Garbage collection vehicle

Abstract

To provide a garbage collection vehicle that can alert operators to dangerous conditions.SOLUTION: A garbage collection vehicle comprises a garbage collection box for collecting garbage, a loading device including a feeding section having an opening into which an operator can feed garbage and a pressing member for pushing the garbage fed into the loading section into the garbage collection box, imaging means for imaging a work area where the operator performs work on the loading device, notification means provided in a peripheral edge of the feeding section or inside the feeding section for visually notifying operators in the work area, and a control unit that controls on the basis of images captured by the imaging means. The control unit determines dangerous conditions of the operators from the images, instructs the loading device to stop loading operations when dangerous conditions are identified, and changes the notification mode of the notification means.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a dust collection vehicle equipped with a loading device capable of accommodating dust in a dust container.

Background Art

[0002] Conventionally, there has been known a dust collection vehicle including a dust container (dust collection container) for accommodating dust, and a loading device having a pushing member that temporarily holds dust input from a rear input portion by an operator or the like and moves the dust into the interior of the dust container.

[0003] The dust collection vehicle described in Patent Document 1 includes a dust loading device disposed inside the dust input box, and a camera that photographs the vicinity of an input portion that opens at the back of the dust input box. Further, based on the data of the image photographed by the camera, an image processing unit that determines whether a person has been detected in a person detection area near the input portion, and a detection lamp that notifies, by lighting, that a person has been detected by the image processing unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a dust collection vehicle that allows an operator to recognize that they are in a dangerous state.

Means for Solving the Problems

[0006] The present invention relates to a dust collection vehicle comprising a dust collection box for accommodating dust, a loading device including a loading section having an opening through which an operator can load dust and a pushing member for pushing the dust loaded into the loading section into the dust collection box, imaging means for imaging a work area where an operator performs work with respect to the loading device, notification means provided at a peripheral portion of the loading section or inside the loading section for visually notifying an operator present in the work area, and a control section for controlling based on an image captured by the imaging means. The control section determines a dangerous state of the operator from the image, and when the dangerous state is determined, instructs to stop the loading operation of the loading device and changes the notification mode of the notification means.

[0007] According to the above configuration, the control section instructs to stop the loading operation of the loading device according to a dangerous state determined from the image captured by the imaging means, and changes the visual notification mode of the notification means provided at the peripheral portion of the loading section or inside the loading section. Therefore, since the change in the notification mode of the notification means comes into the field of vision of the operator facing the loading section during work, the operator can surely recognize that he / she was in a dangerous state.

[0008] Further, the notification means may have a plurality of light emitting means, and the plurality of light emitting means may be divided into a plurality of groups capable of different lighting states.

[0009] According to the above configuration, since the plurality of light emitting means are divided into a plurality of groups capable of different lighting states, the notification means can notify the operator of a plurality of types of information.

[0010] The present invention also provides a dust collection vehicle, comprising a dust collection box for accommodating dust, a loading device including a loading section where an operator loads the dust and a pushing member for pushing the dust loaded into the loading section into the dust collection box, an imaging means for imaging an operation area where the operator performs operations on the loading device, a notification means for giving an audible notification to the operator, and a control section for controlling based on an image captured by the imaging means. The control section determines a dangerous state of the operator from the image, and when it corresponds to a dangerous state, instructs to stop the loading operation of the loading device and causes the notification means to give a notification.

[0011] According to the above configuration, the control section instructs to stop the loading operation of the loading device according to the dangerous state determined from the image captured by the imaging means, and causes the notification means to give an audible notification. Therefore, the operator can be made to recognize that they are in a dangerous state based on the audible information.

[0012] The dust collection vehicle also includes a release means that can be operated by the operator, and the control section can stop the notification means when the release means is operated during the operation of the notification means.

[0013] According to the above configuration, after the operator recognizes that they are in a dangerous state, the unnecessary audible notification can be quickly stopped by the release means.

Advantages of the Invention

[0014] According to the present invention, the operator can be made to recognize that they are in a dangerous state.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying out the Invention

[0016] Hereinafter, an embodiment of a dust collection vehicle according to the present invention will be described with reference to Figs. 1 to 9.

[0017] The dust collection vehicle 1 collects dust such as garbage and transports it to a disposal facility, and includes a loading device 5 for loading dust into the dust collection vehicle 1, an imaging means for imaging a work area where an operator or the like performs work on the loading device 5, and a control unit that controls based on an image captured by the imaging means. The imaging means in this embodiment is a camera 61 that can image the rear of the dust collection vehicle 1.

[0018] The dust collection vehicle 1 includes a vehicle body 2 having a driver's cab 21, a dust storage box 3 disposed behind the driver's cab 21 on the vehicle body 2, a dust input box 4 connected to the rear part of the dust storage box 3, a loading device 5 disposed in the dust input box 4, an imaging unit 6 having a camera 61 and attached to the dust input box 4, and a control unit 7 capable of controlling the loading device 5.

[0019] The dust storage box 3 is a box-shaped part for storing dust and has an opening 31 that opens rearward.

[0020] The dustbin 4 has an inlet opening (inlet part) 41 that opens rearward at the rear end, and dust is introduced through the inlet opening 41. Inside the dustbin 4, the bottom 45 has an arcuate curved surface shape that protrudes downward when viewed from the vehicle width direction. The dustbin 4 also has a lid 42 that opens and closes the inlet opening 41 by sliding in the vertical direction. The dustbin 4 is connected to the dust storage box 3 via a rotation shaft 43 provided at the upper part and extending in the vehicle width direction. The dustbin 4 is rotatable around the rotation shaft 43, and this rotation opens and closes the opening 31 of the dust storage box 3. For example, when the dustbin 4 is in the position shown by the solid line in FIG. 1, it closes the opening 31 of the dust storage box 3, and when it rotates upward to the position shown by the two-dot chain line in FIG. 1, the opening 31 of the dust storage box 3 is opened and the dust stored in the dust storage box 3 can be discharged to the outside.

[0021] The loading device 5 has a pushing plate (pushing member) 53 that pushes the dust introduced from the inlet opening 41 into the dust storage box 3, and is disposed inside the dustbin 4. The loading device 5 is connected to the control unit 7 and is controlled by the control unit 7. Specifically, the loading device 5 includes a pair of guide rails 51 that extend along both side walls of the dustbin 4 and in the inclined direction, a pair of sliders 52 that are slidable (guided) along each guide rail 51, the above-mentioned pushing plate 53 disposed between the pair of sliders 52, and a pin 54 that connects each slider 52 and the pushing plate 53. The pin 54 extends in the vehicle width direction, and the pushing plate 53 is connected to each slider 52 so that the pushing plate 53 can rotate freely around the pin 54. The pushing plate 53 is a member that compresses the dust introduced into the dustbin 4 and pushes it into the dust storage box 3, and the tip 53a of the pushing plate 53 extends straight in the vehicle width direction.

[0022] In addition, the loading device 5 has a pair of push cylinders (compression driving means) 55 that drive the pushing plate 53 and a pair of press cylinders (pushing driving means) 56. Each of these pair of push cylinders 55 and pair of press cylinders 56 has cylinders 55c, 56c and pistons 55p, 56p that advance and retreat with respect to the cylinders 55c, 56c. Each of the pair of push cylinders 55 is arranged along both side walls inside the dust bin 4, and each of the pair of press cylinders 56 is also arranged along both side walls inside the dust bin 4.

[0023] In each push cylinder 55, the end on the cylinder 55c side is connected to the side wall of the dust 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 obliquely upward along the guide rail 51, and when it contracts, the slider 52 to which the push cylinder 55 is connected moves obliquely downward along the guide rail 51.

[0024] Also, in each press cylinder 56, the end on the cylinder 56c side is connected to the pushing plate 53 via a pin 561, and the end on the piston 56p side is connected to the upper end of the slider 52 via a pin 552 together with the end on the piston 55p side of the push cylinder 55. With the pair of push cylinders 55 maintaining their length, that is, in a state where the pistons 55p do not advance or retreat with respect to the cylinders 55c, when these pair of press cylinders 56 extend in a synchronized state with each other, the pushing plate 53 rotates around the pin 54 (rotates in the clockwise direction in FIG. 1), and when they contract in a synchronized state with each other, the pushing plate 53 rotates around the pin 54 (rotates in the counterclockwise direction in FIG. 1).

[0025] In addition, the loading device 5 has an operation unit 57 as an operation input unit for an operator or the like who loads dust and dirt into the dust and dirt input box 4 from the input opening 41. This operation unit 57 is provided with an input unit for performing various inputs such as ON / OFF buttons and switches of the loading device 5, an emergency stop button of the loading device 5, a reset button, etc. Further, various input units such as switches, buttons, and dials for setting and changing settings regarding the control of the loading device 5 are also arranged on this operation unit 57.

[0026] Note that the loading device 5 of this embodiment operates in a momentary type (auto-return type). For example, when the input unit is turned on, this loading device 5 starts a sequence operation triggered by this, and automatically stops when a series of sequence operations ends. Note that the loading device 5 may operate in an alternate type (hold type) in which the operation continues until the input unit is turned off after being turned on.

[0027] The operation unit 57 is arranged at the rear end of the dust and dirt input box 4, specifically, on both sides of the input opening 41 in the vehicle width direction, so that an operator or the like can operate it during the operation of loading dust and dirt into the input opening 41. In the dust collecting vehicle 1 of this embodiment, a plurality of components necessary for operations such as buttons are arranged on the operation unit 57 arranged on the left side of the input opening 41 when viewed from the rear, and only the emergency stop button is arranged on the operation unit 57 arranged on the right side of the input opening 41.

[0028] Details of the dust loading operation of the loading device 5 configured as described above will be described below with reference to FIGS. 4(a) to 4(d). Here, FIGS. 4(a) to 4(d) are operation explanatory diagrams in which only the push plate 53, the push cylinder 55, and the press cylinder 56 are extracted. Note that the position of the push cylinder 55 is shifted in each figure for easy viewing of the drawings.

[0029] First, when each of the components 53, 55, and 56 is in the initial state (the state shown in Fig. 4(a)), as each press cylinder 56 contracts, the tip 53a of the push-in plate 53 moves away from the dust collection box 3 (in the counterclockwise direction in Fig. 4(a)), causing the push-in plate 53 to rotate around the pin 54 (i.e., the "inversion" stroke is performed), resulting in the state shown in Fig. 4(b).

[0030] From this state, as each push cylinder 55 contracts, the push-in plate 53 moves diagonally downward along the direction in which the guide rail 51 extends while maintaining its posture in the rotational direction around the pin 54 (i.e., the "primary compression" stroke is performed), resulting in the state shown in Fig. 4(d). That is, the push-in plate 53 approaches the input opening 41.

[0031] Subsequently, as each press cylinder 56 extends, the tip 53a of the push-in plate 53 moves closer to the dust collection box 3 (in the clockwise direction in Fig. 4(d)), causing the push-in plate 53 to rotate around the pin 54 (i.e., the "secondary compression" stroke is performed), resulting in the state shown in Fig. 4(c). When the push-in plate 53 rotates around the pin 54, the tip 53a of the push-in plate 53 moves along the bottom 45 inside the dust input box 4. That is, the bottom 45 inside the dust input box 4 has a curved surface shape along the trajectory of the tip 53a of the rotating push-in plate 53 in the secondary compression stroke.

[0032] After that, as each push cylinder 55 extends, the push-in plate 53 moves diagonally upward along the direction in which the guide rail 51 extends while maintaining its posture in the rotational direction around the pin 54 (i.e., the "pushing-in" stroke is performed), returning to the state shown in Fig. 4(a). That is, the push-in plate 53 pushes the dust after primary and secondary compression into the dust collection box 3 from the opening 31.

[0033] As described above, by alternately expanding and contracting each push cylinder 55 and each press cylinder 56, the push plate 53 performs a one-cycle stroke operation (reversal, primary compression, secondary compression, pushing). As a result, the dust and dirt introduced into the dust and dirt input box 4 from the input opening 41 are stored (loaded) in the dust and dirt storage box 3. In this one-cycle stroke operation, the operation locus of the tip 53a of the push plate 53 as viewed from the vehicle width direction is a closed shape connecting four points (see the two-dot chain line in FIGS. 4(a) to 4(d)).

[0034] As shown in FIG. 5, the imaging unit 6 includes a camera 61 capable of imaging a work area where an operator or the like performs a dust and dirt input operation from the input opening 41 on the loading device 5 in the dust and dirt input box 4, and a support unit 62 that supports the camera 61. Further, the imaging unit 6 of the present embodiment has a notification unit (notification means) 63 capable of notifying an operator or the like based on the imaging content by the camera 61.

[0035] The camera 61 includes a lens 611 and an imaging element 612 that images the work area through the lens 611. The camera 61 of the present embodiment has a wide-angle lens 611 capable of imaging a sufficient range (a wide range) when imaging a moving image and photographing the work area. Further, the image captured by the camera 61 is, for example, an image of the dangerous area Ar1 captured from above.

[0036] The imaging element 612 is, for example, a CCD image sensor, a CMOS image sensor, or the like, and outputs image data of the captured image (a moving image in the example of the present embodiment). Further, the camera 61 is connected to the control unit 7 and outputs the image data to the control unit 7. Further, the camera 61 is also connected to a back monitor M (see FIG. 1) disposed in the driver's cab 21 and outputs the image data to the back monitor M as well.

[0037] The support portion 62 supports (holds) the camera 61 such that the camera 61 is positioned above the input opening 41. This support portion 62 includes a base portion 621 fixed above the input opening 41 in the dust bin 4, a bracket 622 connecting the camera 61 to the base portion 621, and a cover plate 624 attached around the base portion 621.

[0038] The base portion 621 is a frame-like part formed by combining a long plate member, a pipe, etc., and extends from the upper part of the input opening 41 in the dust bin 4 toward the rear side (specifically, obliquely upward).

[0039] The bracket 622 connects the tip of the base portion 621 and the camera 61 disposed below the tip. The base end portion (the end portion on the base portion 621 side) 622a of this bracket is connected to the tip of the base portion 621 via a shaft member 623 extending in the vehicle width direction, and the tip end portion (the end portion opposite to the base end portion) 622b is connected to the camera 61. The bracket 622 is rotatable around the shaft member 623. By this rotation, the imaging range of the camera 61 can be changed.

[0040] The cover plate 624 is a plate-like member disposed around the base portion 621 to protect the camera 61 from dust and the like flying during the running of the dust collection vehicle 1.

[0041] The notification unit 63 notifies workers or people around them who are performing the operation of throwing dust into the dust bin 4 from the input opening 41 about the safety of the workers. The notification unit 63 of this embodiment is a means for performing visual notification. Specifically, the notification unit 63 has a plurality of lamps 63a, 63b, 63c, 63d, 63e that emit different colors when lit, and notifies workers or the like about safety by the lit lamps. Among these, the first lamp 63a to the third lamp 63c are provided in the imaging unit 6 located above the input opening 41 as shown in FIG. 5. On the other hand, the fourth lamp 63d is provided inside the input opening 41 (however, at a position visible from the outside of the input opening 41) as shown in FIGS. 1 and 3. The fourth lamp 63d performs visual notification to the workers in the work area. And the fifth lamp 63e is provided at the peripheral edge of the input opening 41 (the portion surrounding the open space). The fifth lamp 63e is more preferably provided only below the side edge 41b (the portion below the middle part in the vertical direction) or the lower edge 41c among the peripheral edges composed of the upper edge 41a, the side edge 41b, and the lower edge 41c of the input opening 41. On the other hand, since the fourth lamp 63d is provided inside the input opening 41, when the input opening 41 is covered with the lid 42 as shown in FIG. 2, the fourth lamp 63d cannot be visually recognized from the rear of the dust collection vehicle 1 by the lid 42. Also, the fifth lamp 63e provided at the peripheral edge of the input opening 41 may be similarly provided at the inner peripheral edge of the input opening 41, and may be configured such that the fifth lamp 63e is covered when the lid 42 is closed.

[0042] With this notification unit 63, workers can recognize various types of information related to the notification based on visual information. For example, in the notification unit 63, when a worker is working in a safe area (an area where it is difficult for an entanglement accident with the loading device 5 or the like to occur) in the work area, the first lamp 63a emits green light, and when approaching the dangerous area (an area where there is a high possibility of an entanglement accident with the loading device 5 or the like) Ar1, the second lamp 63b emits yellow light, and when entering the dangerous area Ar1, the third lamp 63c emits red light. The light emission mode may be continuous light emission or blinking.

[0043] The fourth lamp 63d emits light in blue normally, at least during the loading operation. When a human figure Im2 cannot be detected within the maximum range of the image Im1 captured by the camera 61 despite the operation of the loading device 5, the light emission mode changes and it emits light in red. Also, similar to the first lamp 63a to the third lamp 63c, for the fourth lamp 63d and the fifth lamp 63e, when an operator approaches the danger area Ar1 or enters the danger area Ar1, they can also emit light in a predetermined emission color in each scenario. Further, the fourth lamp 63d can cover the loading opening 41 with the lid 42. Thereby, since the fourth lamp 63d can be hidden during traveling, it can be made inconspicuous.

[0044] A pair of the fourth lamps 63d can be provided symmetrically with respect to the loading opening 41. As the fourth lamp 63d and the fifth lamp 63e, for example, a plurality of LEDs arranged in a row can be used. Also, the fourth lamp 63d and the fifth lamp 63e can emit light in a plurality of emission colors, and the lighting and blinking modes can also be changed according to the notification content. Thereby, a plurality of types of information can be notified.

[0045] In addition to or instead of the lamps 63a to 63e, the notification unit 63 may notify by sound (buzzer or voice). That is, the notification unit 63 may be a means for performing auditory notification. In this case, the operator can recognize various information related to the notification based on the auditory information by the notification unit 63. Also in this case, a plurality of types of information can be notified by changing the tone color, pitch, pronunciation pattern (continuous pronunciation, intermittent pronunciation, etc.) related to the pronunciation. Also, the auditory information may be a sound (buzzer sound or chime, etc.) that has no meaning in the pronunciation itself, or may be a spoken language that has meaning in the pronunciation itself.

[0046] Here, Japanese Patent Application Laid-Open No. 2018-154463 describes that when there is a person in a dangerous area near the loading section, the loading device is stopped and the result is displayed on a monitor provided in the driver's seat of the garbage collection vehicle. However, with this configuration, it is necessary to go to the driver's seat to confirm the result, which is inconvenient for the operator near the loading section. On the other hand, according to the present embodiment, since the notification content by the notification unit 63 (specifically, the fourth lamp 63d and the fifth lamp 63e) naturally enters the field of view of the operator facing the loading opening 41 during the work, it can be said that it is more advantageous than the technology described in the above publication in that the operator can surely recognize that he / she is or has been in a dangerous state.

[0047] Further, the notification unit 63 of the present embodiment has a plurality of lamps 63a, 63b, 63c, 63d, 63e. Thus, when the notification unit 63 has a plurality of light emitting means, these plurality of light emitting means may be divided into a plurality of groups that can have different lighting states. According to this configuration, the notification unit 63 can notify the operator of a plurality of types of information.

[0048] The control unit 7 can control the loading device 5 based on the image Im1 captured by the camera 61. This control unit 7 is composed of, for example, a CPU (Central Processing Unit), a non-volatile memory element such as a ROM (Read Only Memory) or an EEPROM (Electrically Erasable Programmable Read Only Memory) that stores various programs executed by this CPU and data necessary for the execution in advance, a volatile memory element such as a RAM (Random Access Memory) that serves as a so-called working memory of this CPU, and a microcomputer including its peripheral circuits.

[0049] In the control unit 7 configured as described above, as shown in FIG. 6, when the control unit 7 executes a program, functionally, a person identification means 71, a boundary setting means 72, a border crossing determination means 73, an instruction means 74, and a test drive control means 75 are configured.

[0050] As shown also in FIGS. 7 and 8, the person identification means 71 detects a person as a person image Im2 from the object in the image (moving image) Im1 captured by the camera 61, and surrounds and identifies the detected person image Im2 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 along with the movement of the person image Im2. Further, although the area (size, shape, etc.) of the person image Im2 in the image Im1 changes depending on the change in the posture of the person image Im2, the position in the work area, etc., the person identification means 71 changes the size of the frame Fr according to this change. Note that the shape of the frame Fr may be changed according to the change in the person image Im2. Further, when the image Im1 from the camera 61 includes a plurality of person images Im2, the person identification means 71 surrounds each person image Im2 with a frame Fr. The person identification means 71 of the present embodiment surrounds the person image Im2 with a rectangular frame Fr. Note that surrounding and identifying the person image Im2 from the object in the image (moving image) Im1 captured by the camera 61 with a geometric frame Fr includes applying a geometric shape to the person image Im2 among the objects in the image (moving image) Im1 captured by the camera 61 and using the edge of the geometric shape as the frame Fr, or surrounding it in an irregular shape along the boundary (outline of the person image) between the person image Im2 and the background and using the edge of the irregular shape as the frame Fr.

[0051] 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. Further, the boundary setting means 72 can set at least one of the position (boundary position) and the line shape of the line L in the image Im1 from the camera 61. This boundary setting means 72 functionally includes a boundary addition means 721, a boundary position setting means 722, and a boundary curvature setting means 723. Note that the boundary setting means 72 may set the line L in a state where it is displayed on the monitor with respect to the image Im1 from the camera 61, or may set the line L in terms of data.

[0052] The boundary addition 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 the danger area Ar1 where there is a possibility of danger to workers or the like near the loading opening (loading device 5) of the dustbin 4 in the work area or the boundary area along the boundary. That is, the line L is set at the edge of the loading opening 41 (loading device 5) or in its vicinity, and indicates the boundary or boundary area between the danger area Ar1 where there is a possibility of danger caused by the loading device 5 reaching workers or the like and another area (area other than the danger area Ar1) Ar2 (see Fig. 1).

[0053] The boundary addition means 721 of the present 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 line L includes 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 the control unit 7 to control to stop the operation execution of the loading device 5. Also, the warning line L2 is a line for the notification unit 63 to control to notify that workers or the like are approaching the danger area Ar1 (danger line L1), and is a line set at a position where the distance from the loading opening 41 is greater than that of the danger line L1. The warning line L2 of the present embodiment is set above the danger line L1 (on the side farther from the loading device 5 than the danger line L1) in the image Im1.

[0054] 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 the entire area of the image Im1 shown in Figs. 7 and 8. For this reason, in the present embodiment, the control unit 7 can control to stop the operation execution of the loading device 5 within the entire area (maximum range) instead of limiting a partial area in the image Im1.

[0055] Here, for example, in the invention described in Patent Document 1, person detection was performed only in a person detection area which is a specific area. Therefore, even if a person is shown outside the person detection area, no detection is made. In contrast, in the present embodiment, the person image Im2 is detected in the entire area of the image Im1 instead of a specific area (region) in the image Im1. Therefore, if the person image Im2 is shown in the image Im1, detection is always made. Accordingly, if the person image Im2 should be shown in the image Im1 but the notification by the notification unit 63 is not made, that is, if the above detection is not made, it can be understood that there may be an imaging defect in the camera 61. Further, when a person intrudes into the angle of view of the camera 61 and the person is shown in the image Im1, the person identification means 71 executes a process of detecting the person image Im2. However, when the person identification means 71 recognizes an object in the image Im1 as something other than a person, the person image Im2 is not detected and no notification is made. Accordingly, if the person image Im2 is shown in the image Im1 but the notification by the notification unit 63 is not made, it can be understood that there may be a defect in identifying the person image Im2 in the person identification means 71.

[0056] Each line L1, L2 of the present embodiment is a curve set based on the distortion of the lens 611 of the camera 61. Specifically, when the camera 61 images a straight line parallel to the vehicle width direction drawn on the ground or the like, each line L1, 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 of the lens 611). Since the camera 61 is provided at the rear of the garbage collection vehicle 1 and images the rear thereof, the straight line parallel to the vehicle width direction is imaged as a straight line extending in the horizontal direction in the image Im when there is no distortion caused by the lens 611. However, since the lens 611 uses a wide-angle lens, in the danger line L1 and the warning line L2 of the present embodiment, the curvature of each part of the lines L1, L2 is set based on the distance from the optical axis of the lens 611 in the image Im1 (specifically, the position corresponding to the optical axis of the lens 611 (hereinafter also referred to as the "position corresponding to the optical axis")). Even if the danger line or the warning line L2 is set based on a vertical line (a straight line parallel to the vehicle front-rear direction) in the image Im in which the danger line is imaged, the curvature of each part of the lines L1, L2 is set based on the distance from the position corresponding to the optical axis.

[0057] The boundary position setting means 722 sets (changes) the positions of the lines L1, L2 in the image Im1 from the camera 61. Further, the boundary position setting means 722 changes the relative position in at least one of the vertical direction and the horizontal direction with respect to the image Im1 without changing the shape of each of the lines L1, L2.

[0058] Specifically, 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. The boundary position setting means 722 changes the positions (in the vertical direction in the example of this embodiment) of the lines L1 and L2 in the image Im1 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 depth direction of 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).

[0059] 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. Also, the boundary curvature setting means 723 changes the curvature of each of the lines L1 and L2 while maintaining the relative positions in the vertical and horizontal directions of an arbitrary point (for example, the central point in the extending direction of each of the lines L1 and L2) of each of the lines L1 and L2 with respect to the image Im1.

[0060] Specifically, based on the distances (corresponding to the distances from the optical axis equivalent positions in the image Im1 of the lines L1 and L2) from the optical axis equivalent positions in the image Im1 of the lines L1 and L2 set (position changed) by the boundary position setting means 722, the curvatures (specifically, the curvatures of each part of the lines L1 and L2) of the lines L1 and L2 in the image Im1 are set (changed). Thereby, when the positions of the lines L1 and L2 in the image Im1 from the camera 61 are changed by the boundary position setting means 722, the shapes (curvatures of each part) of the lines L1 and L2 change according to this change in position (according to the change in the distance from the optical axis equivalent position in the image Im1). That is, the boundary curvature setting means 723 can deform the lines L1 and L2 whose positions in the image Im1 are changed, for example, according to the distortion aberration of the lens 611.

[0061] Note that the "distance from the optical axis" is the radial distance with respect to the center of the optical axis. Due to the distortion aberration of the lens 611, the curvature on the image is larger for a subject with a larger (farther) radial distance from the center of the optical axis than for a subject with a smaller (closer) radial distance. Specifically, as shown in FIG. 7, on the image Im1, the insertion opening (insertion part) 41 of the dustbin 4 is shown with a large curvature.

[0062] Further, the boundary curvature setting means 723 can set (change) the curvature of each of the lines L1 and L2 regardless of whether the position of each of the lines L1 and 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 capable of inputting the curvature of each of the lines L1 and L2 in the image Im1 from the camera 61, and the boundary curvature setting means 723 sets (changes) the curvature of each of the lines L1 and L2 in the image Im1 based on the input from the boundary curvature input unit 572 of the operation unit 57.

[0063] The border crossing determination means 73 determines whether or not the person image Im2 has crossed each of the lines L1 and L2 to the dangerous area Ar1 side in the image Im1 from the camera 61, and outputs an instruction signal when it determines that the person image has crossed. The border crossing determination means 73 of the present embodiment determines whether or not at least a part of the frame Fr identified by the person identification means 71 has crossed the dangerous line L1 to the dangerous area Ar1 side, 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 to the dangerous area Ar1 side (the dangerous line L1 side). The output destination of the instruction signal is different depending on the lines L1 and L2 that the border crossing determination means 73 determines that the frame Fr has crossed.

[0064] The instruction means 74 instructs at least one of the loading device 5 and the notification unit (notification means) 63 based on the determination of the border crossing determination means 73. This instruction means 74 functionally includes a stop instruction means 741 and a warning instruction means 742.

[0065] Further, when the 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 (the loading device 5 side) in the image Im1 from the camera 61, the stop instruction means 741 instructs the loading device 5 to stop the operation (work execution) of the loading device 5. That is, when receiving an instruction signal from the crossing determination means 73, the stop instruction means 741 stops the operation of the loading device 5 (emergency stop). At this time, the stop instruction means 741 changes the notification mode of the notification unit 63. Specifically, it also instructs the notification unit 63 so that the third lamp 63c emits light. Examples of the change in the notification mode when the notification unit 63 has a lamp include a change from the lamp being off to on, a change from on to off, a change to flashing, and a change in the color (emission color) related to lighting (the same applies to the following second lamp 63b). Also at this time, the stop instruction means 741 may instruct to change the light emission mode of the fourth lamp 63d provided at the loading opening 41 (for example, change the emission color of the LED).

[0066] When the crossing determination means 73 determines that at least a part of the frame Fr has crossed the warning line L2 to the danger area Ar1 side (the loading device 5 side) in the image Im1 from the camera 61, the warning instruction means 742 instructs the notification unit 63 to issue a warning. That is, when receiving an instruction signal from the crossing determination means 73, the warning instruction means 742 causes the notification unit 63 to give a notification. The warning instruction means 742 of the present embodiment changes the notification mode of the notification unit 63 when at least a part of the frame Fr has crossed the warning line L2 to the danger area Ar1 side. Specifically, it instructs the notification unit 63 so that the second lamp 63b emits light. Also at this time, the stop instruction means 741 may instruct to change the light emission mode of the fourth lamp 63d provided at the loading opening 41.

[0067] Note that while the trial operation control means 75 is functioning (operating), that is, while the trial operation of the control unit 7 is being performed, when at least a part of the frame Fr crosses the warning line L2 toward the danger area Ar1, the warning instruction means 742 outputs an instruction to the notification unit 63. Further, while the trial operation of the control unit 7 is being performed, the stop instruction means 741 does not issue an instruction to the loading device 5 even if at least a part of the frame Fr crosses the danger line L1 toward the danger area Ar1.

[0068] Further, when the frame Fr corresponding to the person image Im2 cannot be detected within the maximum range of the image Im1 even while the loading device 5 is operating, the warning instruction means 742 causes the notification unit 63 (specifically, the fourth lamp 63d) to issue a notification. During the operation of the loading device 5, waste is being loaded into the input unit, so an operator is in the vicinity of the loading device 5. For this reason, the operator should be reflected as the person image Im2 in the image Im1 (see FIGS. 7 and 8). However, if the frame Fr corresponding to the person image Im2 cannot be detected within the maximum range of the image Im1, it is considered that there is an imaging defect such that the lens of the camera 61 is fogged or dirty and the person identification means 71 cannot identify the person image Im2. Therefore, the warning instruction means 742 causes the notification unit 63 to issue a notification, enabling the operator to recognize that there may be an imaging defect in the camera 61.

[0069] Also, even in the normal case where there is no imaging defect, it is also assumed that there is an identification defect where the person identification means 71 cannot identify the person image Im2 due to some problem on the subject side or the like. Even in this case, the warning instruction means 742 causes the notification unit 63 to issue a notification, enabling the operator to recognize that there may be an identification defect in the control unit 7.

[0070] The operation unit 57 includes a warning reset means 574. The warning reset means 574 is a button, switch, or the like that can be operated by the worker. The control unit 7 (specifically, the warning instruction means 742) stops the notification unit 63 when the warning reset means 574 is operated while the notification unit 63 is operating. With this configuration, after the worker recognizes that he or she was in a dangerous state, the notification that is no longer necessary can be quickly stopped by the warning reset means 574. This warning reset means 574 is effective, particularly when the notification unit 63 is a type that notifies the worker by hearing (buzzer, etc.), because the continuation of unnecessary notification is unpleasant for the worker. Note that even when the notification unit 63 is a type that notifies the worker by visual means, the notification unit 63 can be stopped by the warning reset means 574.

[0071] 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. The trial run control means 75 functionally includes a stop maintaining means 751 and a notification instruction means 752.

[0072] The stop maintaining means 751 maintains the stop of the loading device 5. Specifically, the stop maintaining means 751 maintains the stopped state of the loading device 5 while the control unit 7 is executing a test run by input from the test run switch 573 of the operation unit 57. That is, while the control unit 7 is executing 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. That is, the test run control means 75 ignores the operation input from the operation unit 57 during the execution of the test run.

[0073] The notification instruction means 752 instructs the notification unit 63 when the border crossing determination means 73 determines that the frame Fr has crossed each of the lines L1 and L2 to the dangerous area Ar1 side while the stop maintenance means 751 keeps the loading device 5 stopped (that is, while the test operation of the control unit 7 is being executed). Specifically, when at least a part of the frame Fr in the image Im1 from the camera 61 has crossed the warning line L2 to the dangerous area Ar1 side, the notification instruction means 752 instructs the corresponding lamp 63b in the notification unit 63 to emit light. Further, when at least a part of the frame Fr in the image Im1 has crossed the dangerous line L1 to the dangerous area Ar1 side, the notification instruction means 752 instructs the corresponding lamp 63c in the notification unit 63 to emit light.

[0074] In the dust collection vehicle 1 configured as described above, when an operator or the like is performing the operation of loading dust into the dust collection box 4 (loading device 5) from the loading opening 41, it can accurately detect that an operator or a person (such as a worker) near the dust collection vehicle 1 during operation has approached or entered the dangerous area Ar1, and prevent accidents caused by the loading device 5 such as entanglement accidents through notification and the stop (emergency stop) of the loading device 5. Specifically, it is as follows (see FIG. 9).

[0075] When the operation unit 57 is operated and the loading device 5 is activated to start the operation of loading dust from the loading opening 41, imaging by the camera 61 of the imaging unit 6 is started (step S1), and the captured image (moving image data) Im1 is output to the control unit 7.

[0076] When the control unit 7 receives the image Im1 from the camera 61, the boundary addition means 721 adds the line L (dangerous line L1 and warning line L2) to the image (image data) Im1 (step S2).

[0077] Also, the person identification means 71 identifies the person image Im2 in the image Im1 from the camera 61 by surrounding it with the frame Fr (step S3). If the identification is successful (step S4: Yes), the person identification means 71 changes the position, shape, size, vertical and horizontal dimensions, etc. of the frame Fr following the movement (such as the movement of an operator in the work area and the change in posture) of the identified person image Im2.

[0078] Subsequently, the border crossing determination means 73 determines whether or not at least a part of the frame Fr has crossed either line L1 or L2 toward the danger area Ar1 in the image Im1 to which the danger line L1 and the warning line L2 are added. When a plurality of frames Fr are set in the image Im1 (that is, when there are a plurality of human figures Im2), the border crossing determination means 73 makes a determination as to whether or not the lines L1 and L2 have crossed toward the danger area Ar1 for each frame Fr of the plurality of human figures Im2.

[0079] Specifically, in the image Im1 from the camera 61, when the border crossing determination means 73 determines that the frame Fr has approached the danger area Ar1 and at least a part of the frame Fr has crossed the warning line L2 toward the danger area Ar1 (lower side in FIGS. 7 and 8) (step S5: Yes), the border crossing determination means 73 outputs an instruction signal to the warning instruction means 742. The warning instruction means 742 that has received this instruction signal causes the notification unit 63 to give a notification (step S6). The warning instruction means 742 of the present embodiment causes the second lamp 63b to emit light in the notification unit 63 and notifies the operator or the like that the warning line L2 has been crossed. At this time, the loading device 5 continues to operate.

[0080] Also, while the frame Fr has not crossed the warning line L2 toward the danger area Ar1 in the image Im1 from the camera 61 (step S5: No), the border crossing determination means 73 continues to determine (monitor) whether or not at least a part of the frame Fr will cross the warning line L2 toward the danger area Ar1.

[0081] Also, when the border crossing determination means 73 determines that the worker or the like has left the dangerous area Ar1 due to the notification by the notification unit 63, that is, the frame Fr that is determined to have crossed the warning line L2 in the image Im1 from the camera 61 has eliminated the border crossing state (a state in which at least a part of the frame Fr has crossed the warning line L2 to the dangerous area Ar1 side) (step S7: 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 S10), and the border crossing determination means 73 resumes the determination (monitoring) as to whether at least a part of the frame Fr crosses the warning line L2 to the dangerous area Ar1 side.

[0082] On the other hand, despite the notification by the notification unit 63, the worker or the like does not leave the dangerous area Ar1 and approaches further, that is, in the image Im1 from the camera 61, the frame Fr does not leave the dangerous area Ar1 and approaches further (step S7: No). When the border crossing determination means 73 determines that at least a part of the frame Fr has crossed the danger line L1 to the dangerous area Ar1 side (step S8: Yes), the border crossing determination means 73 outputs an instruction signal to the stop instruction means 741 and outputs an instruction signal to the warning instruction means 742 (the third lamp 63c emits light). The stop instruction means 741 that has received this instruction signal stops the operation of the loading device 5 (that is, performs an emergency stop: step S9). As a result, an accident caused by the loading device 5 such as being caught due to the worker or the like approaching too close to the dangerous area Ar1 or entering the dangerous area Ar1 is prevented. The loading device 5 that has been emergently stopped can be restarted by pressing the reset button of the operation unit 57 when the worker or the like has left the dangerous area Ar1. After the stop instruction means 741 stops (emergency stops) the operation of the loading device 5 (step S9), the notification mode of the notification unit 63 can also be changed.

[0083] Also, in the image Im1 from the camera 61, when the frame Fr has crossed the warning line L2 towards the danger area Ar1 side but has not crossed the danger line L1 towards the danger area Ar1 side (step S8: No), that is, when the part of the frame Fr located closest to the danger area Ar1 side 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 where the frame Fr has crossed the warning line L2 (border crossing state) has been resolved and whether the danger line L1 has crossed towards the danger area Ar1 side.

[0084] Also, when the person identification means 71 fails to identify the person image Im2 in the image Im1 from the camera 61 (step S4: No), it outputs an instruction signal to the warning instruction means 742. The warning instruction means 742 that has received this instruction signal causes the notification unit 63 to give a notification (step S11). The warning instruction means 742 of the present embodiment causes the fourth lamp 63d of the notification unit 63 to emit light to notify the operator or the like. This notification means that there may be a problem in imaging by the camera 61 or a problem in identification by the control unit 7. Therefore, the operator or the like can recognize the problem. At this time, the loading device 5 continues to operate.

[0085] Also, in the garbage collection vehicle 1 of the present embodiment, it is possible to set (change) the positions and curvatures of the danger line L1 and the warning line L2 in the image Im1. When setting (changing), the test drive switch 573 of the operation unit 57 is pressed, that is, when the control unit 7 enters the test drive state (setting mode), without operating the loading device 5, the operator or the like can approach the loading opening 41 or the loading device 5 inside the loading opening 41 to a certain position, and the operator or the like can actually approach the loading opening 41 or the loading device 5 to test whether the notification unit 63 will notify that the warning line L2 has been crossed and whether the emergency stop of the loading device 5 will be performed. Specifically, it is as follows.

[0086] When the test run switch 573 of the operation unit 57 is pressed, the test run of the control unit 7 is executed (switching to the setting mode), and imaging by the camera 61 of the imaging unit 6 is started. At this time, the loading device 5 does not operate, but in the control unit 7, the boundary setting means 72, the border crossing determination means 73, and the test run control means 75 function (operate). In this way, while the test run of the control unit 7 is being executed, since the test run control means 75 (specifically, the stop maintenance means 751) functions, even if the ON / OFF button of the loading device 5 arranged on the operation unit 57 is operated and the loading device 5 is turned ON (operating state), the stop state of the loading device 5 is maintained by the stop maintenance means 751, that is, the loading device 5 does not operate. If the loading device 5 is operating, it stops and shifts to the stop state and is maintained.

[0087] Subsequently, the positions of the respective lines L1 and L2 in the image Im1 are set (changed) by the input from the boundary position input unit 571 of the operation unit 57, or the curvatures of the respective lines L1 and L2 in the image Im1 are set (changed) by the boundary curvature input unit 572 of the operation unit 57. In the garbage collection vehicle 1 of the present embodiment, without executing the test run of the control unit 7, the positions and curvatures of the respective lines L1 and L2 in the image Im1 can be changed by the input from the boundary position input unit 571 or the boundary curvature input unit 572.

[0088] Here, when the positions of the respective lines L1 and L2 in the image Im1 are moved by the input from the boundary position input unit 571, even without the input from the boundary curvature input unit 572, the boundary curvature setting means 723 automatically sets (adjusts) the curvatures of the respective lines L1 and L2 according to the distance from the position corresponding to the optical axis in the image Im1 (i.e., the distortion aberration of the lens 611). Here, in the case where the position corresponding to the optical axis coincides with the center of the image Im1, a horizontally extending line L disposed below the center will be described as an example. When this line L is moved upward (toward the side approaching the optical axis), the curvature is decreased (the radius of curvature is increased), and conversely, when it is moved downward (away from the optical axis), the curvature is increased (the radius of curvature is decreased). Note that the curvature may be one curvature (approximating a perfect circle) for one line L, or may be a combination of curves with a plurality of curvatures. In the case of a combination of a plurality of curves, the curvature is set (adjusted) for all or one of those curves. Further, when the boundary curvature setting means 723 has set the curvature of the line L before the position change according to the instruction of the boundary curvature input unit 572, the curvature is further set (adjusted) for the set curve.

[0089] In a state where the position and curvature are set (changed) in this way, an operator or the like approaches the input opening 41, for example, by reproducing the operation of throwing dust into the input opening 41. At this time, when at least a part of the frame Fr in the image Im1 from the camera 61 exceeds a newly set warning line (a warning line whose position and curvature in the image Im1 are set (changed)) L2, the notification instruction means 752 of the test operation control means 75 instructs the notification unit 63 to cause the corresponding lamp 63b to emit light. Further, when at least a part of the frame Fr in the image Im1 from the camera 61 exceeds a newly set danger line (a danger line whose position and curvature in the image Im1 are set (changed)) L1, the notification instruction means 752 of the test operation control means 75 instructs the notification unit 63 to cause the corresponding lamp 63c to emit light.

[0090] In this way, in the garbage collection vehicle 1 of the present embodiment, it is possible to set the positions and curvatures of the respective lines L1 and L2 in the image Im1 in a state where the loading device 5 is stopped (a state where an accident caused by the loading device 5 such as an entrainment accident does not occur).

[0091] The present invention can be variously modified without departing from the gist thereof. In addition, the specific configuration of each part is not limited to the above embodiment.

[0092] For example, the instruction means 74 of the above embodiment functionally has a stop instruction means 741 and a warning instruction means 742. However, it may have only one of the stop instruction means 741 and the warning instruction means 742. Further, the instruction means 74 of the above embodiment is an inseparable means having 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 independent and separate means.

[0093] Further, an ignored area, which is an area where a dangerous area is not set, can be defined within the image Im1. The end line defining the ignored area is linear and is set at least at one of the left and right ends within the image Im1. The line (boundary line) L is set to intersect the end line. The end line can be, for example, a straight line parallel to either the left or right side of the image Im1 shown in FIG. 7 or the like. By defining the ignored area in this way, a danger judgment is not made for the portrait of the operator who operates the operation unit 57 located in the ignored area. Therefore, it is possible to prevent a warning from being issued every time the operator operates the operation unit 57.

[0094] In the above-described embodiment, the stop maintenance of the stop maintenance means 751 was directly performed on the loading device 5, but it can also be performed via the instruction means 74. The stop maintenance may be, for example, cutting off the power supply to the operation unit 57 to disable the operation unit 57 itself. Alternatively, it may be configured to ignore the signals received from the operation unit 57. Further, a stopper may be fitted between the movable part of the working device (the slider 52 and the pushing plate 53 in the dust collecting vehicle 1) and the fixed part (the dust input box 4 in the dust collecting vehicle 1) to mechanically disable the operation.

[0095] In the above-described embodiment, the notification instruction of the notification instruction means 752 was directly made to the notification unit 63, but it can also be made via the instruction means 74.

[0096] In the above-described embodiment, as in steps S6 to S10 of FIG. 9, the notification of the notification unit 63 is made from when the border crossing determination means 73 determines in the image Im1 from the camera 61 that the frame Fr approaches the danger area Ar1 and at least a part of the frame Fr crosses the warning line L2 to the danger area Ar1 side until that state is resolved. For this reason, when an operator travels back and forth, for example, between the dust accumulation area and the input opening 41, the notification may be turned on and off each time, so if the notification unit 63 is a lamp, it will blink, and if it is a buzzer, an intermittent sound will be emitted. For operators who do not prefer such a notification mode, after starting the notification of the notification unit 63 in step S6 above, steps S7 and S10 may not be performed, and for example, the notification may be continued for a certain period of time by a timer, or the notification may be continued until the loading device 5 stops.

[0097] Also, the object to which the notification instruction means 752 instructs notification during the test run is not limited to the notification unit 63, and it may be a means provided on the dust collecting vehicle 1 separately from the notification unit 63. For example, the notification instruction means 752 may instruct notification to a display provided on the driver's cab.

[0098] In addition, the first lamp 63a to the third lamp 63c in the notification unit 63 were provided in the imaging unit 6 located above the insertion opening 41 as shown in FIG. 5, but the fourth lamp 63d and the fifth lamp 63e can also be provided in the insertion opening 41. Further, only the fourth lamp 63d or the fifth lamp 63e may be provided as the notification unit 63, and the fourth lamp 63d and the fifth lamp 63e may perform the functions of the first lamp 63a to the third lamp 63c.

[0099] Also, although the notification unit 63 of the above embodiment has five lamps 63a to 63e, the number of lamps is not limited to this. For example, it may have three lamps 63a to 63c, and at least one of the three lamps 63a to 63c may emit light with a changed light emission mode (flashing state, emission color, etc.), or two or more of the three lamps 63a to 63c may emit light simultaneously, so as to perform the notification that the fourth lamp 63d (fifth lamp 63e) of the above embodiment was responsible for. Also, existing lamps can be diverted or used in combination as part or all of the lamps constituting the notification unit 63.

[0100] Also, although the fourth lamp 63d of the above embodiment is configured to notify by the light emission mode of the lamp 63d itself, for example, light rays may be irradiated onto the bottom surface in the insertion opening 41 like a spotlight, and notification may be made by the reflection of the bottom surface or the dust introduced into the insertion opening 41.

[0101] Also, visual notification is not limited to light emission by a lamp, and for example, it may be notification by an image using a small display.

[0102] Here, in the dust collection vehicle described in Patent Document 1, there may be cases where the camera lens gets fogged or dirty and human detection fails. However, in the invention described in Patent Document 1, since the detection lamp gives an alarm depending on whether a person is detected in the person detection area, which is a specific area, when the detection lamp is off, it is impossible for the operator to determine whether the lamp is off because a person is shown outside the person detection area (a safe position) in the image, or whether there is an imaging defect in the camera and the lamp is off even though there is a person in a dangerous position. Therefore, there is room for improvement.

[0103] In response to this, the present invention provides a dust collection vehicle comprising a dust collection box for storing dust, a loading device including a loading section where an operator loads dust and a pushing member for pushing the dust loaded into the loading section into the dust collection box, an imaging means for imaging the work area where the operator performs work with respect to the loading device, a notification means for notifying the operator, and a control section for controlling based on the image captured by the imaging means. The control section determines a dangerous state of the operator from the image, and when it corresponds to a dangerous state, instructs to stop the loading operation of the loading device, and may be a dust collection vehicle that causes the notification means to give a notification when a human image cannot be detected within the maximum range of the image even while the loading device is operating.

[0104] According to the above configuration, when the control section cannot detect a human image within the maximum range of the image captured by the imaging means even while the loading device is operating, it causes the notification means to give a notification. Therefore, the operator can be made aware that there may be an imaging defect in the imaging means.

[0105] Also, the notification means may be a means for giving a visual notification to the operator. According to the above configuration, the operator can make the above recognition based on visual information.

[0106] Also, the notification means can be a means for giving an auditory notification to the operator. According to the above configuration, the operator can make the above recognition based on auditory information.

[0107] According to each of the above configurations, any problem with the imaging means (camera, etc.) can be clearly recognized by the worker. [Explanation of symbols]

[0108] 1... Refuse collection truck, 2... chassis, 21... driver's cab, 3...dust collection box, 31...opening, 4...Garbage input box, 41...Insertion opening (input part), 42...Lid, 45...Bottom, 5...loading device, 51...guide rail, 52...slider, 53...push plate (push member), 53a...tip, 54...pin, 55...push cylinder (compression drive means), 55c...cylinder, 55p...piston, 56...press cylinder (push drive means), 56c...cylinder, 56p...piston, 551, 552, 561...pin, 57...operation unit (operation input unit), 571...boundary position input unit (boundary position input means), 572...boundary curvature input unit (boundary curvature input means), 573...trial operation switch (trial operation input means), 574...alarm release means (release means), 6...imaging unit, 61...camera (imaging means), 611...wide-angle lens (lens), 612...imaging element, 62...support, 621...base, 622...bracket, 622a...base end, 622b...tip, 623...shaft member, 624...cover plate, 63...notification unit (notification means), 63a...first lamp (lamp), 63b...second lamp (lamp), 63c...third lamp (lamp), 63d...fourth lamp (lamp), 63e...fifth lamp (lamp), 7...control unit, 71...person identification means, 72...boundary setting means, 73...border crossing determination means, 74...instruction means, 75...trial operation control means, 721...boundary addition means, 722...boundary position setting means, 723...boundary curvature setting means, 741...stop instruction means, 742...warning instruction means, 751...stop maintenance means, 752...notification instruction means, Ar1: Dangerous area, Ar2: Area other than dangerous area, Fr...Frame, Fr1...Near end (end), Fr2...Far end (end), Im1: Image (image data, video image, video data), Im2: Portrait, L... line (boundary line), L1... danger line (line, stop boundary line), L2... warning line (line) M... back monitor

Claims

1. A dust collection box for collecting dust; A loading device including an input section having an opening through which an operator can input 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 notification means provided on a periphery of the input section or inside the input section for visually notifying a worker in the work area; A control unit that performs control based on an image captured by the imaging means, The control unit determines whether the worker is in a dangerous state from the image, and if the worker is in a dangerous state, instructs the loading device to stop the loading operation and changes the notification mode of the notification means.

2. The notification means has a plurality of light emitting means, 2. The refuse collection vehicle according to claim 1, wherein the plurality of light emitting means are divided into a plurality of groups that can be set to different lighting states.

3. A dust collection box for collecting dust; A 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 notification means for providing an auditory notification to an operator; A control unit that performs control based on an image captured by the imaging means, The control unit determines whether the worker is in a dangerous state from the image, and if the worker is in a dangerous state, instructs the loading device to stop the loading operation and causes the alarm means to issue an alarm.

4. Equipped with a release means that can be operated by an operator, 4. The refuse collection vehicle according to claim 3, wherein the control unit stops the notification means when the release means is operated while the notification means is operating.

Images