired by the object image acquisition section, and a packing box to which the object image acquisition section is attached. In the work vehicle, the object image acquisition unit is arranged such that a part of the packing box and a vicinity of the packing box are included in the image data, and the object image acquisition unit is set as a color setting area of the wearable object, and the image processing unit sets and saves the color of the wearable object placed in the color setting area of the image data as color feature data. and is configured to recognize the color of the person's clothing from the image data acquired by the object image acquisition unit using the color feature data set and saved in the color setting mode, and further , the image processing unit is set with brightness levels that divide changes in the brightness of the surrounding environment into multiple stages, and in the color setting mode, a plurality of brightness levels are set for the same worn object according to each of the brightness levels. The image processing apparatus is characterized in that the color feature data is configured to be set and saved in the image processing unit .

According to the above configuration, when setting and saving the color of the attached object as color feature data, the operator knows in advance which location of the packing box is the color setting area of the attached object. In addition, the image processing unit should extract colors by focusing on which region of the imaging range of the object image acquisition unit becomes the color setting region and the colors within the color setting region of the acquired image data. is known in advance. As a result, in the color setting mode (a mode in which the color of the worn object is set and saved as color feature data), the operator can simply place the worn object in the color setting area, and the image processing unit will set the color of the worn object as color feature data. The settings can be saved automatically as data. Then, when the image processing unit is in operation (for example, when image recognition by the image processing unit is enabled and loading work into a cargo box is in progress), the image processing unit uses the saved color feature data to detect the object. The color of the wearable item is recognized from the image data acquired by the image acquisition unit, and the position of the person (the position of the wearable item worn by the person) is recognized. In the color setting mode, the settings of the color feature data as described above are saved, so the operator does not need to connect a terminal device such as a personal computer to the image processing unit by wire. Further, the operator does not need to perform color specification work such as directly inputting the RGB values of a color or specifying the position of the wearable object in the image captured by the object image acquisition unit using a pointing device such as a mouse. Therefore, it is possible to simplify the work of setting and saving the color of a person's clothing as color feature data.

Furthermore, the color of the wearable object (how the color of the wearable object appears) on the image data acquired by the object image acquisition section changes depending on the brightness of the surrounding environment. In the conventional technology, the color of the worn object is set and saved without considering the brightness of the surrounding environment. Therefore, if the brightness of the surrounding environment differs between when the color of the attached item is set and saved and when the work vehicle is used, there is a possibility that the color of the attached item may not be recognized during use. In this solution, the color of an attached object whose appearance changes in image data depending on the brightness of the surrounding environment is set and saved in the image processing unit in advance as a plurality of color feature data corresponding to a plurality of brightness levels. be able to. This allows multiple color feature data to be organized and saved by brightness level without the operator being aware of it, simplifying the work of setting and saving the color of a person's clothing as color feature data. be able to. In addition, when using a work vehicle, the image processing unit always recognizes the color of the attached object appropriately (as a color that corresponds to the brightness of the surrounding environment), without having to worry about the brightness of the surrounding environment. (appropriate recognition) to detect the attached object. Thereby, erroneous recognition of the worn object can be suppressed.

Further, in the present invention, the image processing unit stores in advance a relationship between the brightness level and a color on the image data of a reference color marker that changes according to the brightness level, and the image processing unit , in the color setting mode, the current brightness level is determined from the color on the current image data of the reference color marker of the reference color marker arranged in the color setting area and the attached object; Preferably, the current brightness level and the color of the worn object are stored in association with each other.

The relationship between the brightness level and the color of the reference color marker that changes according to this brightness level is stored in the image processing unit in advance, and the reference color marker and the attached object are placed simultaneously in the color setting area in the color setting mode. By doing so, it is possible to easily associate the current brightness level with the color of the front-mounted object and save the settings without installing a separate brightness sensor in the work vehicle. Further, the reference color marker can be shared by multiple work vehicles.

Further, in the present invention, when the image processing unit determines in the color setting mode that the brightness level corresponding to the color of the reference color marker on the current image data is not within a predetermined range, It is preferable to configure the system so that the notification section transmits error information indicating that the color feature data setting is inappropriate for storage.

In the color setting mode, when a worker tries to set and save the color of the worn object as color feature data, if the brightness of the surrounding environment is too dark and the brightness of the surrounding environment is inappropriate for saving the color feature data settings, the notification unit Error information is sent from. This allows the operator to easily understand the situation and prevent the color characteristic data of the attached item from being set and saved in an unexpected color by canceling the color setting mode, etc. can do.

Further, in the present invention, the packing box includes a garbage input box having a garbage input port, and the object image acquisition unit is disposed above the garbage input port with respect to the garbage input box, and the object image acquisition unit is disposed above the garbage input port with respect to the garbage input box. The device is configured to take an image of the garbage inlet and the vicinity thereof, and the lower edge of the garbage inlet includes an inlet table that extends outward from the garbage inlet and is movable between a horizontal state and an upright state. Preferably, the color setting area is set in the input port table.

In a garbage collection vehicle equipped with a garbage input box having a garbage input port, a freely undulating input table is often provided at the lower edge of the garbage input port. The input port table has been conventionally used to temporarily place garbage when inputting the garbage into the garbage input port. The lower edge of the garbage inlet is located in a position that is easily accessible to the operator in order to facilitate the input of garbage into the garbage inlet, and the input table is also located in a position that is easy for the operator to operate. The present invention takes advantage of the fact that this input port table falls within the imaging range of the object image acquisition unit that is set to image the garbage input port and its vicinity when it is in a horizontal state. I am trying to set the setting area. Thereby, the operator can easily place the attached item in the color setting area of the input port table and easily set and save the color of the attached item as color feature data.

Further, in the present invention, a wireless communication section is connected to the image processing unit, and wireless communication is possible with a mobile terminal carried by the worker and having a display section, and the display section includes the color display section. Preferably, information on feature data is displayed.

According to this configuration, even if the installation location of the image processing unit and the color setting area are far apart, the operator can check the status of color feature data setting storage on the display section of the mobile terminal. This makes it easier to set and save color feature data, compared to the conventional method, in which a terminal device such as a personal computer was connected by wire to an image processing device installed in the driver's cab, and the setting status was checked on the screen of the terminal device. can increase the convenience of

In the present invention, in the color setting mode, an attached object is placed in a color setting area set in a part of the cargo box of a work vehicle, and the color of this attached object is set and saved in the image processing unit as color feature data. ing. Therefore, when setting and saving the color of a person's clothing as color feature data, there is no need to connect a terminal device such as a computer to the image processing device by wire, and it is also possible to directly input the RGB values of the color. It also eliminates the need for color identification work, such as specifying the position of the wearable item in an image captured by a camera using a pointing device such as a mouse. As a result, it is possible to simplify the work of setting and saving the color of a person's clothing as color feature data.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the garbage collection vehicle based on embodiment of this invention. It is a rear view of the garbage collection vehicle of FIG. It is an explanatory view of operation of a garbage loading device equipped on a garbage collection vehicle. 4 is a view taken along the line X1 in FIG. 3. FIG. It is a hydraulic circuit diagram of the garbage loading device of the garbage collection vehicle. It is a block diagram showing a schematic structure of a control system of a garbage collection vehicle. It is an example of the image imaged with the camera, Comprising: It is a figure which shows the time of loading garbage. FIG. 3 is an example of an image captured by a camera, and is a diagram for explaining a color setting area and a reference color marker. FIG. 7 is a diagram showing an example of a map in which the brightness level of the brightness of the surrounding environment, the color of a reference color marker on image data, and the color characteristic data of gloves are associated with each other. 3 is a flowchart illustrating an example of an image processing routine.

Hereinafter, an embodiment in which the present invention is applied to a garbage collection vehicle will be described with reference to the drawings. In other words, a case will be described in which the work vehicle according to the present invention is a garbage collection vehicle equipped with a garbage loading device mounted on a chassis. In addition, in the following description, for convenience, the front, rear, left, and right of the garbage collection vehicle may be simply referred to as "front, rear, left, and right."

-Schematic configuration of garbage collection vehicle-
1 and 2 show a garbage collection vehicle 100 according to an embodiment of the present invention. The garbage collection vehicle 100 is provided with a garbage storage box 2 and a garbage input box 3 as loading boxes on a vehicle chassis 1, and a rear opening of the garbage storage box 2 and a front opening of the garbage input box 3 are provided. It is communicated. Further, the garbage input box 3 is pivotally supported with respect to the garbage storage box 2 by a left-right pivot shaft 3a provided on the upper part thereof, and is tilted by a pair of left and right tilting cylinders (not shown). There is.

In addition, a roughly rectangular garbage input port 4 for inputting garbage G (see FIG. 7) is opened at a lower part on the back side of the garbage input box 3, and a tailgate 5 that can be raised and lowered is used to collect the garbage. The input port 4 is opened and closed. The tailgate 5 is provided with handles 51, 51 that are gripped by an operator during opening and closing operations. A switch box 6 is provided on the left side of the garbage inlet 4 for operating the garbage loading device (activating various actuators) and the like. Further, a camera unit 7 is disposed above the garbage inlet 4 so as to take an image of the garbage inlet 4 and the area in the vicinity thereof. The camera unit 7 is mounted on the upper part of the garbage input box 3 via a support member 80 that protrudes rearward from the inclined rear surface part (curved rear surface part) 3b of the garbage input box 3 disposed above the garbage input opening 4. is fixed.

More specifically, as shown in FIGS. 1 to 4, the support member 80 has a frame shape with base end portions at both left and right ends of the inclined rear surface portion 3b. The camera unit 7 is fixed to the support member 80 at a position in the left and right center of the garbage input box 3. The camera unit 7 includes a camera 71 as an object image acquisition section capable of acquiring a moving image of an object near the garbage inlet 4, a detection lamp 73, and an operating lamp 72. The camera 71 is provided to use image processing to determine whether a person near the garbage inlet 4 is in a dangerous area during the garbage G loading operation. The camera 71 is also used as a back camera for an operator to monitor the rear of the vehicle when the vehicle is backing up. This camera 71 is a monocular camera having a CCD image sensor or a CMOS image sensor. The data of the image (video) captured by the camera 71 is stored in a storage section (memory) M (see FIG. 6) of the image processing unit 9, which will be described later.

The camera 71 is attached to the rear upper part of the garbage input box 3 at a predetermined attachment angle. Specifically, the camera 71 is mounted in a recess 74 provided at the left and right center portions of the camera unit 7 via a mounting bracket 75. The camera 71 has an imaging lens 71a, and is attached to the mounting bracket 75 of the camera unit 7 so as to be vertically adjustable around a horizontal axis so that the imaging lens 71a faces diagonally downward. On both left and right sides of the recessed portion 74 of the camera unit 7, fixing surfaces 7a are provided that are inclined rearward and upward with respect to the horizontal plane (that is, the fixed surfaces 7a are inclined upward toward the rear of the vehicle). An operating lamp 72 is attached to the left fixed surface 7a facing downward. Further, a detection lamp 73 is attached to the right fixed surface 7a facing downward. That is, the operating lamp 72 and the detection lamp 73 are provided on both the left and right sides of the camera 71 near the imaging lens 71a of the camera 71.

Next, as shown in FIG. 3, the inside of the garbage input box 3 is equipped with a garbage loading device (movable device) that loads the input garbage G into the garbage storage box 2. This garbage loading device pushes the garbage G loaded into the garbage input box 3 into the garbage storage box 2 which is connected in front of the garbage input box 3. The garbage storage box 2 is provided with a garbage discharge device (not shown) that discharges the stored garbage G. As this garbage discharge device, for example, the garbage storage box 2 is tilted by a dump cylinder interposed between the vehicle chassis 1 and the garbage storage box 2 to discharge the garbage G, or the garbage storage box 2 is installed inside the garbage storage box 2. It is conceivable that the garbage G may be discharged by moving a discharge plate to the rear of the garbage storage box 2 using a discharge cylinder.

Next, the garbage loading device of this embodiment will be specifically explained. The garbage loading device of this embodiment is a so-called rotary plate type garbage loading device in which garbage G is scooped up by rotation of a rotating plate (loading member) 10, and the garbage G is pushed into a garbage storage box 2 by a pushing plate 20. It is configured as an embedded device. A rotating shaft 11 is installed in the lower part of the garbage input box 3 so as to extend in the width direction thereof, and the base end side of the rotating plate 10 is fixed to this.

In the illustrated example, a hydraulic motor 13 capable of forward and reverse rotation is connected to an end of the rotating shaft 11 via a speed reduction mechanism 12 . The rotation of the hydraulic motor 13 is torqued up by the reduction mechanism 12 and transmitted to the rotating shaft 11, and the rotating plate 10 is rotated together with the rotating shaft 11, so that its tip has a substantially semicircular arc shape in cross section. It comes to move in the front and back direction along the bottom wall of the formed garbage input box 3.

On the other hand, the push plate 20 is provided above the rotary plate 10 over the entire width direction of the garbage input box 3, and is swingable in the front and rear directions around a swing shaft 21 in the left and right direction provided at the upper part of the push plate 20. Supported. Further, the pushing plate 20 is provided with an extending portion 22 extending above the swing shaft 21, and a pushing cylinder 24 is installed between this extending portion 22 and a support pin 23 in front of the extending portion 22. The pushing plate 20 is swung back and forth by the expansion and contraction operation.

Specifically, as shown by the solid line in FIG. 3, when the pushing plate 20 is at the position where it swings the most towards the garbage storage box 2 (advance limit position), the pushing plate 20 rotates without interfering with the pushing plate 20. The plate 10 begins to rotate upward, and the pushing plate 20 swings toward the garbage inlet 4 side after a delay. Even after the pushing plate 20 swings the most towards the garbage inlet 4 side and reaches the backward limit position shown by the imaginary line in FIG. 3, the rotary plate 10 continues to rotate.

The rotary plate 10 rotating in this manner scrapes the garbage G into the garbage storage box 2 side, and once stops at a set stop position extending toward the front garbage storage box 2 side, as shown by the solid line in FIG. . Then, the pushing plate 20 swings toward the garbage storage box 2 side, and pushes the garbage G on the rotary plate 10 into the garbage storage box 2. Then, when the pushing plate 20 reaches the forward limit position again, the rotary plate 10 begins to rotate upward again.

By repeating the rotation of the rotary plate 10 and the rocking of the pushing plate 20 in synchronization with each other in this way, a garbage loading operation is performed in which the garbage G input into the garbage input box 3 is continuously loaded into the garbage storage box 2. will be held. The configuration of the hydraulic circuit and control system for operating the rotating plate 10 and the pushing plate 20 in this manner will be described later.

Inside the garbage input box 3, switches LS1 to LS4 are provided for detecting the positions of the rotating plate 10 and the pushing plate 20. Specifically, as shown in FIG. 3, switches LS1 and LS2 are turned on when the push plate 20 is at the forward limit position or the backward limit position, and switches LS1 and LS2 are turned on when the rotating plate 10 is at the set stop position. A switch LS3 is provided, and a switch LS4 is provided, which is turned on when the rotary plate 10 rotates by a predetermined angle in the positive direction (clockwise in FIG. 3) from its set stop position, and turned off when it is further rotated by a predetermined angle. It is being

The switches LS1 and LS2 are designed to detect a dog (not shown) provided at the end of the pivot shaft 21 of the push plate 20, and the switches LS3 and LS4 are adapted to detect a dog (not shown) provided at the end of the pivot shaft 21 of the rotating plate 10. A dog (not shown) provided at the end of the sensor is detected. Further, as these switches LS1 to LS4, for example, limit switches, photoelectric switches, proximity switches, etc. can be used. In addition, as shown by hatching in FIG. 3, the switch LS4 rotates and descends from just below the front edge (upper edge) 4a of the garbage inlet 4 to the rear thereof. This sensor detects the angular range Z up to the point closest to the rear edge (lower edge) 4b, and detects that the rotary plate 10 is operating near the garbage inlet 4. .

Furthermore, as shown in FIGS. 1 and 2, emergency stop switches 60 and 61, an emergency stop plate 62, etc. are provided near the garbage inlet 4 to stop the operation of the garbage loading device. There is. On the side of the switch box 6 provided on the left side of the garbage inlet 4, there are a loading device operation switch 64 for operating the garbage loading device in cycles and an emergency stop switch 60 for stopping the garbage loading device in an emergency. An emergency stop switch 61 is also provided on the right side of the garbage inlet 4. The emergency stop plate 62 is arranged below the garbage inlet 4 to turn on/off the switch SW2 (see FIG. 3). Further, as shown in FIG. 2, a stop release switch 63 is provided on the rear surface of the switch box 6. This stop release switch 63 is operated when temporarily canceling the emergency stop of the garbage loading operation of the garbage loading device based on image analysis to be described later.

-Control system of garbage loading device-
Next, a control system for operating the garbage loading device will be described with reference to FIGS. 5 and 6. This control system includes a hydraulic circuit that controls the hydraulic pressure supplied to the hydraulic motor 13 of the garbage loading device, the pushing cylinder 24, etc., and a system that outputs control signals to the electromagnetic control valves V1 and V2 provided in this hydraulic circuit. It includes a main body control unit PLC (programmable logic controller) and an image processing unit 9 that performs person recognition processing based on image data from a camera 71. The body control unit PLC is configured to control not only the drive of the garbage loading device but also the drive of the garbage discharge device. Further, the image processing unit 9 and the chassis main body control unit PLC constitute a control device for the garbage collection vehicle 100.

First, the hydraulic circuit will be explained with reference to FIG. This hydraulic circuit includes a hydraulic pump P, an oil reservoir T, an electromagnetic control valve V1 for controlling the push cylinder 24, and an electromagnetic control valve V2 for controlling the hydraulic motor 13. Note that 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 driving source for driving the vehicle.

As an example, the electromagnetic control valves V1 and V2 are both electromagnetic directional control valves with 6 ports and 3 positions. The electromagnetic control valve V1 includes a solenoid SOLa, a solenoid SOLb, and a spool (not shown). When the solenoid SOLa is excited by the bodywork control unit PLC, the electromagnetic control valve V1 switches to the first communication position (upper position in FIG. 5) and transfers the hydraulic oil from the hydraulic pump P to the pair of push cylinders 24. Supplies to the rod side oil chamber. On the other hand, when the solenoid SOLb is excited by the body control unit PLC, the electromagnetic control valve V1 switches to the second communication position (lower position in FIG. 5) and supplies hydraulic oil to the head side oil chamber.

Then, when hydraulic oil is supplied from the electromagnetic control valve V1 to the head-side oil chamber, the pair of push cylinders 24 are extended to swing the push plate 20 forward. On the other hand, when hydraulic oil is supplied to the rod-side oil chamber, the pair of push cylinders 24 are contracted to swing the push plate 20 backward. Further, when neither of the solenoids SOLa and SOLb is excited, the electromagnetic control valve V1 returns to the neutral position (center position in FIG. 5).

The electromagnetic control valve V2 includes a solenoid SOLc, a solenoid SOLd, and a spool (not shown). When the solenoid SOLc is excited, the electromagnetic control valve V2 switches to the first communication position (lower position in FIG. 5), supplies hydraulic oil to the normal rotation side oil chamber of the hydraulic motor 13, and operates the hydraulic motor 13. In addition to operating in normal rotation, the pushing cylinder 24 can also be operated in telescopic operation. On the other hand, when the solenoid SOLd is energized, the electromagnetic control valve V2 switches to the second communication position (upper position in FIG. 5), supplies hydraulic oil to the reverse side oil chamber of the hydraulic motor 13, and operates the hydraulic motor 13. Operate in reverse.

Further, when neither of the solenoids SOLc and SOLd is energized, the electromagnetic control valve V2 returns to the neutral position (center position in FIG. 5). When both the electromagnetic control valves V1 and V2 are in the neutral position, the hydraulic oil returns to the oil reservoir T. In the illustrated hydraulic circuit, reference numeral V3 is a check valve, and reference numeral V4 is a relief valve for setting the upper limit of the discharge pressure of the hydraulic pump P.

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

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

When the PTO switch SWP is turned on while the ignition (not shown) is turned on, it excites a relay coil (not shown) and closes the contacts of the relay coil, thereby supplying power to the bodywork main body control unit PLC. Then, the bodywork main body control section PLC is put into an operable state.

When the loading device operation switch 64 is turned on, it outputs a signal to the chassis main body control unit PLC to operate the garbage loading device, and causes the garbage loading device to perform cycle operation (dust loading operation). ).

When the discharge device operation switch 65 is turned on, it outputs a signal to the chassis main body control unit PLC to operate the garbage discharge device, and discharges the garbage G stored in the garbage storage box 2. (dust discharge operation).

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

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

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

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

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

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

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

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

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

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

For example, when the garbage loading device performs a garbage loading operation, the PTO switch SWP is closed, the contacts of the relay coil are closed, and the bodywork main body control section PLC becomes operable, and the solenoids SOLa to SOLd are activated as appropriate. A control signal will be output to.

In response to this control signal, the solenoids SOLa to SOLd are excited, and the spool positions of the electromagnetic control valves V1 and V2 are appropriately switched, thereby supplying hydraulic pressure to the hydraulic motor 13, push cylinder 24, and the like. As a result, the hydraulic motor 13, the pushing cylinder 24, etc. are operated, and as described above with reference to FIG. 3, the rotation of the rotary plate 10 and the rocking of the pushing plate 20 are repeated in synchronization with each other.

In detail, first, as shown by the solid line in FIG. 3, when the push plate 20 is at the forward limit position, an ON signal is output from the switch LS1, and when the rotating plate 10 is at the set stop position, the ON signal is also output from the switch LS3. When the signal is output, a control signal is output from the bodywork main body control unit PLC that has received the signal from the loading device operation switch 64, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 13 is activated. Start normal rotation operation. As a result, the rotary plate 10 begins to rotate upward.

Then, when a predetermined period of time has elapsed, a control signal is output from the bodywork main body control unit PLC to the solenoid SOLa of the electromagnetic control valve V1, the electromagnetic control valve V1 is switched to the first communication position, and the push cylinder 24 starts the contraction operation. Start. This causes the push plate 20 to swing toward the rear garbage inlet 4 side, and when the push plate 20 reaches the backward limit position, an ON signal is output from the switch LS2.

In response to this, the body 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 swinging of the push plate 20 is stopped. Also, while the pushing plate 20 is swinging, the rotating plate 10 continues to rotate, and the garbage G is pushed into the garbage storage box 2 side. reaches the set stop position, and an ON signal is output from switch LS3.

In response to this, the bodywork main body control unit PLC stops outputting the control signal to the solenoid SOLc of the electromagnetic control valve V2, thereby returning the electromagnetic control valve V2 to the neutral position and stopping the rotation of the hydraulic motor 13. do. In addition, the bodywork main body control unit PLC outputs a control signal to the solenoid SOLb of the electromagnetic control valve V1, and the electromagnetic control valve V1 is switched to the second communication position and the push cylinder 24 starts to extend. The push plate 20 begins to swing forward.

In this way, the pushing plate 20 swinging toward the front garbage storage box 2 pushes the garbage G on the rotary plate 10 into the garbage storage box 2, and when the forward limit position is reached, an ON signal is output from the switch LS1. . In response to this, the bodywork main body 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 pushing cylinder 24 is extended, that is, the pushing plate 20 is The forward swinging stops and the series of movements ends.

-Image processing control system-
By the way, when the garbage loading device is carrying out the garbage loading operation as described above, there is a risk that the operator (person) who is inputting the garbage G into the garbage inlet 4 may be inadvertently caught in the rotary plate 10 or the like. There is. Therefore, in the garbage collection vehicle 100 of this embodiment, the camera 71 is arranged to take an image of the vicinity of the garbage input port 4, and it is determined through image processing that a person near the garbage input port 4 is in a dangerous area. If this happens, the operation of the garbage loading device is immediately stopped.

That is, as shown in FIGS. 1 to 3, a camera 71 is disposed at the upper part of the back of the garbage input box 3, that is, above the garbage input port 4, and its imaging lens 71a is directed diagonally downward at the rear. There is. This camera 71 is configured to image the garbage inlet 4 and a predetermined range behind (near) it, as shown in an example in FIG.

In order to image the rear of the garbage inlet 4, the optical axis of the imaging lens 71a of the camera 71 is directed from vertically downward to rearward, so as to image the person H near the garbage inlet 4 from above. .

As shown in FIG. 6, the camera 71 is connected to an image processing unit 9 (an image processing device, which is disposed around the driver's seat, for example, as shown by the broken line in FIG. 1). Further, a display section (monitor) 93 is connected to the image processing unit 9. This display section 93 provides the image of the camera 71 to the worker H who drives the garbage collection vehicle 100. Furthermore, based on this image, the image processing unit 9 determines whether the worker H or the like is in a dangerous area.

That is, FIG. 7 shows a worker (person) H standing near the garbage inlet 4 with his arms extended forward and loading a garbage bag (garbage) G. The image processing unit 9 determines whether or not the user is in a dangerous area. In this embodiment, the image processing unit 9 determines whether or not the head and hands of the worker H are in a dangerous area. The details of this dangerous area will be described later.

In particular, in this embodiment, whether or not the hands of the worker H are in a dangerous area is determined by the color of the gloves GL, considering that the worker H is generally wearing gloves GL. The settings are saved (registered) in advance in the storage section M of the image processing unit 9 using the color setting mode described later, and the color of the gloves GL is selected from the data of the image taken by the camera 71 while the garbage loading device is in operation. By extracting the same data (same color data) as the feature data (color feature data), it is possible to recognize the worker H (recognize the hand of the worker H). If it is determined that the recognized hand of the worker H is in a dangerous area near the garbage inlet 4, the operation of the garbage loading device is immediately stopped. The configuration for realizing this color setting mode and the operation of the color setting mode will be described later.

As schematically shown in FIG. 6, the image processing unit 9 is provided with an image processing section DSP that receives image data from the camera 71 and performs image processing as described below. The image processing unit DSP is an integrated circuit that performs image processing logic at high speed, and executes an image processing (person recognition processing) routine as shown in the flowchart of FIG. 10, for example. More specifically, this image processing unit DSP corresponds to an image analysis unit together with a control unit (central processing unit) CPU that will be described later. The image processing unit DSP and the control unit CPU refer to the dictionary data stored in the storage unit M and the above-mentioned color characteristic data based on the data of the moving image acquired by the camera 71. It is determined by image analysis whether the person H is in the dangerous area (or whether the person H's hand is in the dangerous area).

The image processing unit 9 includes a control section CPU that executes a predetermined program and performs various controls, a storage section M that stores data used in the control section CPU and the image processing section DSP, and the image processing unit 9. An operation switch SW4 for switching between operation and stop is also provided. Then, while the image processing unit DSP determines that the person H is outside the dangerous area (worker H's hands are outside the dangerous area), the control unit CPU transmits the person safety signal to the body of the bodywork. It is output to the control unit PLC. On the other hand, if the image processing unit DSP determines that the person H is in a dangerous area (person H's hand is in a dangerous area), the control unit CPU sends a person safety signal to the bodywork main body control unit PLC. It is set not to be output. When the human safety signal is no longer output from the control section CPU of the image processing unit 9, the bodywork main body control section PLC uses the interruption of the input of the human safety signal as a trigger to stop the operation of the garbage loading device. The image processing unit 9 is also provided with an external device connection terminal ET for wired connection of a terminal device such as a personal computer using a USB cable, etc., and a color setting mode switch 91 for switching the color setting mode between ON and OFF. It is being

In addition to the camera 71, the image processing unit 9 is connected to a display section 93 for displaying image data acquired by the camera 71 and the results of image processing, a notification section 94, and a wireless communication section 95.

The notification unit 94 outputs error information (error information indicating that the setting of color feature data is inappropriate for saving) when it is determined that the brightness of the surrounding environment is not within a predetermined range when executing the color setting mode. This is for sending a message to worker H. The predetermined range of brightness here is the brightness of the surrounding environment that allows the color of the items worn by the worker H (gloves GL, etc.) to be properly recognized (the color can be properly recognized from the data of the image captured by the camera 71). This range has been determined in advance through experiments and the like. This notification section 94 is constituted by a buzzer, for example, and transmits error information by sounding. Further, the notification section 94 may be one that transmits (displays) error information on the screen of the display section 93.

The wireless communication unit 95 performs wireless communication with a terminal (portable terminal) 200 carried by the worker H. In this embodiment, the wireless communication unit 95 is capable of receiving a signal regarding ON and OFF of the color setting mode from the mobile terminal 200.

The mobile terminal 200 includes a wireless communication unit 201 that exchanges information with the wireless communication unit 95 by short-range wireless communication, an input unit 202 that performs operation input by the worker H, and processing of transmitted and received information and control of transmission and reception. It is equipped with a control unit 203, a display unit 204, and the like.

The mobile terminal 200 is carried by the worker H, and is first paired with the image processing unit 9 when setting and saving the color of the glove GL as color feature data. The color setting mode can be activated from the mobile terminal 200 paired with the image processing unit 9. Therefore, the operator can change the color settings while standing in front of the garbage inlet 9 and inlet table 41 without touching the color setting mode switch 91 of the image processing unit 9 disposed in the driver's cab of the garbage collection vehicle 100. You can now perform configuration tasks.

Further, on the display section 204 of the mobile terminal 200, information on the color characteristic data of the glove GL, which is set and saved in the storage section M of the image processing unit 9, is displayed.

In this embodiment, it is also possible to set and save the color of the glove GL as color feature data in the storage section M of the image processing unit 9 by inputting information from the mobile terminal 200. That is, the worker H operates the mobile terminal 200 to activate the color setting mode, and inputs the color characteristic data (color characteristic data) of the glove GL from among the colors displayed on the display section 204 by operating the input section 202. It is also possible to specify this information by wirelessly communicating from the wireless communication section 201 to the image processing unit 9 via the wireless communication section 95, thereby saving the settings in the storage section M of the image processing unit 9. .

-Color setting mode-
Next, the color setting mode, which is a feature of this embodiment, will be explained. As mentioned above, in this color setting mode, in order to recognize a person H in a predetermined area near the garbage inlet 4, the color setting mode is set to This is a mode for storing (registering) settings in the storage section M of the image processing unit 9 as color feature data. Then, from the data of the image taken by the camera 71 while the garbage loading device is in operation, the same data as the color feature data with the saved settings is extracted and the worker H is recognized (for example, the worker H's hand ), and if it is determined that the recognized worker H (worker H's hand) is in a dangerous area near the garbage inlet 4, the operation of the garbage loading device is immediately stopped.

Considering that the worker H loads the garbage bag G into the garbage inlet 4 by hand, the glove GL is preferably used as the wearable item as described above. Note that the item to be worn is not limited to the gloves GL, but may also be a wristband. Furthermore, considering that the worker H kicks the garbage bag G into the garbage inlet 4 with his or her foot, shoes may be used as the accessory. In addition, a hat or the like may be used as an accessory other than these. In the following description, an example will be described in which the glove GL is used as the worn item.

Before explaining the operation of the color setting mode, the configuration for realizing this color setting mode will be explained.

As shown in FIG. 8, at the lower edge of the garbage inlet 4 and above the emergency stop plate 62, there is an inlet table 41 extending rearward (outward) from the rear edge (lower edge) 4b. is provided. The input port table 41 has a rectangular shape in plan view, and is disposed, for example, over substantially the entire garbage input port 4 in the vehicle width direction. Further, the length of the input port table 41 in the longitudinal direction of the vehicle body is set to, for example, about 10-odd cm. Further, the input table 41 is provided so as to be movable between a horizontal state extending rearward (outward) from the garbage input port 4 and an upright state.

The upper surface 41a of the input table 41 is preferably colored in a color different from the color of the gloves GL that the worker H may wear. For example, when red, blue, and green are assumed to be the colors of the gloves GL that the worker H may wear, the upper surface 41a of the input table 41 is preferably colored white or black. As will be described later, when the glove GL is placed on the upper surface 41a of the input table 41 in the color setting mode and an image is taken by the camera 71, the color of the glove GL is determined from among the data of the image acquired by the imaging. This is to make it appear characteristically (so that the color of the glove GL can be clearly identified). For this reason, the upper surface 41a of this input table 41 serves as a color setting area for an attached article (a color setting area for an attached article set as a part of a packing box) in the present invention. The color of the gloves GL and the color of the upper surface 41a of the input table 41 are not limited to those described above. However, the color of the gloves GL (wearing item) is not something that can be selected completely freely by the worker H, but rather a plurality of basic colors are selected so that the image processing unit 9 can limit the range of colors to be extracted from the image data. A color is set. Further, the color setting area may be set on a part of the upper surface 41a of the input port table 41 instead of the entire surface.

The color setting mode is activated by turning on the color setting mode switch 91 or by operating the input section 202 of the mobile terminal 200 paired with the image processing unit 9, and the operator H presses the input slot table 41. By placing the gloves GL on the upper surface 41a (see the gloves GL shown in FIG. 8) and capturing an image with the camera 71, the color of the gloves GL worn by the worker H is stored as color characteristic data in the storage section M of the image processing unit 9. Save the settings. That is, since the positional relationship between the camera 71 and the slot table 41 is fixed, the position of the slot table 41 in the image captured by the camera 71 is fixed. Therefore, the position of the input port table 41 in this image (for example, the range of coordinate positions of the input port table 41 in the image) is specified. Therefore, in the color setting mode, the color of the object of a color other than the color of the upper surface 41a of the input port table 41 existing at this position (furthermore, the object of a color other than the color of the reference color marker SM to be described later) is set to the color of the glove GL. This color is set and stored in the storage section M of the image processing unit 9 as color feature data.

On the other hand, on the upper surface 41a of the input table 41, a reference color marker SM is arranged. The reference color marker SM is a disc-shaped member placed by the operator H in order to recognize the brightness of the surrounding environment during the color setting mode. When the reference color marker SM is removed from the upper surface 41a of the input table 41 in a mode other than the color setting mode, the reference color marker is removed due to the garbage G coming into contact with the reference color marker SM during the loading operation into the garbage input box 3. This prevents the SM from getting dirty. If the brightness of the surrounding environment differs, the hue (brightness) of the reference color marker SM imaged by the camera 71 will also differ, so if the hue of the reference color marker SM at the reference brightness level is known, It becomes possible to judge the brightness of the surrounding environment from the hue of the reference color marker SM on the data of the image captured by the camera 71. Therefore, the color of the reference color marker SM is a color whose hue changes greatly depending on the brightness of the surrounding environment, and the color of the gloves GL that the worker H may wear and the input port table 41 are selected. It is preferable that the color is set to be different from the color of the upper surface 41a. As described above, when red, blue, and green are assumed to be the colors of the gloves GL that the worker H may wear, the color of the reference color marker SM is set to purple or the like. The color of the reference color marker SM is not limited to this. The hue and saturation are set appropriately so that the hue changes greatly depending on the brightness. The storage unit M of the image processing unit 9 stores in advance the relationship between the brightness level and the color on the image data of the reference color marker SM that changes depending on the brightness level. Since the color of the reference color marker SM is set to a different color from the color of the upper surface 41a of the input port table 41, the image recognition unit 9 acquires the color of the reference marker SM from the image data obtained by the camera 71. It's easy to do. Note that the storage unit M of the image processing unit 9 stores in advance the installation position of the reference color marker SM on the input port table 41 (the coordinate position of the reference color marker SM in the image captured by the camera 71). By setting the position, the operator H can easily place the reference marker SM at the installation position marked on the upper surface 41a of the input table 41, while the image recognition unit 9 can more reliably acquire the color of the reference marker SM. can.

Therefore, in the color setting mode, when the operator H places the reference color marker SM on the upper surface 41a of the input table 41 and the upper surface 41a of the input table 41 is imaged by the camera 71, the reference color marker SM is Colors (colors that change depending on the brightness of the surrounding environment) will also be automatically acquired.

Further, in the color setting mode, information associating the brightness level with the color characteristic data of the glove GL is set and saved in the storage section M of the image processing unit 9.

More specifically, in the color setting mode, the image processing unit 9 selects the current image data of the reference color marker SM of the reference color marker SM and the glove GL arranged on the upper surface 41a of the input port table 41. By determining the current brightness level from the color, the settings are saved in association with the current brightness level and the color of the gloves GL.

In addition, in the color setting mode, by storing a plurality of color characteristic data corresponding to each brightness level in the storage unit M of the image processing unit 9 for the same glove (gloves of the same color) GL, the brightness of the surrounding environment is Information in which the color level, the color of the reference color marker SM on the image data, and the color characteristic data of the glove GL are associated with each other is set and saved.

FIG. 9 is a diagram showing an example of a map in which the brightness level of the surrounding environment, the color of the reference color marker SM on the image data, and the color feature data of the glove (color setting object) GL are associated with each other. be. What is shown in FIG. 9 is the brightness level of the surrounding environment, where the brightest level of the surrounding environment is level 1, and the darkest level of the surrounding environment is level 5, and the brightness level is set to correspond to these five brightness levels. , is information in which the color of the reference color marker SM on the image data and the color characteristic data of the glove GL are associated with each other.

As an example of the method for creating the map shown in FIG. The processing unit 9 images the reference color marker SM and the glove GL arranged on the upper surface 41a of the input table 41 using the camera 71. Then, the image processing unit 9 determines the current brightness level from the color on the current image data (for example, it is determined to be level 3), and uses the brightness level of the specific surrounding environment and the reference color marker on the image data. The color of SM is associated with the color characteristic data of glove GL. Furthermore, the image processing unit 9 adjusts the brightness of the color of the reference color marker SM and the brightness of the glove GL on the image data to other levels (for example, level 1) by color correction (brightness correction) through image processing. , 2, 4, and 5) to match the brightness level of the surrounding environment at each of these multiple stages, the color of the reference color marker SM on the image data, and the gloves. An example of this is to create the map shown in FIG. 9 by creating information that is associated with GL color feature data. Alternatively, by imaging the reference color marker SM and the glove GL with the camera 71 while actually changing the brightness of the surrounding environment into a plurality of steps, the brightness level of the surrounding environment at each of the plurality of steps can be determined. The map shown in FIG. 9 may be created by creating information that associates the color of the reference color marker SM on the image data with the color characteristic data of the glove GL.

This map is created by setting the mode of the image processing unit 9 to the color setting mode, for example, before the garbage collection vehicle 100 departs (before leaving the garbage collection station, etc.). That is, by placing the gloves GL to be used that day on the upper surface 41a of the input table 41 (see the gloves GL shown in FIG. 8) and capturing an image with the camera 71, the color of the gloves GL is image-processed as color feature data. This is done by saving the settings in the storage section M of the unit 9.

By creating such a map, when the color of the glove GL is extracted from the image data obtained by photographing the garbage inlet 4 and the area in its vicinity by the camera 71, the brightness of the current surrounding environment can be determined. If the level is within an appropriate range, the color of the glove GL extracted from the image data matches the color feature data of the glove GL at any brightness level set and saved in the storage unit M. In this case, the color of the glove GL extracted from the image data is specified as the color of the glove GL that should be detected at the current brightness level of the surrounding environment, and the worker H is recognized (recognizes the worker H's hand). ) will be possible.

Also, if you create such a map, as long as you wear gloves GL of that color (a color for which color feature data has already been set and registered), you will not need to set and save the color feature data again using the color setting mode. It disappears. However, Gloves GL may become dirty depending on how often they are used, or their color may fade due to washing, etc., so if you take these into account, even if you use Gloves GL of the same color, you should change the color at regular intervals. It is preferable to set and save the color feature data in the storage section M of the image processing unit 9 depending on the setting mode.

-Image processing routine-
Next, the image processing routine in the image processing unit 9 configured as described above will be explained. This image processing routine uses the above-mentioned color setting mode to process information in which the brightness level of the surrounding environment, the color of the reference color marker SM on the image data, and the color characteristic data of the glove GL are associated with each other. The process is carried out in a state where the settings are saved in the storage section M of the unit 9 (a state where the map shown in FIG. 9 is saved in the storage section M).

The image processing unit DSP is a general integrated circuit that performs known image processing logic at high speed, as described above. The image processing unit DSP and the control unit CPU cooperate to carry out, for example, color binarization processing of input image data, labeling processing of regionalizing each pixel that is close to each other in this binarized image data, A person identification process that identifies a person wearing an attachment based on the size of an object image that has been segmented into a region by labeling within a predetermined range; and A person position determination process is performed to determine whether or not the area is dangerous.

Specifically, the image processing routine will be described with reference to the flowchart of FIG. 10. First, in step S1 after the start, color binarization processing is performed. For example, input image data is converted from RGB color space to HSV color space, and if the hue, saturation, and brightness of each pixel are within a preset threshold range, the extracted color is determined. If the color is outside the threshold range, the color is treated as a non-extraction target color. The generated color binary image data has most of the effects of noise and changes in light amount removed.

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

Color feature data used for determining color binarization processing is selected from the map shown in FIG. For example, in the case of a garbage collection vehicle 100 that is not equipped with a brightness sensor, the current brightness level during loading work is not known, so color feature data corresponding to all brightness levels are subjected to color binarization processing, and If there is a pixel that matches the color feature data of the brightness level, it is extracted. On the other hand, in the case of the garbage collection vehicle 100 equipped with a brightness sensor, the image processing unit 9 uses the brightness sensor to obtain the current brightness level, and calculates the color characteristics corresponding to the brightness level. Color binarization is performed only on the data, and pixels that match the color feature data are extracted.

Next, in step S2, labeling processing is performed. This is to region each pixel that is extracted from the color binary image data and are close to each other. For example, one region is created for a plurality of pixels that belong to the same color feature data and are close to each other within a predetermined distance. This is a process that considers The labeling process is performed on the entire image plane, and each region defined as one area is recognized as an object image.

Then, in the subsequent step S3, a person identification process is performed for each of the object images. In this embodiment, an object image that satisfies the condition of having a size within a predetermined range is determined to be a person H by referring to data indicating the size. That is, in step S3, on the premise that the object image matches the color feature data of the glove GL set and saved in the storage section M of the image processing unit 9 according to the color setting mode, the size of the object image is set within a predetermined range. The hand of person H is recognized by making the limitation that the hand is

Regarding the object image identified as the hand of person H in this way, in step S4, it is determined whether or not this object image is in a preset dangerous area.

In this embodiment, the dangerous area is the area in front of the boundary line B1 between the front edge 4a and the rear edge 4b of the garbage inlet 4, that is, on the back side of the garbage inlet 4, as shown in FIG. has been done.

Then, it is determined whether the positional coordinates of pixels forming the outline of the object image (area) identified as the hand of person H as described above are located in front of the boundary line B1 of the dangerous area.

If it is determined in the affirmative that the hand of the person H is in a dangerous area (YES), the control unit CPU of the image recognition unit 9 proceeds to step S5 and stops the operation of the garbage loading device. , the output of the person safety signal to the bodywork main body control unit PLC is stopped, and the image processing routine is ended (end). On the other hand, if a negative determination is made that the hand of person H is not in a dangerous area (NO), the output of the person safety signal is maintained and the image processing routine is ended (END).

Then, when the input of the person safety signal from the control unit CPU is stopped, the bodywork main body control unit PLC that received the signal determines that if the signal from the switch LS4 is ON, that is, the rotating plate 10 is dangerous. If it is within the angle range Z, energization to all solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2 is stopped. Therefore, the electromagnetic control valves V1 and V2 in the first communication position or the second communication position all return to the neutral position, and as a result, the operation of the hydraulic motor 13 and the push cylinder 24 is immediately stopped.

-Effects of embodiment-
As explained above, in the garbage collection vehicle 100 according to the present embodiment, when the worker H sets and saves the color of the worn item (gloves GL, etc.) as color feature data, the color setting area in which the worn item is placed is input. It is known in advance that this is the upper surface 41a of the mouth table 41. Furthermore, the image processing unit 9 knows in advance that the upper surface 41a of the input port table 41 within the imaging range of the camera 71 will be the color setting area. As a result, in the color setting mode, when the operator H simply places the attached item on the upper surface 41a of the input table 41, the image processing unit 9 automatically stores the color of the attached item in the storage unit M as color feature data. Settings can be saved. Conventional technology involves the work of connecting a terminal device such as a personal computer to an image processing unit by wire, directly inputting the RGB values of a color, and using a pointing device such as a mouse to determine the position of an attached object in an image captured by a camera. Previously, it was necessary to specify the color by specifying the color, but in this embodiment, such work is no longer necessary. Therefore, it is possible to simplify the work of setting and saving the color of the person H's clothing as color feature data.

Furthermore, in the present embodiment, the image processing unit 9 sets brightness levels that divide changes in the brightness of the surrounding environment into multiple levels, and in the color setting mode, the image processing unit 9 sets brightness levels that divide changes in the brightness of the surrounding environment into multiple levels, and in the color setting mode, the same wearable object is set according to each brightness level. A plurality of color characteristic data are set and saved in the storage section M of the image processing unit 9 (set and saved as a map shown in FIG. 9). In this way, the color of the wearable object whose appearance changes in image data depending on the brightness of the surrounding environment is set and saved in advance in the image processing unit 9 as a plurality of color feature data corresponding to a plurality of brightness levels. be able to. This allows multiple color feature data to be organized and saved according to brightness level without the worker H being aware of it, simplifying the task of setting and saving the color of person H's clothing as color feature data. can be achieved. Furthermore, when using the garbage collection vehicle 100, the image processing unit 9 always recognizes the color of the attached object appropriately (depending on the brightness of the surrounding environment), without worrying about the brightness of the surrounding environment. The attached object is detected by appropriately recognizing it as a corresponding color. Thereby, erroneous recognition of the worn object can be suppressed.

Further, in this embodiment, the relationship between the brightness level and the color on the image data of the reference color marker SM that changes according to the brightness level is stored in advance in the storage section M of the image processing unit 9, In the color setting mode, the control unit CPU determines the current brightness from the color on the current image data of the reference color marker SM, which is between the reference color marker SM arranged on the upper surface 41a of the input port table 41 and the attached object. The current brightness level is determined and the color of the worn object is associated with the current brightness level and stored in the storage unit M. As a result, the current brightness level and the color of the attached object can be easily associated with each other and stored in the storage unit M without providing a separate brightness sensor in the garbage collection vehicle 100. Further, the reference color marker SM can be shared by a plurality of garbage collection vehicles 100.

Furthermore, in the present embodiment, in the color setting mode, when the worker H tries to set and save the color of the worn object as color feature data, the brightness of the surrounding environment is too dark to save the color feature data settings. In case of inappropriateness, error information is transmitted from the notification section 94. As a result, worker H can easily understand this situation and prevent the color characteristic data of the attached item from being set and saved in an unexpected color by canceling the color setting mode, etc. It can be prevented.

Further, in this embodiment, the camera 71 is disposed above the garbage inlet 4 with respect to the garbage inlet box 3, and is configured to take an image of the garbage inlet 4 and its vicinity. An input table 41 is provided at the lower edge of the opening 4 and extends outward from the garbage input opening 4 and is movable between a horizontal state and an upright position, and a color setting area is set on the upper surface of the input table 41. There is. The lower edge of the garbage inlet 4 is located at a position that is easy for the worker H to reach to make it easier to input the garbage G into the garbage inlet 4, and the input table 41 is also located at a position that is easy for the operator H to operate. . In this embodiment, this input port table 41 takes advantage of the fact that it falls within the imaging range of the camera 71 that is set to image the garbage input port 4 and its vicinity when it is in a horizontal state. I am trying to set a color setting area on the top of the . Thereby, the operator H can easily place the worn object in the color setting area of the input port table 41 and easily set and save the color of the worn object as color feature data.

Further, in this embodiment, the image processing unit 9 is capable of wireless communication with the mobile terminal 200 of the worker H via the wireless communication section 95, and the display section 93 of the mobile terminal 200 is displayed. , information on color feature data is displayed. Therefore, even if the installation location of the image processing unit 9 and the top surface 41a (color setting area) of the input slot table 41 are far apart, the worker H can check the status of the color feature data settings and save on the display section 93 of the mobile terminal 200. can be confirmed. This makes it easier to set and save color feature data, compared to the conventional method, in which a terminal device such as a personal computer was connected by wire to an image processing device installed in the driver's cab, and the setting status was checked on the screen of the terminal device. can increase the convenience of

-Other embodiments-
The embodiments disclosed herein are illustrative in all respects, and are not the basis for restrictive interpretation. The technical scope of the present invention is not to be interpreted only by the above-described embodiments, but is defined based on the claims. Further, the technical scope of the present invention includes all changes within the meaning and scope equivalent to the scope of the claims.

In the embodiment described above, a case has been described in which the present invention is embodied as a garbage collection vehicle 100 equipped with a so-called rotary plate type garbage loading device, and the main parts of the garbage loading device are It is configured. However, the main part of the garbage loading device is not limited to this, and the main part of the garbage loading device may be constituted by a lifting plate and a pushing plate, and the structure is not particularly limited. Furthermore, the present invention can be applied to work vehicles other than garbage collection vehicles, such as dump trucks, mixer trucks, tank trucks, container handling vehicles, and suction trucks. Various devices other than loading devices are possible.

Furthermore, in the embodiment described above, the color of the gloves GL worn by the worker H is used as color feature data to identify the hand through image processing. The shape of the head may be identified by image recognition.

Furthermore, in the embodiment, in the color setting mode, the map shown in FIG. ), but the present invention is not limited to this. For example, immediately before starting the loading work of garbage G into the garbage loading device, the color characteristic data (color characteristic data) of the gloves GL is set and saved in the storage section M of the image processing unit 9 using the color setting mode. By doing so, the color of the glove GL can be appropriately recognized in situations where the brightness of the surrounding environment does not change, so there is no need to create the map in advance. For example, the color setting mode is executed just before the start of loading work during the day (when the brightness of the surrounding environment is bright) and just before the start of loading work in the evening (when the brightness of the surrounding environment is relatively dark). For example, the color characteristic data of the color of the glove GL may be set and stored in the storage section M of the image processing unit 9.

In the embodiment, in the color setting mode, among the reference color marker SM and the glove GL arranged on the upper surface 41a (color setting area) of the input port table 41, the current image data of the reference color marker SM is The current brightness level was determined from the color, and the current brightness level and the color of the gloves GL were associated and stored in the storage unit M. The present invention is not limited to this, and the image processing unit 9 connects the brightness sensor provided in the garbage disposal box and the image processing unit in order to recognize the current brightness level, and the image processing unit 9 connects the brightness sensor provided in the garbage disposal box to the image processing unit. The brightness level may be determined from the detected value.

Further, in the embodiment described above, the color setting area of the attached object in the present invention is the upper surface 41a of the input table 41. The present invention is not limited to this, and any part of the garbage disposal box 3 within the image range captured by the camera 71 may be set as the color setting area.

Further, the color setting area does not need to always exist within the image range captured by the camera 71, and may exist within the image range only during the color setting mode. For example, the input slot table may be provided with a drawer and the color setting area may be set in the drawer. In this case, when the drawer section is not pulled out, the color setting area is stored inside the input slot table, thereby preventing the color setting area from becoming dirty. Furthermore, in the color setting mode, the operator can easily arrange the color setting area within the image range captured by the camera by pulling out the drawer.

Furthermore, in the embodiment described above, the color feature data set and saved in the storage section M of the image processing unit 9 is targeted at one color (specifically, one color among red, blue, and green). The present invention is not limited to this, and the color feature data to be set and saved may target two or more colors. For example, when worker H wears gloves GL of different colors on his right and left hands, or when loading garbage G is carried out by multiple workers H wearing gloves GL of different colors, It is preferable to set and save the color of each glove GL to be worn as color feature data in the storage section M of the image processing unit 9.

Further, in the above embodiment, the object image acquisition unit is configured as a monocular camera having a CCD image sensor or a CMOS image sensor, but the present invention is not limited to this, and the object image acquisition unit is configured as a monocular camera having a CCD image sensor or a CMOS image sensor. The object image acquisition unit may be configured by a distance image sensor that can simultaneously acquire images.

The present invention provides a garbage loading device that includes a garbage loading device disposed inside a garbage inputting box, and an object image acquisition section that is attached to the garbage inputting box and acquires an image of the vicinity of the garbage inputting opening of the garbage inputting box. Available for collection vehicles.

3 Garbage disposal box (packing box)
41 Inlet table 41a top surface (color setting area)
71 Camera (object image acquisition unit)
9 Image processing unit 94 Notification unit 95 Wireless communication unit 100 Garbage collection vehicle (work vehicle)
200 Mobile terminal M Storage unit H Operator (person)
GL gloves (wearing items)
SM standard color marker

Claims (5)

A work vehicle comprising: an object image acquisition section; an image processing unit that recognizes the color of an item worn by a person from image data acquired by the object image acquisition section; and a cargo box to which the object image acquisition section is attached. There it is,
The object image acquisition unit is arranged such that a part of the packing box and the vicinity of the packing box are included in the image data,
A part of the packing box is set as a color setting area of the attached item,
The image processing unit includes:
It has a color setting mode in which the color of the wearable object placed in the color setting area of the image data is set and saved as color feature data, and the color feature data set and saved in this color setting mode is used. , configured to recognize the color of the person's clothing from the image data acquired by the object image acquisition unit,
Furthermore, the image processing unit is set with a brightness level that divides changes in brightness of the surrounding environment into multiple stages,
The working vehicle is characterized in that, in the color setting mode, a plurality of color characteristic data corresponding to each of the brightness levels are set and stored in the image processing unit for the same wearing object. The work vehicle according to claim 1,
The image processing unit stores in advance a relationship between the brightness level and the color on the image data of the reference color marker that changes depending on the difference between the brightness levels,
In the color setting mode, the image processing unit calculates the current brightness from the color on the current image data of the reference color marker and the attached object arranged in the color setting area. A work vehicle characterized in that the current brightness level and the color of the attached object are stored in association with each other. The work vehicle according to claim 2,
When the image processing unit determines in the color setting mode that the brightness level corresponding to the color of the reference color marker on the current image data is not within a predetermined range, the image processing unit saves the settings of the color feature data. A work vehicle characterized in that the work vehicle is configured to transmit error information from a notification section indicating that the vehicle is inappropriate. The work vehicle according to any one of claims 1 to 3,
The shipping box includes a garbage input box having a garbage input port,
The object image acquisition unit is disposed above the garbage input port with respect to the garbage input box, and is configured to image the garbage input port and its vicinity,
An input table is provided at the lower edge of the garbage input port and extends outward from the garbage input port and is movable between a horizontal state and an upright state, and the color setting area is set on the input table. A work vehicle featuring: The work vehicle according to any one of claims 1 to 4,
A wireless communication unit is connected to the image processing unit, and wireless communication is possible with a mobile terminal carried by a worker and having a display unit, and information on the color feature data is displayed on the display unit. A work vehicle characterized by:

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