JP7614975B2 - Refuse collection truck - Google Patents

Description

The present invention relates to a refuse collection vehicle equipped with a loading device that can store refuse in a storage box.

Conventionally, there has been known a refuse collection vehicle equipped with a storage box (refuse storage box) for storing refuse, and a refuse input box (also called a "tailgate") equipped with a loading device having a pushing member that temporarily holds the refuse input from a rear input opening by a worker or the like and moves the refuse into the storage box.

Patent Document 1 discloses a safety device for a refuse collection vehicle. Specifically, an electromagnetic wave sensor that detects the approach of a human body such as a worker, and a sound-collecting microphone that picks up the voice of the worker are provided, and the loading device is brought to an emergency stop if a human body or sound of a predetermined volume or higher is detected while the moving part of the loading device is operating in a dangerous area where there is a risk of an entrapment accident. Furthermore, in the invention described in Patent Document 1, if a human body is detected during the period from when a proximity switch detects that the moving part of the loading device has reached the beginning of the dangerous area until a predetermined time has elapsed as measured by a timer, the loading device is brought to an emergency stop. This prevents the loading device from being brought to an emergency stop when refuse is loaded or when a human body approaches during times when there is little risk of an entrapment accident, making it less likely that work will be interrupted while ensuring safety.

Patent No. 5479643

However, in the invention described in Patent Document 1, the loading device is not stopped in an emergency after a predetermined time has elapsed as determined by a timer. Although this is in accordance with the object of the invention, it is not preferable from a safety standpoint because, for example, if the loading device becomes jammed with long waste and an operator continues to approach the loading device to deal with the problem, the loading device is not stopped in an emergency after the predetermined time has elapsed as determined by a timer. As such, there is room for improvement in terms of safety measures with conventional safety devices.

The present invention aims to provide a refuse collection vehicle that enhances safety while avoiding emergency stops of the loading device in low-risk conditions.

The present invention provides a hydraulically driven loading device that includes a garbage storage box for storing garbage, an input section where an operator inputs garbage, and a pushing member that pushes the garbage input into the input section into the garbage storage box, an imaging means for imaging a work area where an operator works on the loading device, a control unit that controls the device based on images captured by the imaging means, and at least one of a hydraulic detection means for detecting the hydraulic pressure of the loading device or a relief valve that operates due to an increase in the hydraulic pressure of the loading device, and the control unit determines whether the operator is in a dangerous state from the images, and stops the loading operation of the loading device when the dangerous state occurs. The control unit issues a stop command to the loading device when the hydraulic pressure detected by the hydraulic pressure detection means is less than a predetermined pressure, or when the relief valve is not activated, the dangerous state occurs within a first time period after the loading operation of the loading device starts, and when the hydraulic pressure detected by the hydraulic pressure detection means is equal to or greater than a predetermined pressure, or when the relief valve is activated, the dangerous state occurs within a second time period longer than the first time period after the loading operation of the loading device starts. This is a garbage collection vehicle characterized in that the stop command is issued to the loading device by the control unit when the hydraulic pressure detected by the hydraulic pressure detection means is less than a predetermined pressure, or when the relief valve is activated, the dangerous state occurs within a second time period longer than the first time period after the loading operation of the loading device starts.

According to the above configuration, the control unit does not instruct the loading device to stop after the first or second time has elapsed, so emergency stopping of the loading device is not performed in a state where there is little risk. Furthermore, if the hydraulic pressure is equal to or higher than a predetermined pressure, or if the relief valve is activated, for example, the loading device may have caught long waste, and there may be a worker near the loading device to take measures against this. Therefore, by extending the time for emergency stopping of the loading device from the first time to the second time, safety is improved.

The image also includes a boundary line indicating the boundary of a dangerous area near the loading device in the work area where the worker may be in danger, and the control unit includes a border crossing determination means for determining whether a person imaged in the image has crossed the boundary line into the dangerous area, and the dangerous state may be a state in which the border crossing determination means has determined that a person has crossed the border.

With this configuration, the relationship between the person's image and the boundary line in the image can be used to reliably determine whether the worker is in a dangerous state.

The present invention provides a refuse collection vehicle that is safer while avoiding emergency stops of the loading device in low-risk conditions.

1 is a side view of a refuse collection vehicle according to an embodiment of the present invention. FIG. 3A to 3D are diagrams illustrating the operation of the working device in the garbage collection vehicle, in which FIG. 3A shows the initial state, FIG. 3B shows the state after inversion, FIG. 3C shows the state after secondary compression, and FIG. 3D shows the state after primary compression. FIG. 4 is a schematic diagram of an imaging means of the refuse collection vehicle. FIG. 2 is a block diagram of the refuse collection vehicle. 4 is a schematic diagram showing an image captured by an imaging means of the refuse collection vehicle. FIG. 4 is a schematic diagram showing an image captured by an imaging means of the refuse collection vehicle. FIG. FIG. 4 is a flow chart showing a process in the garbage collection vehicle.

Below, one embodiment of a refuse collection vehicle according to the present invention will be described with reference to Figures 1 to 8.

The refuse collection vehicle 1 collects refuse such as garbage and transports it to a disposal facility, and is equipped with a hydraulically driven loading device 5 for loading the refuse onto the refuse collection vehicle 1, an imaging means for imaging the work area where workers work on the loading device 5, and a control unit for controlling based on the images captured by the imaging means. The imaging means in this embodiment is a camera 61 capable of imaging the area behind the refuse collection vehicle 1.

The refuse collection vehicle 1 comprises a chassis 2 having a driver's cab 21, a refuse storage box 3 arranged on the chassis 2 behind the driver's cab 21, a refuse drop box 4 connected to the rear of the refuse storage box 3, a loading device 5 arranged inside the refuse drop box 4, an imaging unit 6 having a camera 61 and attached to the refuse drop box 4, and a control unit 7 capable of controlling the loading device 5.

The dust collection box 3 is a box-shaped part that stores dust and has an opening 31 that opens toward the rear.

The trash bin 4 has an input opening (input section) 41 that opens toward the rear at the rear end, and trash is input through the input opening 41. Inside the trash bin 4, the bottom 45 has an arc-shaped curved surface that is convex downward when viewed from the vehicle width direction. The trash bin 4 also has a lid 42 that opens and closes the input opening 41 by sliding up and down. The trash bin 4 is connected to the trash storage box 3 via a pivot shaft 43 that is provided at the top and extends in the vehicle width direction. The trash bin 4 can rotate around the pivot shaft 43, and this rotation opens and closes the opening 31 of the trash storage box 3. For example, when the trash bin 4 is in the position shown by the solid line in FIG. 1, it closes the opening 31 of the trash storage box 3, and when it is rotated upward to the position shown by the two-dot chain line in FIG. 1, it opens the opening 31 of the trash storage box 3, allowing the trash stored in the trash storage box 3 to be discharged to the outside.

The loading device 5 has a push plate (pushing member) 53 that pushes the garbage inserted from the input opening 41 into the garbage storage box 3, and is arranged in the garbage input box 4. This loading device 5 is connected to the control unit 7 and controlled by the control unit 7. Specifically, the loading device 5 has a pair of guide rails 51 that extend along both side walls of the garbage input box 4 and in an inclined direction, a pair of sliders 52 that can slide (be guided) along each guide rail 51, the above-mentioned push plate 53 arranged between the pair of sliders 52, and a pin 54 that connects each slider 52 and the push plate 53. This pin 54 extends in the vehicle width direction and connects the push plate 53 to each slider 52 so that the push plate 53 can rotate freely around the pin 54. This pushing plate 53 is a member that compresses the trash that has been thrown into the trash dump box 4 and pushes it into the trash storage box 3, and the tip 53a of the pushing plate 53 extends straight in the vehicle width direction.

The loading device 5 also has a pair of push cylinders (compression drive means) 55 and a pair of press cylinders (push drive means) 56 that drive the push plate 53, and each of the pair of push cylinders 55 and the pair of press cylinders 56 has a cylinder 55c, 56c and a piston 55p, 56p that advances and retreats relative to the cylinder 55c, 56c. Each of the pair of push cylinders 55 is arranged along both side walls in the trash bin 4, and each of the pair of press cylinders 56 is also arranged along both side walls in the trash bin 4.

In each push cylinder 55, the end on the cylinder 55c side is connected to the side wall of the trash bin 4 via a pin 551, and the end on the piston 55p side is connected to the upper end of the slider 52 (the slider 52 on the corresponding side in the vehicle width direction) via a pin 552. When this push cylinder 55 extends, the slider 52 to which the push cylinder 55 is connected moves diagonally upward along the guide rail 51, and when it contracts, the slider 52 to which the push cylinder 55 is connected moves diagonally downward along the guide rail 51.

In addition, in each press cylinder 56, the cylinder 56c end is connected to the push plate 53 via a pin 561, and the piston 56p end is connected to the upper end of the slider 52 via a pin 552 together with the piston 55p end of the push cylinder 55. When the pair of push cylinders 55 maintain their length, i.e., when the piston 55p does not advance or retreat relative to the cylinder 55c, the pair of press cylinders 56 extend in sync with each other, causing the push plate 53 to rotate around the pin 54 (rotating in the clockwise direction in FIG. 1), and when they contract in sync with each other, causing the push plate 53 to rotate around the pin 54 (rotating in the counterclockwise direction in FIG. 1).

The loading device 5 also has an operation unit 57 as an operation input unit for an operator who inserts garbage into the garbage insert box 4 from the insert opening 41 to operate the loading device 5. This operation unit 57 is provided with an input unit for performing various inputs such as an ON/OFF button and switches for the loading device 5, an emergency stop button for the loading device 5, a reset button, etc. The operation unit 57 also has various input units such as switches, buttons, dials, etc. for setting the control of the loading device 5 and changing these settings.

The loading device 5 of this embodiment operates in a momentary manner (automatic return type). For example, when the input unit is turned ON, this triggers a sequence operation of the loading device 5, which automatically stops when the sequence operation is completed. The loading device 5 may also operate in an alternate manner (holding type), in which operation continues after the input unit is turned ON until it is turned OFF.

The operating units 57 are arranged at the rear end of the waste dump box 4, more specifically, on both sides of the dump opening 41 in the vehicle width direction, so that workers can operate them while dumping waste into the dump opening 41. In the waste collection vehicle 1 of this embodiment, the operating unit 57, which is located to the left of the dump opening 41 when viewed from the rear, has multiple components necessary for operation, such as buttons, and the operating unit 57, which is located to the right of the dump opening 41, has only an emergency stop button.

Details of the garbage loading operation of the loading device 5 configured as above will be explained below with reference to Figures 3(a) to 3(d). Here, Figures 3(a) to 3(d) are explanatory diagrams of the operation, with only the push plate 53, push cylinder 55, and press cylinder 56 extracted. Note that the position of the push cylinder 55 has been shifted in each figure to make the drawings easier to see.

First, when each component 53, 55, 56 is in the initial state (the state shown in FIG. 3(a)), each press cylinder 56 contracts, causing the tip 53a of the pushing plate 53 to rotate around the pin 54 in a direction away from the trash storage box 3 (counterclockwise in FIG. 3(a)) (i.e., the "reversal" process is performed), resulting in the state shown in FIG. 3(b).

From this state, as each push cylinder 55 contracts, the push plate 53 moves diagonally downward along the extension direction of the guide rail 51 while maintaining its position in the rotation direction around the pin 54 (i.e., the "primary compression" process is performed), resulting in the state shown in FIG. 3(d). In other words, the push plate 53 approaches the input opening 41.

Next, as each press cylinder 56 extends, the tip 53a of the pusher plate 53 rotates around the pin 54 in a direction approaching the trash storage box 3 (clockwise in FIG. 3(d)) (i.e., the "secondary compression" process is performed), resulting in the state shown in FIG. 3(c). As the pusher plate 53 rotates around the pin 54, the tip 53a of the pusher plate 53 moves along the bottom 45 inside the trash bin 4. In other words, the bottom 45 inside the trash bin 4 has a curved shape that follows the trajectory of the tip 53a of the pusher plate 53 that rotates in the secondary compression process.

Then, as each push cylinder 55 extends, the pushing plate 53 moves diagonally upward along the extension direction of the guide rail 51 while maintaining its orientation in the rotation direction around the pin 54 (i.e., the "pushing" process is performed), returning to the state shown in FIG. 3(a). That is, the pushing plate 53 pushes the trash that has been subjected to the primary and secondary compression from the opening 31 into the trash storage box 3.

As described above, each push cylinder 55 and each press cylinder 56 alternately expands and contracts, causing the pusher plate 53 to perform one cycle of movement (reversal, primary compression, secondary compression, pushing). As a result, the trash that has been thrown into the trash dump box 4 from the dump opening 41 is stored (loaded) into the trash storage box 3. In this one cycle of movement, the movement trajectory of the tip 53a of the pusher plate 53 as viewed from the vehicle width direction forms a closed shape connecting four points (see the two-dot chain lines in Figures 3(a) to 3(d)).

As shown in FIG. 4, the imaging unit 6 has a camera 61 capable of imaging the work area where workers, etc., insert trash into the loading device 5 in the trash insert box 4 through the insert opening 41, and a support unit 62 that supports the camera 61. In addition, the imaging unit 6 of this embodiment has a notification unit (notification means) 63 that can notify workers, etc., based on the image captured by the camera 61.

The camera 61 has a lens 611 and an image sensor 612 that captures an image of the work area through the lens 611. The camera 61 of this embodiment captures video and has a wide-angle lens 611 that can capture a sufficient range (wide range) when capturing the work area. The image captured by the camera 61 is, for example, an image of the danger area Ar1 captured from above.

This imaging element 612 is, for example, a CCD image sensor, a CMOS image sensor, etc., and outputs image data of the captured image (in this embodiment, a moving image). The camera 61 is also connected to the control unit 7, and outputs image data to the control unit 7. The camera 61 is also connected to the rear monitor M (see FIG. 1) arranged in the driver's cab 21, and outputs image data to the rear monitor M as well.

The support part 62 supports (holds) the camera 61 so that the camera 61 is positioned above the input opening 41. The support part 62 has a base 621 that is fixed to the upper side of the input opening 41 in the trash input box 4, a bracket 622 that connects the camera 61 to the base 621, and a cover plate 624 that is attached around the periphery of the base 621.

The base 621 is a frame-like part formed by combining long plate members, pipes, etc., and extends rearward (specifically, diagonally upward) from the upper part of the input opening 41 of the waste input box 4.

The bracket 622 connects the tip of the base 621 to the camera 61 that is positioned below the tip. The base end (the end on the base 621 side) 622a of the bracket is connected to the tip of the base 621 via an axis member 623 that extends in the vehicle width direction, and the tip end (the end opposite the base end) 622b is connected to the camera 61. The bracket 622 can rotate around the axis member 623. This rotation makes it possible to change the range that the camera 61 can capture.

The cover plate 624 is a plate-like member that is arranged around the base 621 to protect the camera 61 from debris and other objects that may fly into the camera while the refuse collection vehicle 1 is in motion.

The notification unit 63 notifies the workers and the like who are inserting garbage from the input opening 41 into the garbage input box 4 and people around them about the safety of the workers and the like. The notification unit 63 of this embodiment has multiple lamps 63a, 63b, and 63c that emit different colors when lit, and notifies the workers and the like about the safety of the workers and the like by the lit lamps. For example, in the notification unit 63, when the worker is working in a safe area (an area where an entrapment accident in the loading device 5, etc. is unlikely to occur) in the work area, the first lamp 63a emits green light, when the worker approaches a dangerous area (an area where an entrapment accident in the loading device 5, etc. is likely to occur) Ar1, the second lamp 63b emits yellow light, and when the worker enters the dangerous area Ar1, the third lamp 63c emits red light. The light emission mode may be continuous light emission or flashing. The notification unit 63 may notify by sound (buzzer or voice) in addition to or instead of the lamps 63a to 63c.

The control unit 7 can control the loading device 5 based on the image Im1 captured by the camera 61. The control unit 7 is composed of a microcomputer that includes, for example, a CPU (Central Processing Unit), non-volatile memory elements such as a ROM (Read Only Memory) or an EEPROM (Electrically Erasable Programmable Read Only Memory) that store in advance various programs executed by the CPU and data required for the execution of the programs, and volatile memory elements such as a RAM (Random Access Memory) that serves as the so-called working memory of the CPU, and its peripheral circuits.

As shown in FIG. 5, the control unit 7 configured in this manner is functionally configured with a person identification means 71, a boundary setting means 72, a border crossing determination means 73, an instruction means 74, and a test run control means 75 by executing a program. In this embodiment, the control unit 7 determines whether the worker is in a dangerous state from the image Im1, and instructs the loading device 5 to stop loading operation if the worker is in a dangerous state. Note that a "dangerous state" is a state in which the border crossing determination means 73 determines that a person image Im2 (described below) has crossed the border into the danger area Ar1 side of the danger line L1, out of the lines L1 and L22 set in the image Im1.

As shown in Figs. 6 and 7, the person identification means 71 identifies the person image Im2 from the captured object of the image (moving image) Im1 captured by the camera 61 by surrounding it with a geometric frame Fr. When the person image Im2 surrounded by the frame Fr moves within the image Im1, the person identification means 71 moves the frame Fr in accordance with the movement of the person image Im2. In addition, the area (size, shape, etc.) of the person image Im2 occupying the image Im1 changes due to changes in the posture of the person image Im2, the position in the work area, etc., and the person identification means 71 changes the size of the frame Fr in response to this change. The shape of the frame Fr may be changed in response to the change in the person image Im2. In addition, when the image Im1 from the camera 61 contains multiple person images Im2, the person identification means 71 surrounds each person image Im2 with a frame Fr. In this embodiment, the person identification means 71 surrounds the person image Im2 with a square frame Fr. In addition, identifying the person image Im2 from the subject of the image (moving image) Im1 captured by the camera 61 by surrounding it with a geometric frame Fr includes applying a geometric shape to the person image Im2 from the subject of the image (moving image) Im1 captured by the camera 61 and making the edges of that geometric shape the frame Fr, and surrounding the person image Im2 with an irregular shape along the boundary between the person image Im2 and the background (the outline of the person image) and making the edges of that irregular shape the frame Fr.

The boundary setting means 72 sets a predetermined line (boundary line) L in the image Im1 from the camera 61. For example, the boundary setting means 72 adds the line L to the image Im1 from the camera 61. The boundary setting means 72 can set at least one of the position (boundary position) and linear shape of the line L in the image Im1 from the camera 61. Functionally, the boundary setting means 72 has a boundary adding means 721, a boundary position setting means 722, and a boundary curvature setting means 723. The boundary setting means 72 may set the line L in the image Im1 from the camera 61 while it is displayed on a monitor, or may set the line L on the data.

The boundary adding means 721 adds a line L to the image Im1 (on the image data) from the camera 61. This line L is a linear line indicating the boundary of a dangerous area Ar1 that may pose a danger to workers, etc., near the input opening (loading device 5) of the garbage input box 4 in the work area, or a boundary area along that boundary. In other words, the line L is set on the edge of the input opening 41 (loading device 5) or in its vicinity, and indicates the boundary or boundary area between the dangerous area Ar1 and another area (area other than the dangerous area Ar1) Ar2, where danger caused by the loading device 5 may pose a danger to workers, etc. (see Figure 1).

The boundary adding means 721 of this embodiment adds two types of lines, a danger line (stop boundary line) L1 and a warning line L2, to the image Im1 (on the image data) from the camera 61. That is, the lines L include the danger line L1, which is a boundary line indicating the boundary of the danger area Ar1, and the warning line L2. This danger line L1 is a line for controlling the control unit 7 to stop the loading device 5 from performing work. The warning line L2 is a line for controlling the notification unit 63 to notify that a worker or the like is approaching the danger area Ar1 (danger line L1), and is a line set at a position where the distance from the input opening 41 is greater than the danger line L1. The warning line L2 of this embodiment is set above the danger line L1 in the image Im1 (the side of the danger line L1 farther than the loading device 5).

Each of these lines L1 and L2 is a straight line extending in the left-right direction or a curve extending in the left-right direction. In this embodiment, each of the lines L1 and L2 is a curve set based on the distortion aberration of the lens 611 of the camera 61. Specifically, each of the lines L1 and L2 is a curve having a shape conforming to the straight line in the captured image Im1 (i.e., the straight line in a curved state due to the distortion aberration of the lens 611) when the camera 61 captures a straight line parallel to the vehicle width direction drawn on the ground or the like. Since the camera 61 is provided at the rear of the garbage collection vehicle 1 and captures the rear of the garbage collection vehicle 1, the straight line parallel to the vehicle width direction is captured in the image Im as a straight line extending horizontally if no distortion occurs due to the lens 611. However, because the lens 611 is a wide-angle lens, the curvature of each portion of the danger line L1 and warning line L2 in this embodiment is set based on the distance from the optical axis of the lens 611 in the image Im1 (more specifically, the position equivalent to the optical axis of the lens 611 (hereinafter also referred to as the "optical axis equivalent position")). Even if the danger line L1 and warning line L2 are set based on a vertical line (a straight line parallel to the front-to-rear direction of the vehicle) in the image Im in which the danger line is captured, the curvature of each portion of the lines L1 and L2 is set based on the distance from the position equivalent to the optical axis.

The boundary position setting means 722 sets (changes) the positions of the lines L1 and L2 in the image Im1 from the camera 61. The boundary position setting means 722 also changes the relative positions of the lines L1 and L2 in at least one of the vertical and horizontal directions with respect to the image Im1 without changing the shapes of the lines L1 and L2.

In more detail, the operation unit 57 has a boundary position input unit (boundary position input means) 571 that can input the positions (boundary positions) of the lines L1 and L2 in the image Im1 from the camera 61, and the boundary position setting means 722 changes the positions of the lines L1 and L2 in the image Im1 (in the example of this embodiment, the positions in the vertical direction) based on the input from the boundary position input unit 571 of the operation unit 57. The boundary position setting means 722 of this embodiment can change the positions of the lines L1 and L2 in the image Im1 in the vertical direction (the direction toward or away from the loading device 5). This boundary position setting means 722 may be configured to change the positions of the lines L1 and L2 in the image Im1 individually, or may be configured to change both lines L1 and L2 together (simultaneously).

The boundary curvature setting means 723 sets (changes) the curvature of each of the lines L1 and L2 in the image Im1 from the camera 61. The boundary curvature setting means 723 also changes the curvature of each of the lines L1 and L2 while maintaining the relative position of any one point of each of the lines L1 and L2 (for example, a central point in the extension direction of each of the lines L1 and L2) in the vertical and horizontal directions with respect to the image Im1.

More specifically, the curvature of each line L1, L2 in image Im1 (more specifically, the curvature of each part of each line L1, L2) is set (changed) based on the distance from the position equivalent to the optical axis in image Im1 of each line L1, L2 set (position changed) by boundary position setting means 722 (corresponding to the distance from the optical axis of lens 611). As a result, when the position of lines L1, L2 in image Im1 from camera 61 is changed by boundary position setting means 722, the shape of lines L1, L2 (curvature of each part) changes in response to this change in position (in response to the change in distance from the position equivalent to the optical axis in image Im1). That is, boundary curvature setting means 723 can deform each line L1, L2 whose position in image Im1 has been changed in response to, for example, the distortion aberration of lens 611.

The "distance from the optical axis" mentioned above is the radial distance based on the center of the optical axis. Due to the distortion aberration of the lens 611, subjects that are farther away in the radial direction from the center of the optical axis appear more curved in the image than subjects that are closer in the radial direction. Specifically, as shown in FIG. 6, the input opening (input section) 41 of the trash input box 4 appears greatly curved in the image Im1.

The boundary curvature setting means 723 can set (change) the curvature of each line L1, L2 regardless of whether the position of each line L1, L2 in the image Im1 is set by the boundary position setting means 722. Specifically, the operation unit 57 has a boundary curvature input unit (boundary curvature input means) 572 that can input the curvature of each line L1, L2 in the image Im1 from the camera 61, and the boundary curvature setting means 723 sets (changes) the curvature of each line L1, L2 in the image Im1 based on the input from the boundary curvature input unit 572 of the operation unit 57.

The border crossing determination means 73 determines whether or not the person image Im2 in the image Im1 from the camera 61 has crossed each of the lines L1 and L2 toward the danger area Ar1, and outputs an instruction signal when it is determined that the person image Im2 has crossed the lines L1 and L2 toward the danger area Ar1. In this embodiment, the border crossing determination means 73 determines whether or not at least a part of the frame Fr identified by the person identification means 71 has crossed the danger line L1 toward the danger area Ar1, and whether or not at least a part of the frame Fr identified by the person identification means 71 has crossed the warning line L2 toward the danger area Ar1 (the danger line L1 side). The border crossing determination means 73 outputs an instruction signal to different destinations depending on the lines L1 and L2 that it is determined that the frame Fr has crossed.

The instruction means 74 instructs at least one of the loading device 5 and the notification unit (notification means) 63 based on the judgment of the border crossing judgment means 73. This instruction means 74 functionally has a stop instruction means 741 and a warning instruction means 742. The instruction means 74 also has a time measurement means such as a timer. However, the time measurement means may be provided in the control unit 7 independently of the instruction means 74, and the location within the control unit 7 does not matter. The time measurement means measures the elapsed time from the start of the loading operation by starting the loading device 5, for example. Alternatively, it may measure the elapsed time from a certain time after the start of the loading device 5. Note that the timing may be started not by the start of the loading device 5, but by the detection of a limit switch provided to detect the operation of the loading device 5, for example. In this case, a limit switch is not necessary for the end of the timing, so the configuration can be simplified accordingly.

The stop instruction means 741 instructs the loading device 5 to stop the operation (operation) of the loading device 5 when the border crossing determination means 73 determines that at least a part of the frame Fr in the image Im1 from the camera 61 has crossed the danger line L1 to the danger area Ar1 side (loading device 5 side) and before the first time described below or a second time longer than the first time has elapsed. That is, the stop instruction means 741 stops the operation of the loading device 5 (emergency stop) when it receives an instruction signal from the border crossing determination means 73. At this time, the stop instruction means 741 also instructs the notification unit 63 to emit light from the third lamp 63c. The time for performing the emergency stop of the loading device 5 is set to the first time or the second time. In this embodiment, this setting is performed by the stop instruction means 741, but a separate time extension means may be provided in the control unit 7 and the time extension means may perform the setting.

The warning instruction means 742 instructs the notification unit 63 to issue a warning when the border crossing determination means 73 determines that at least a portion of the frame Fr in the image Im1 from the camera 61 has crossed the warning line L2 into the danger area Ar1 (loading device 5). That is, the warning instruction means 742 causes the notification unit 63 to issue a warning when it receives an instruction signal from the border crossing determination means 73. The warning instruction means 742 of this embodiment instructs the notification unit 63 to emit light from the second lamp 63b when at least a portion of the frame Fr has crossed the warning line L2 into the danger area Ar1.

The warning instruction means 742 outputs an instruction to the notification unit 63 when at least a part of the frame Fr crosses the warning line L2 toward the danger area Ar1 while the trial run control means 75 is functioning (operating), i.e., while the control unit 7 is performing a trial run. Furthermore, the stop instruction means 741 does not issue an instruction to the loading device 5 while the control unit 7 is performing a trial run, even if at least a part of the frame Fr crosses the danger line L1 toward the danger area Ar1.

The trial run control means 75 executes a trial run of the control unit 7. In detail, the operation unit 57 has a trial run switch (trial run input means) 573 that switches the control unit 7 to a trial run state (setting mode), and the trial run control means 75 executes a trial run of the control unit 7 based on an input from the trial run switch 573 of the operation unit 57. This trial run control means 75 functionally has a stop maintenance means 751 and a notification instruction means 752.

The stop maintaining means 751 maintains the loading device 5 stopped. Specifically, the stop maintaining means 751 maintains the stopped state of the loading device 5 while the control unit 7 is performing a test run by input from the test run switch 573 of the operation unit 57. That is, while the control unit 7 is performing a test run, the stop maintaining means 751 does not operate the loading device 5 even if the worker operates the operation unit 57 to operate the loading device 5. In other words, the test run control means 75 ignores the operation input from the operation unit 57 while the test run is being performed.

The notification instruction means 752 instructs the notification unit 63 to issue a notification when the border crossing determination means 73 determines that the frame Fr has crossed each of the lines L1 and L2 into the danger area Ar1 while the stop maintaining means 751 keeps the loading device 5 stopped (i.e., while the control unit 7 is executing a test run). Specifically, the notification instruction means 752 instructs the notification unit 63 to illuminate the corresponding lamp 63b when at least a part of the frame Fr in the image Im1 from the camera 61 crosses the warning line L2 into the danger area Ar1, and further instructs the notification unit 63 to illuminate the corresponding lamp 63c when at least a part of the frame Fr in the image Im1 crosses the danger line L1 into the danger area Ar1.

The oil pressure detection means 76 detects the hydraulic pressure of the loading device 5, and is, for example, a sensor provided in an oil line for operating the loading device 5, and detects an increase in the hydraulic pressure of the oil line caused by the loading device getting stuck, etc. The detection result is used by the stop instruction means 741 when issuing an instruction to stop the loading device 5.

In this embodiment, the stop instruction means 741 issues an instruction to stop the operation of the loading device 5 under the following conditions. In other words, the stop instruction means 741 issues an instruction to stop the loading device 5 if the operating oil pressure detected by the oil pressure detection means 76 is less than a predetermined pressure and the dangerous state occurs within a first time period after the loading operation of the loading device 5 starts. Also, if the operating oil pressure detected by the oil pressure detection means 76 is equal to or greater than the predetermined pressure, the stop instruction means 741 issues an instruction to stop the loading device 5 if the dangerous state occurs within a second time period longer than the first time period after the loading operation of the loading device 5 starts.

In the refuse collection vehicle 1 configured as described above, when a worker or someone (worker, etc.) is loading refuse into the refuse loading box 4 (loading device 5) through the loading opening 41, it accurately detects that the worker or a person (worker, etc.) near the refuse collection vehicle 1 during operation is approaching or entering the danger area Ar1, and an alarm is issued or the loading device 5 is stopped (emergency stop), thereby preventing accidents caused by the loading device 5, such as entrapment accidents. Specifically, it is as follows (see Figure 8).

When the operation unit 57 is operated to activate the loading device 5 and start the operation of dumping garbage through the dump opening 41, the camera 61 of the imaging unit 6 starts capturing an image (step S1), and the captured image (movie image data) Im1 is output to the control unit 7.

When the control unit 7 receives the image Im1 from the camera 61, the boundary adding means 721 adds lines L (danger line L1 and warning line L2) to the image (image data) Im1 (step S2).

The person identification means 71 also identifies the person image Im2 in the image Im1 from the camera 61 by surrounding it with a frame Fr (step S3). After this identification, the person identification means 71 changes the position, shape, size, length and width dimensions, etc. of the frame Fr to follow the movement of the identified person image Im2 (movement of the worker in the work area, change in posture, etc.).

Then, the border crossing determination means 73 determines whether or not at least a part of the frame Fr in the image Im1 to which the danger line L1 and warning line L2 have been added has crossed over any of the lines L1 and L2 into the danger area Ar1. Note that if multiple frames Fr are set in the image Im1 (i.e., there are multiple human figures Im2), the border crossing determination means 73 determines whether or not the lines L1 and L2 have been crossed over into the danger area Ar1 for each frame Fr of the multiple human figures Im2.

In more detail, when the border crossing determination means 73 determines that the frame Fr approaches the danger area Ar1 in the image Im1 from the camera 61 and that at least a part of the frame Fr crosses the warning line L2 to the danger area Ar1 side (the lower side in Figures 6 and 7) (Step S4: Yes), it outputs an instruction signal to the warning instruction means 742. Having received this instruction signal, the warning instruction means 742 causes the notification unit 63 to issue an alert (Step S5). In this embodiment, the warning instruction means 742 causes the notification unit 63 to emit the second lamp 63b to notify the worker or the like that the warning line L2 has been crossed. At this time, the loading device 5 continues to operate.

Furthermore, while the frame Fr does not cross the warning line L2 into the dangerous area Ar1 in the image Im1 from the camera 61 (step S4: No), the border crossing determination means 73 continues to determine (monitor) whether at least a portion of the frame Fr crosses the warning line L2 into the dangerous area Ar1.

In addition, when the worker or the like leaves the danger area Ar1 due to the notification from the notification unit 63, that is, when the border crossing determination means 73 determines that the frame Fr determined to have crossed the warning line L2 in the image Im1 from the camera 61 has resolved the border crossing state (a state in which at least a part of the frame Fr has crossed the warning line L2 into the danger area Ar1) (Step S6: Yes), the border crossing determination means 73 stops outputting the instruction signal to the warning instruction means 742. As a result, the warning instruction means 742 stops the notification to the notification unit 63 (Step S12), and the border crossing determination means 73 resumes determining (monitoring) whether or not at least a part of the frame Fr has crossed the warning line L2 into the danger area Ar1.

On the other hand, when the worker, etc., does not leave the danger area Ar1 despite the notification by the notification unit 63 and approaches further, that is, in the image Im1 from the camera 61, the frame Fr does not leave the danger area Ar1 (step S6: No) and approaches further, and the border crossing determination means 73 determines that at least a part of the frame Fr has crossed the danger line L1 to the danger area Ar1 side (step S7: Yes), the border crossing determination means 73 outputs an instruction signal to the stop instruction means 741 and also outputs an instruction signal to the warning instruction means 742 (illuminating the third lamp 63c). The stop instruction means 741 that receives this instruction signal stops the operation of the loading device 5 (i.e., performs an emergency stop: step S11). This prevents accidents caused by the loading device 5, such as entanglement due to the worker, etc., getting too close to the danger area Ar1 or entering the danger area Ar1. In addition, the loading device 5 that has been stopped in an emergency can be restarted by pressing the reset button on the operation unit 57 when the worker or other person leaves the danger area Ar1.

Here, in this embodiment, between step S7 and step S11, the hydraulic pressure of the loading device 5 is judged (step S8), and the time elapsed since the start of the loading operation is judged (steps S9, S10). In step S8, it is judged whether the hydraulic pressure detected by the hydraulic pressure detection means 76 is equal to or greater than a predetermined pressure, and if it is less than the predetermined pressure, the process proceeds to step S9. On the other hand, if it is equal to or greater than the predetermined pressure, the process proceeds to step S10. If the first time has not elapsed since the start of the loading operation in step S9, the process proceeds to step S11 (emergency stop). Similarly, if the second time has not elapsed since the start of the loading operation in step S10, the process proceeds to step S11 (emergency stop). On the other hand, if the first time has elapsed since the start of the loading operation in step S9, or if the second time has elapsed since the start of the loading operation in step S10, the stop instruction means 741 does not stop the operation of the loading device 5. In such a case, the moving push plate 53 of the moving loading device 5 is farther away from the loading opening 41 than before the first or second time had elapsed, and there is a high possibility that the worker has already left the loading device 5, so the degree of danger is relatively low.

In addition, in the image Im1 from the camera 61, when the frame Fr crosses the warning line L2 toward the danger area Ar1 but has not crossed the danger line L1 toward the danger area Ar1 (step S7: No), i.e., when the part of the frame Fr located closest to the danger area Ar1 is located between the warning line L2 and the danger line L1, the border crossing determination means 73 continues to determine (monitor) whether the state in which the frame Fr has crossed the warning line L2 (border crossing state) has been resolved and whether the frame Fr has crossed the danger line L1 toward the danger area Ar1.

In addition, in the refuse collection vehicle 1 of this embodiment, it is possible to set (change) the position and curvature of the danger line L1 and warning line L2 in the image Im1. When this setting (changing) is performed, the trial run switch 573 of the operation unit 57 is pressed, i.e., the control unit 7 enters a trial run state (setting mode), and the worker, etc. can actually approach the input opening 41 or the loading device 5 without operating the loading device 5 to test at what position the worker, etc. must approach to the input opening 41 or the loading device 5 in the input opening 41 before the notification unit 63 notifies the user that the warning line L2 has been crossed and an emergency stop is performed on the loading device 5. Specifically, this is as follows.

When the trial run switch 573 of the operation unit 57 is pressed, the control unit 7 performs a trial run (switches to the setting mode), and the camera 61 of the imaging unit 6 starts taking images. At this time, the loading device 5 does not operate, but the boundary setting means 72, border crossing determination means 73, and trial run control means 75 function (operate) in the control unit 7. In this way, since the trial run control means 75 (more specifically, the stop maintenance means 751) is functioning while the control unit 7 is performing a trial run, even if the loading device 5 is turned ON (operating state) by operating the ON/OFF button of the loading device 5 arranged on the operation unit 57, the stopped state of the loading device 5 is maintained by the stop maintenance means 751, that is, the loading device 5 does not operate. Note that if the loading device 5 is operating, it is stopped to transition to and maintain the stopped state.

Then, the position of each line L1, L2 in image Im1 is set (changed) by input from the boundary position input section 571 of the operation section 57, or the curvature of each line L1, L2 in image Im1 is set (changed) by the boundary curvature input section 572 of the operation section 57. Note that in the garbage collection vehicle 1 of this embodiment, the position and curvature of each line L1, L2 in image Im1 can be changed by input from the boundary position input section 571 or the boundary curvature input section 572 without performing a test run of the control section 7.

Here, when the positions of the lines L1 and L2 in the image Im1 are moved by the input from the boundary position input unit 571, the boundary curvature setting means 723 automatically sets (adjusts) the curvature of each line L1 and L2 according to the distance from the optical axis equivalent position in the image Im1 (i.e., the distortion aberration of the lens 611) even without input from the boundary curvature input unit 572. Here, in the case where the optical axis equivalent position coincides with the center of the image Im1, an example is taken of a line L extending horizontally and located below the center. If this line L is moved upward (toward the optical axis), the curvature is made smaller (the radius of curvature is made larger), and conversely, if it is moved downward (away from the optical axis), the curvature is made larger (the radius of curvature is made smaller). Note that the curvature may be one curvature (approximate to a perfect circle) for one line L, or may be a combination of curves with multiple curvatures. In the case of a combination of multiple curves, the curvature is set (adjusted) for all or one of the curves. Furthermore, if the boundary curvature setting means 723 sets the curvature of the line L before the position change in response to an instruction from the boundary curvature input unit 572, the curvature is further set (adjusted) for the curve that has already been set.

With the position and curvature set (changed) in this way, a worker, for example, approaches the input opening 41 by recreating the task of inputting garbage into the input opening 41. At this time, if at least a part of the frame Fr in the image Im1 from the camera 61 crosses the newly set warning line L2 (the warning line whose position and curvature in the image Im1 are set (changed)), the notification instruction means 752 of the trial run control means 75 instructs the notification unit 63 to illuminate the corresponding lamp 63b. Also, if at least a part of the frame Fr in the image Im1 from the camera 61 crosses the newly set danger line L1 (the danger line whose position and curvature in the image Im1 are set (changed)), the notification instruction means 752 of the trial run control means 75 instructs the notification unit 63 to illuminate the corresponding lamp 63c.

In this way, in the garbage collection vehicle 1 of this embodiment, it is possible to set the position and curvature of each line L1, L2 in the image Im1 when the loading device 5 is stopped (when no accidents caused by the loading device 5, such as entrapment accidents, have occurred).

As described above, according to the refuse collection vehicle 1 of this embodiment, the control unit 7 does not issue a stop command to the loading device 5 after the first or second time has elapsed, so the loading device 5 is not stopped in an emergency when there is little risk. Furthermore, when the hydraulic pressure is equal to or higher than a predetermined pressure, for example, the loading device 5 may have caught long garbage, etc., and there is a possibility that an operator is near the loading device to take measures against this, so by extending the time for an emergency stop of the loading device 5 from the first time to the second time, safety is increased by the extended time. Furthermore, by using the relationship between the person image in Im1 in the image and the boundary line L (specifically, the danger line L1), the dangerous state of the operator can be reliably determined.

The present invention can be modified in various ways without departing from its spirit. The specific configuration of each part is not limited to the above embodiment.

For example, the instruction means 74 in the above embodiment functionally includes a stop instruction means 741 and a warning instruction means 742. However, it may include only one of the stop instruction means 741 and the warning instruction means 742. Also, the instruction means 74 in the above embodiment is an inseparable means including the stop instruction means 741 and the warning instruction means 742. However, the stop instruction means 741 and the warning instruction means 742 may be separate means.

It is also possible to define an ignored area within image Im1, which is an area where no dangerous area is set. The edge line defining the ignored area is straight and is set at least at either the left or right edge within image Im1. Line (boundary line) L is set so as to intersect with the edge line. The edge line can be, for example, a straight line parallel to either the left or right side of image Im1 as shown in FIG. 6, etc. By defining the ignored area in this way, a danger judgment is not made for the image of the operator operating the operation unit 57 located in the ignored area. This makes it possible to prevent a warning from being issued every time the operator operates the operation unit 57.

In the above embodiment, the stop maintenance means 751 maintains the loader 5 directly, but it can also be performed via the instruction means 74. For example, the power supply to the operation unit 57 can be cut off to disable the operation unit 57 itself. It can also be configured to ignore the signal from the operation unit 57 even if it is received. It can also be mechanically disabled by fitting a stopper between the movable part of the working device (the slider 52 and the push plate 53 in the case of the refuse collection vehicle 1) and the fixed part (the refuse input box 4 in the case of the refuse collection vehicle 1).

In addition, in the above embodiment, the notification instruction of the notification instruction means 752 was given directly to the notification unit 63, but it can also be given via the instruction means 74.

In addition, the target to which the notification instruction means 752 instructs to notify during the test run is not limited to the notification unit 63, but may be a means provided in the garbage collection vehicle 1 separately from the notification unit 63. For example, the notification instruction means 752 may instruct to notify a display provided in the driver's cab.

In addition, in the above embodiment, the control unit 7 is equipped with a hydraulic pressure detection means 76. Alternatively, for example, a relief valve (not shown) that is normally provided in the oil passage for operating the loading device 5 and operates to reduce the hydraulic pressure when the operating hydraulic pressure in the oil passage increases due to an object getting caught in the loading device 5, etc., may be used, and the control unit 7 may issue a stop command to the loading device 5 on the condition that the existing relief valve is operating.

In addition, in the above embodiment, as shown in FIG. 8, the notification unit 63 always issues a notification when crossing the warning line L2. However, similar to an emergency stop of the loading device 5, the notification unit 63 may be set not to issue a notification after the first or second time has elapsed.

In addition, if the hydraulic pressure detected by the hydraulic pressure detection means 76 remains at or above a predetermined pressure for a certain period of time or more, the setting of the second time period may be canceled, and the loading device 5 may be brought to an emergency stop even after the originally set second time period has elapsed, unless the hydraulic pressure drops. This can increase safety in the event of an abnormality.

1...Refuse collection vehicle, 2...Vehicle chassis, 3...Refuse storage box, 4...Refuse input box, 5...Loading device, 6...Imaging unit, 7...Control unit, 21...Driver's cab, 31...Opening, 41...Input opening (input unit), 42...Cover, 45...Bottom, 51...Guide rail, 52...Slider, 53...Pushing plate (pushing member), 53a...Tip, 54...Pin, 55...Push cylinder (compression drive means), 55c...Cylinder, 55p...Piston, 56...Press cylinder (pushing drive means ), 56c...cylinder, 56p...piston, 57...operation unit (motion input unit), 61...camera (imaging means), 62...support unit, 63...alarm unit (alarm means), 63a...first lamp (lamp), 63b...second lamp (lamp), 63c...third lamp (lamp), 71...person identification means, 72...boundary setting means, 73...border crossing determination means, 74...instruction means, 75...trial operation control means, 551, 552, 561...pin, 571...boundary position Input section (boundary position input means), 572...boundary curvature input section (boundary curvature input means), 573...trial run switch (trial run input means), 611...wide-angle lens (lens), 612...imaging element, 621...base, 622...bracket, 622a...base end, 622b...tip, 623...shaft member, 624...cover plate, 721...boundary adding means, 722...boundary position setting means, 723...boundary curvature setting means, 741...stop instruction means, 742...warning warning instruction means, 751...stop maintenance means, 752...notification instruction means, 76...hydraulic pressure detection means, Ar1...danger area, Ar2...area other than the dangerous area Ar1, Fr...frame, Fr1...near end (end), Fr2...far end (end), Im1...image (image data, moving image, moving image data), Im2...human figure, L...line (boundary line), L1...danger line (line, stop boundary line), L2...warning line (line), M...back monitor

Claims (2)

A dust collection box for collecting dust;
A hydraulically driven loading device including an input section where an operator inputs garbage and a pushing member that pushes the garbage inputted into the input section into the garbage storage box;
an imaging means for imaging a work area where an operator works on the loading device;
A control unit that performs control based on an image captured by the imaging means;
At least one of a hydraulic pressure detection means for detecting the hydraulic pressure of the loading device and a relief valve that operates in response to an increase in the hydraulic pressure of the loading device,
The control unit determines a dangerous state of the worker from the image, and when the dangerous state corresponds to the worker, instructs the loading device to stop the loading operation,
The stop instruction to the loading device by the control unit is
When the hydraulic pressure detected by the hydraulic pressure detection means is lower than a predetermined pressure, or when the relief valve is not in operation, the dangerous state occurs within a first time period from the start of the loading operation of the loading device,
This garbage collection vehicle is characterized in that it is performed when the operating oil pressure detected by the oil pressure detection means is equal to or higher than a predetermined pressure, or when the relief valve is activated and the dangerous state occurs within a second time period that is longer than the first time period from the start of the loading operation of the loading device. A boundary line is set on the image, the boundary line indicating a boundary of a dangerous area in the work area near the loading device where a danger may be posed to a worker,
The control unit includes a border crossing determination unit that determines whether or not the human image captured in the image crosses the boundary line into a dangerous area,
2. The refuse collection vehicle according to claim 1, wherein the dangerous state is a state in which the border crossing determination means determines that a border has been crossed.