Work vehicles

Abstract

To provide a work vehicle capable of accurately preventing a person having entered a dangerous area near a work device from being caught in the work device.SOLUTION: A work vehicle comprises: a work device; imaging means for imaging a work area where a worker works on the work device; and a control unit for performing control based on the taken image. In the image, a boundary line us set which indicates a boundary of a dangerous area that may pose a danger to the worker in the vicinity of the work device in the work area. The control unit comprises: person-specification means for specifying a person image by surrounding the person image with a geometric frame, of objects imaged in the image; and cross-boundary determination means for determining whether or not part of the geometric frame specified by the person-specification means has crossed the boundary line to enter the dangerous area side; and instruction means for stopping execution of the work on the work device or for instructing notification means, which is provided to be able to issue warning, to issue warning, when the cross-boundary determination means determines that the part of the frame has crossed the boundary line to enter the dangerous area side.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a work vehicle, such as a refuse collection vehicle, that monitors for intrusion of persons into a danger area. [Background technology]

[0002] Conventionally, there has been known a vehicle such as a garbage collection vehicle that is controlled to prevent a worker's hand from getting caught in the garbage (Patent Document 1). This vehicle includes a storage box, a pushing device that pushes garbage into the storage box from an inlet of the storage box, and a light-emitting unit, a reflector, and a light-receiving unit that are each provided at the inlet. In this vehicle, light emitted from the light-emitting unit can be reflected by the reflector and reach the light-receiving unit, and when the reflected light reaches the light-receiving unit, the pushing device is activated. On the other hand, when the reflected light does not reach the light-receiving unit, the pushing device is stopped to prevent a worker's hand from getting caught in the garbage. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 63-31005 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the above-mentioned work vehicle, even if the worker was standing away from the input port, there was a risk that the pushing device would stop if the light from the light receiving unit or the light reflected by the reflector was blocked by something other than the worker, such as garbage.

[0005] An object of the present invention is to provide a work vehicle that can accurately prevent a person who enters a dangerous area near a work device from becoming entangled in the work device. [Means for solving the problem]

[0006] The present invention is characterized in that it comprises a work device that performs a specified task, an imaging means that images a work area in which a worker works on the work device, and a control unit that performs control based on the image captured by the imaging means, wherein a boundary line is set in the image to indicate the boundary of a dangerous area near the work device in the work area where the worker may be in danger, and the control unit comprises person identification means that identifies a human figure from an object captured in the image by surrounding it with a geometrically shaped frame, border crossing determination means that determines whether a part of the frame identified by the person identification means has crossed the boundary line into the dangerous area, and instruction means that, when the border crossing determination means determines that the boundary line has crossed into the dangerous area, stops the work execution of the work device or instructs an alarm means capable of issuing a warning to issue a warning.

[0007] According to this configuration, the person identification means is configured to identify a person from the object captured in the image by surrounding it with a geometrically shaped frame, and when the frame of the identified person crosses the boundary line of the danger area into the danger area, operation of the work equipment is stopped and a warning is issued, thereby making it possible to accurately prevent people who enter the danger area from getting caught in the work equipment.

[0008] Further, in the work vehicle, the boundary lines include a stop boundary line for controlling the control unit to stop the work execution of the work equipment, the stop boundary line including a near stop boundary line on the side closer to the work equipment in the image and a far stop boundary line on the side farther from the work equipment in the image, and when the border crossing determination means determines that the near end portion of the frame on the side closer to the work equipment has crossed the near stop boundary line and the far end portion of the frame on the side farther from the work equipment has crossed the far stop boundary line, the instruction means may give an instruction to stop the work of the work equipment.

[0009] With this configuration, when the near end of the frame of a person included in the captured image crosses the near stop boundary line closer to the work device, and the far end of the frame of this person crosses the far stop boundary line farther from the work device, that is, when it can be determined that the person has definitely entered a danger area, the operation of the work device can be reliably stopped.

[0010] In the work vehicle, the control unit may be provided with a boundary setting means capable of setting at least one of a boundary position, which is the position of the boundary line within the image, and a shape.

[0011] According to this configuration, by changing at least one of the position and shape (line shape) of the boundary line in the image depending on the work environment of the work vehicle and the captured image, it is possible to more accurately prevent people who enter a dangerous area from being entangled in work equipment. Effect of the Invention

[0012] According to the present invention, a work vehicle can be provided that can accurately prevent a person who enters a dangerous area near a working device from being entangled in the working device. [Brief description of the drawings]

[0013] [Figure 1] 1 is a side view of a work vehicle according to an embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] 3A to 3D are diagrams illustrating the operation of a working device in the working vehicle, where 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. [Figure 4] 3 is a schematic diagram of an imaging means of the work vehicle. FIG. [Diagram 5] FIG. 2 is a block diagram of the work vehicle. [Figure 6] 4 is a schematic diagram showing an image captured by an imaging means of the work vehicle; FIG. [Figure 7] FIG. 7 is an enlarged view of the periphery of the frame in FIG. [Figure 8] FIG. 4 is a flowchart showing a process in the work vehicle. [Figure 9] 13A and 13B are schematic diagrams showing images captured by an imaging unit according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, one embodiment of a work vehicle according to the present invention will be described with reference to Figs.

[0015] The work vehicle is a vehicle that includes a work device for performing a predetermined task and a worker who is in charge of the work device. (Worker) The work vehicle includes an imaging means for imaging a work area where workers such as garbage collectors perform work, and a control unit for controlling the work vehicle based on the image captured by the imaging means. As shown in Figures 1, 2 and 4, the work vehicle of this embodiment is a refuse collection vehicle 1 that collects refuse such as garbage and transports it to a disposal facility, the imaging means is a camera 61 that can image the rear of the refuse collection vehicle 1, and the work device is a loading device 5 for loading refuse into the refuse collection vehicle 1. The specific configuration of the refuse collection vehicle 1 will be described below.

[0016] The garbage collection vehicle 1 comprises a chassis 2 having a driver's cab 21, a garbage storage box 3 arranged behind the driver's cab 21 on the chassis 2, a garbage dump box 4 connected to the rear of the garbage storage box 3, a loading device (working device) 5 arranged inside the garbage dump box 4, an imaging unit 6 having a camera 61 and attached to the garbage dump box 4, and a control unit 7 capable of controlling the loading device 5 (see Figure 1).

[0017] The dust collection box 3 is a box-shaped part for storing dust, and has an opening 31 that opens toward the rear.

[0018] The trash bin 4 has an input opening (input section) 41 that opens rearward 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 rotating shaft 43 that is provided at the top and extends in the vehicle width direction. The trash bin 4 is rotatable around the rotating shaft 43, and this rotation opens and closes the opening 31 of the trash storage box 3. For example, when the trash dump box 4 is in the position shown by the solid line in Figure 1, it closes the opening 31 of the trash storage box 3, and when it is rotated upward to the position shown by the dotted line in Figure 1, it opens the opening 31 of the trash storage box 3 so that the trash stored in the trash storage box 3 can be discharged to the outside.

[0019] The loading device 5 has a push plate (pushing member) 53 that pushes the trash thrown in from the throw-in opening 41 into the trash storage box 3, and is disposed in the trash throw-in box 4. The 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 trash throw-in box 4 and in an inclined direction, a pair of sliders 52 that are slidable (guided) along the guide rails 51, the above-mentioned push plate 53 that is disposed between the pair of sliders 52, and a pin 54 that connects each slider 52 to the push plate 53. The 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 around the pin 54. The pushing plate 53 is a member that compresses the trash thrown into the trash dump box 4 and pushes it into the trash storage box 3, and a tip 53a of the pushing plate 53 extends straight in the vehicle width direction.

[0020] 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 cylinders 55c, 56c and pistons 55p, 56p that advance and retreat relative to the cylinders 55c, 56c. Each of the pair of push cylinders 55 is disposed along both side walls in the trash bin 4, and each of the pair of press cylinders 56 is also disposed along both side walls in the trash bin 4.

[0021] 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 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.

[0022] In each press cylinder 56, the cylinder 56c side end is connected to the push plate 53 via a pin 561, and the piston 56p side end is connected to the upper end of the slider 52 via a pin 552 together with the piston 55p side 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 a synchronized manner, causing the push plate 53 to rotate around the pin 54 (rotating in the clockwise direction in FIG. 1), and when the pair of press cylinders 56 contract in a synchronized manner, causing the push plate 53 to rotate around the pin 54 (rotating in the counterclockwise direction in FIG. 1).

[0023] The loading device 5 also has an operation unit 57 that allows an operator who throws garbage into the garbage dump box 4 from the throw-in 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 (operation input unit) and switches for the loading device 5, an emergency stop button for the loading device 5, a reset button, etc. This 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.

[0024] 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 a series of sequence operations is completed. The loading device 5 may operate in an alternate manner (holding type) in which the operation continues after the input unit is turned ON until it is turned OFF.

[0025] 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 a worker can operate them while dumping waste into the dump opening 41. In the waste collection vehicle 1 of this embodiment, the operating unit 57 arranged on the left side of the dump opening 41 when viewed from the rear has a plurality of components necessary for operation such as buttons, and the operating unit 57 arranged on the right side of the dump opening 41 has only an emergency stop button.

[0026] The details of the loading operation of the loading device 5 configured as above will be described below with reference to Figures 3(a) to 3(d). Here, Figures 3(a) to 3(d) are operation explanatory diagrams showing only the push plate 53, the push cylinder 55, and the press cylinder 56. Note that the position of the push cylinder 55 has been shifted in each figure to make the drawings easier to see.

[0027] First, when each component 53, 55, 56 is in the initial state (the state shown in Figure 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 garbage collection box 3 (counterclockwise direction in Figure 3(a)) (i.e., the "inversion" process is performed), resulting in the state shown in Figure 3(b).

[0028] From this state, as each push cylinder 55 contracts, the push plate 53 moves obliquely downward along the extension direction of the guide rail 51 while maintaining its orientation in the rotation direction around the pin 54 (i.e., the "primary compression" process is performed), resulting in the state shown in Figure 3(d). That is, the push plate 53 approaches the input opening 41.

[0029] 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 collection box 3 (clockwise direction 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 dump box 4. In other words, the bottom 45 inside the trash dump box 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.

[0030] Thereafter, by each push cylinder 55 extending, the pushing plate 53 moves obliquely upward along the extending 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), and returns to the state shown in Fig. 3(a). That is, the pushing plate 53 pushes the trash after the primary compression and secondary compression into the trash storage box 3 through the opening 31.

[0031] As described above, each push cylinder 55 and each press cylinder 56 alternately expands and contracts, and the pushing plate 53 performs one cycle of stroke operation (reversal, primary compression, secondary compression, pushing). As a result, the trash thrown into the trash throw-in box 4 from the throw-in opening 41 is stored (loaded) into the trash storage box 3. In this one cycle of stroke operation, the movement trajectory of the tip 53a of the pushing 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)).

[0032] 4, the imaging unit 6 has a camera 61 capable of imaging a work area where a worker or the like performs the work of dumping trash from the dump opening 41 into the loading device 5 in the trash dump box 4, and a support unit 62 that supports the camera 61. The imaging unit 6 of this embodiment also has a notification unit (notification means) 63 that can notify a worker or the like based on the image content captured by the camera 61.

[0033] 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.

[0034] The imaging element 612 is, for example, a CCD image sensor, a CMOS image sensor, or the like, and outputs image data of a captured image (a moving image in this embodiment). 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 a rear monitor M (see FIG. 1) arranged in the driver's cab 21, and outputs image data to the rear monitor M as well.

[0035] 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 part 621 fixed to the upper side of the input opening 41 in the trash input box 4, a bracket 622 connecting the camera 61 to the base part 621, and a cover plate 624 attached to the periphery of the base part 621.

[0036] The base 621 is a frame-like part formed by combining long plate members, pipes, etc., and extends rearward (more specifically, diagonally upward) from the upper part of the drop-in opening 41 in the trash drop box 4.

[0037] Bracket 622 connects the tip of base 621 to camera 61 arranged below the tip. A base end (end on the base 621 side) 622a of this bracket is connected to the tip of base 621 via an axis member 623 extending in the vehicle width direction, and a tip end (end opposite to the base end) 622b is connected to camera 61. Bracket 622 is rotatable around axis member 623. This rotation makes it possible to change the range that camera 61 can capture.

[0038] The cover plate 624 is a plate-like member that is arranged around the periphery of the base 621 to protect the camera 61 from dust and other debris that may fly into the camera 61 while the refuse collection vehicle 1 is traveling.

[0039] The notification unit 63 notifies the workers and the like who are putting trash into the trash box 4 from the putting-in opening 41 and the people around them (around the loading device 5) about the safety of the workers and the like. The notification unit 63 of this embodiment has a plurality of lamps 63a, 63b, and 63c that emit different colors when lit, and notifies the workers and the like about the safety by the lit lamps. For example, in the notification unit 63, when the worker is working in a safe area (an area where an accident involving the loading device 5 or the like is unlikely to occur) in the work area, the first lamp 63a emits green light, when the worker approaches a dangerous area Ar1 (an area where an accident involving the loading device 5 or the like is likely to occur), 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 or flashing. The notification unit 63 may notify by sound (buzzer or voice) in addition to or instead of the lamps 63a to 63c.

[0040] 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 configured by a microcomputer including, 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 stores in advance various programs executed by the CPU and data necessary for the execution of the programs, and a volatile memory element such as a RAM (Random Access Memory) that serves as a so-called working memory of the CPU, and its peripheral circuits.

[0041] 5, the control unit 7 configured in this manner executes a program to functionally configure a person identification means 71, a boundary setting means 72, a border crossing determination means 73, an instruction means 74, and a trial run control means 75. That is, the control unit 7 includes the person identification means 71, the boundary setting means 72, the border crossing determination means 73, the instruction means 74, and the trial run control means 75.

[0042] As shown in Figs. 6 and 7, the person identification means 71 surrounds a person image Im2 from the captured object of an image (moving image) Im1 captured by the camera 61 with a geometric frame Fr to identify the person image Im2. When the person image Im2 surrounded by the frame Fr moves in 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 a change in the posture of the person image Im2, a position in the work area, etc., and the person identification means 71 changes the size of the frame Fr in response to this change. Note that 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 captured by the camera 61 includes multiple person images Im2, the person identification means 71 surrounds each person image Im2 with a frame Fr. The person identification means 71 of this embodiment surrounds the person image Im2 with a square frame Fr. In addition, identifying the person image Im2 from the object captured in the image (moving image) Im1 captured by the camera 61 by surrounding it with a geometrically shaped frame Fr also includes applying a geometric shape to the person image Im2 from the object captured in the image (moving image) Im1 captured by the camera 61 and using the edges of that geometric shape as 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 using the edges of that irregular shape as the frame Fr.

[0043] In an image (moving image) Im1 captured by the camera 61 of this embodiment, when a person is in a normal posture (for example, standing with his / her back straight), the person's head is a part located at the top of the person image Im2. Note that this frame Fr is a rectangular frame (bounding box), but it may be a frame of another geometric shape, such as a circular frame including an elliptical shape.

[0044] 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 shape (line shape) of the line L in the image Im1 from the camera 61. The boundary setting means 72 functionally includes 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.

[0045] 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 throw-in opening (loading device 5) of the garbage throw-in box 4 in the work area, or a boundary area along the boundary. That is, the line L is set on the edge of the throw-in opening 41 (loading device 5) or in its vicinity, and indicates the boundary or boundary area between the dangerous area Ar1, where danger caused by the loading device 5 may pose a danger to workers, etc., and another area (area other than the dangerous area Ar1) Ar2 (see FIG. 1).

[0046] 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 and the warning line L2. This danger line L1 is a line for controlling the control unit 7 to stop the work execution of the loading device 5. Also, 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 that of 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 from the loading device 5).

[0047] Each of these lines L1, 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, L2 is a curve set based on the distortion aberration of the lens 611 of the camera 61. Specifically, each of the lines L1, L2 is a curve having a shape conforming to a straight line in the captured image Im1 (i.e., the straight line in a state curved by 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 refuse collection vehicle 1 and captures the rear of the vehicle, the straight line parallel to the vehicle width direction is captured in the image Im as a straight line extending horizontally when no distortion is generated by the lens 611. However, because the lens 611 is a wide-angle lens, in the danger line L1 and warning line L2 of this embodiment, the curvature of each portion of the lines L1, L2 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 fore-and-aft direction of the vehicle) in the image Im in which the danger line is captured, the curvature of each portion of the lines L1, L2 is set based on the distance from the position equivalent to the optical axis.

[0048] The boundary position setting means 722 sets (changes) the positions of the lines L1, L2 in the image Im1 from the camera 61. Furthermore, the boundary position setting means 722 changes the relative positions of the lines L1, 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, L2.

[0049] In 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).

[0050] The boundary curvature setting means 723 sets (changes) the curvature of each of the lines L1, L2 in the image Im1 from the camera 61. In addition, the boundary curvature setting means 723 changes the curvature of each of the lines L1, L2 while maintaining the relative position of any one point of each of the lines L1, L2 (for example, a central point in the extension direction of each of the lines L1, L2) in the up-down and left-right directions with respect to the image Im1.

[0051] Specifically, the curvature of each of the lines L1 and L2 in the image Im1 (specifically, the curvature of each portion of each of the lines L1 and L2) is set (changed) based on the distance from the position equivalent to the optical axis in the image Im1 of each of the lines L1 and L2 set (the position of which has been changed) by the boundary position setting means 722. As a result, 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 of the lines L1 and L2 (the curvature of each portion) change in accordance with the change in position (in accordance with the change in distance from the position equivalent to the optical axis in the image Im1). That is, each of the lines L1 and L2 whose position in the image Im1 has been changed is deformed in accordance with the distortion aberration of the lens 611.

[0052] The "distance from the optical axis" is the radial distance based on the center of the optical axis. Due to the distortion aberration of the lens 611, a subject that is farther away in the radial direction from the center of the optical axis appears more curved in the image than a subject that is closer in the radial direction. Specifically, as shown in Fig. 6, the input opening (input section) 41 of the trash input box 4 appears to be greatly curved in the image Im1.

[0053] Furthermore, the boundary curvature setting means 723 can set (change) the curvature of each of the lines L1, L2 regardless of whether or not the positions of the lines L1, L2 in the image Im1 have been set by the boundary position setting means 722. Specifically, the operation unit 57 has a boundary curvature input section (boundary curvature input means) 572 that can input the curvature of each of the lines L1, 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, L2 in the image Im1 based on the input from the boundary curvature input section 572 of the operation unit 57.

[0054] The border crossing determination means 73 determines whether or not a person image Im2 in an 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. The border crossing determination means 73 of this embodiment determines whether or not at least a part of the frame Fr identified by the person identification means 71 (for example, a part of the frame Fr) 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.

[0055] 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. The instruction means 74 functionally has a stop instruction means 741 and a warning instruction means 742.

[0056] Furthermore, the stop instruction means 741 instructs the loading device 5 to stop the operation (execution of work) of the loading device 5 when the border crossing determination means 73 determines that at least a part of the frame Fr (for example, a part of the frame Fr) in the image Im1 from the camera 61 has crossed the danger line L1 into the danger area Ar1. That is, the stop instruction means 741 stops the operation of the loading device 5 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.

[0057] 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 part of the frame Fr (for example, 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 loading device 5 side). 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 when at least a part of the frame Fr has crossed the warning line L2 to the dangerous area Ar1 side.

[0058] Incidentally, while the trial run control means 75 is functioning (operating), that is, while the control unit 7 is performing a trial run, if 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. Also, while the control unit 7 is performing a trial run, 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.

[0059] 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.

[0060] 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.

[0061] 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, 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 emit a corresponding lamp 63b when at least a part of the frame Fr in the image Im1 from the camera 61 has crossed the warning line L2 into the danger area Ar1, and further instructs the notification unit 63 to emit a corresponding lamp 63c when at least a part of the frame Fr in the image Im1 has crossed the danger line L1 into the danger area Ar1.

[0062] In the refuse collection vehicle 1 configured as above, when a worker or a person (worker, etc.) near the refuse collection vehicle 1 is working on loading refuse from the loading opening 41 into the refuse loading box 4 (loading device 5), it is accurately detected that the worker or a person (worker, etc.) near the refuse collection vehicle 1 during the work approaches or enters the danger area Ar1, and an alarm is issued or the loading device 5 is stopped (emergency stop), thereby preventing an accident caused by the loading device 5, such as an entrapment accident. Specifically, it is as follows.

[0063] When the loading device 5 is activated by operating the operating unit 57 and the operation of dumping garbage through the dump opening 41 begins, as shown in FIG. 8, imaging by the camera 61 of the imaging unit 6 begins (step S1), and the captured image (video data) Im1 is output to the control unit 7.

[0064] When the control unit 7 receives the image Im1 from the camera 61, the boundary adding means 721 adds the lines L (the danger line L1 and the warning line L2) to the image (image data) Im1 (step S2).

[0065] The person identification means 71 also identifies the person image Im2 in the image Im1 captured by 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 in accordance with the movement of the identified person image Im2 (movement of a worker or the like in the work area, change in posture, etc.).

[0066] Next, 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 the warning line L2 are added has crossed over any of the lines L1 and L2 into the danger area Ar1. Note that, when multiple frames Fr are set in the image Im1 (i.e., multiple human images Im2 are present), 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 images Im2.

[0067] In 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 Figs. 6 and 7) (step S4: Yes), it outputs an instruction signal to the warning instruction means 742. The warning instruction means 742 that receives this instruction signal causes the notification unit 63 to issue an alert (step S5). The warning instruction means 742 of this embodiment 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.

[0068] Furthermore, while the frame Fr does not cross the warning line L2 toward the dangerous area Ar1 in the image Im1 from the camera 61 (step S4: No), the border crossing judgment means 73 continues to judge (monitor) whether at least a part of the frame Fr crosses the warning line L2 toward the dangerous area Ar1.

[0069] Furthermore, 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 an 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 S9), and the border crossing determination means 73 resumes determination (monitoring) as to whether or not at least a part of the frame Fr has crossed the warning line L2 into the danger area Ar1.

[0070] On the other hand, when the worker or the like does not leave the danger area Ar1 and approaches further despite the notification by the notification unit 63, that is, in the image Im1 from the camera 61, the frame Fr does not leave the danger area Ar1 and approaches further (step S6: No), 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 has received this instruction signal stops the operation of the loading device 5 (i.e., performs an emergency stop: step S8). This prevents an accident caused by the loading device 5, such as entanglement, caused by the worker or the like approaching too close to the danger area Ar1 or entering the danger area Ar1. The loading device 5 that has been stopped in an emergency can be restarted by pressing the reset button of the operation unit 57 with the worker or the like leaving the danger area Ar1.

[0071] Furthermore, in the image Im1 from the camera 61, when the frame Fr has crossed 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), that is, when the part of the frame Fr that is located closest to the danger area Ar1 is located between the warning line L2 and the danger line L1, the border crossing judgment means 73 continues to judge (monitor) whether the state in which the frame Fr has crossed the warning line L2 (border crossing state) has been resolved and whether it has crossed the danger line L1 toward the danger area Ar1.

[0072] In addition, in the refuse collection vehicle 1 of this embodiment, the position and curvature of the danger line L1 and the warning line L2 in the image Im1 can be set (changed). When this setting (changing) is performed, the trial run switch 573 of the operation unit 57 is pressed, that is, the control unit 7 is in a trial run state (setting mode), so that the worker 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 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 the loading device 5 is stopped in an emergency. Specifically, this is as follows.

[0073] When the test run switch 573 of the operation unit 57 is pressed, the test run of the control unit 7 is executed (switched 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 the boundary setting means 72, the border crossing determination means 73, and the test run control means 75 function (operate) in the control unit 7. In this way, since the test run control means 75 (more specifically, the stop maintenance means 751) is functioning while the test run of the control unit 7 is being executed, even if the ON / OFF button of the loading device 5 arranged on the operation unit 57 is operated to turn the loading device 5 ON (operating state), 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.

[0074] Next, the positions of the lines L1, L2 in the image Im1 are set (changed) by input from the boundary position input unit 571 of the operation unit 57, or the curvatures of the lines L1, L2 in the image Im1 are set (changed) by the boundary curvature input unit 572 of the operation unit 57 (step S12). Note that in the garbage collection vehicle 1 of this embodiment, the positions and curvatures of the lines L1, L2 in the image Im1 can be changed by input from the boundary position input unit 571 or the boundary curvature input unit 572 without executing a test run of the control unit 7.

[0075] Here, when the positions of the lines L1, L2 in the image Im1 are moved by input from the boundary position input unit 571, the boundary curvature setting means 723 automatically sets (adjusts) the curvature of each line L1, L2 in accordance with the distance from the position equivalent to the optical axis in the image Im1 (i.e., the distortion aberration of the lens 611), even if there is no input from the boundary curvature input unit 572. Here, in the case where the position equivalent 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 the line L is moved upward (toward the optical axis), the curvature is made smaller (the radius of curvature is made larger), and conversely, when the line L 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 (approximately 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. Also, when 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, a curvature is further set (adjusted) for the set curve.

[0076] With the position and curvature set (changed) in this way, a worker or the like approaches the throw-in opening 41 by, for example, recreating the task of throwing garbage into the throw-in opening 41. At this time, when at least a part of the frame Fr in the image Im1 from the camera 61 crosses the newly set warning line (warning line whose position and curvature in the image Im1 are set (changed)) L2, the notification instruction means 752 of the trial run control means 75 instructs the notification unit 63 to emit the corresponding lamp 63b. Also, when at least a part of the frame Fr in the image Im1 from the camera 61 crosses the newly set danger line (danger line whose position and curvature in the image Im1 are set (changed)) L1, the notification instruction means 752 of the trial run control means 75 instructs the notification unit 63 to emit the corresponding lamp 63c.

[0077] 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).

[0078] In the above-described sewage collection vehicle 1, the person identification means is configured to identify a person from the captured object of the image by surrounding it with a geometric frame, and when the frame Fr of the identified person crosses the danger line L1 of the danger area Ar1 toward the danger area Ar1, a warning is issued, and when the frame Fr crosses the warning line L2 of the danger area Ar1 toward the danger area Ar1, the operation of the loading device 5 is stopped, so that it is possible to accurately prevent a person who has entered the danger area Ar1 from being caught in the loading device 5. Specifically, in the sewage collection vehicle 1 of this embodiment, even if a person stretches out his / her hands with his / her upper body leaning back, it is determined that the person has crossed into the danger area Ar1, and the operation of the loading device 5 is stopped and a warning is issued.

[0079] In addition, in the garbage collection vehicle 1 of this embodiment, at least one of the position and shape (linear shape) (for example, both the position and linear shape) in the image Im1 captured by the camera 61 of each line L1, L2 can be changed depending on the working environment of the garbage collection vehicle 1 and the captured image, thereby making it possible to more accurately prevent a person who enters the danger area Ar1 from being caught in the loading device 5.

[0080] Furthermore, in the garbage collection vehicle 1 of this embodiment, by making the shape of the frame Fr a simple shape such as a rectangle or a circle, the identification process by the person identification means 71 and the judgment process by the border crossing judgment means 73 can be easily performed.

[0081] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.

[0082] In the sewage collection vehicle 1 of the above embodiment, both the danger line L1 and the warning line L2 are provided as the boundary line L, but only the danger line L1 may be provided as the boundary line L, in which case, when the frame Fr of the identified person crosses the danger line L1 of the danger area Ar1 to the danger area Ar1 side, only the operation of the loading device 5 is stopped. Also, only the warning line L2 may be provided as the boundary line L, in which case, when the frame Fr crosses the warning line L2 of the danger area Ar1 to the danger area Ar1 side, only a warning is issued.

[0083] Furthermore, in the sewage collection vehicle 1 of the above embodiment, one danger line L1 is provided, but multiple danger lines L1 may be provided. Also, one warning line L2 is provided, but multiple warning lines L2 may be provided. Below, a case where two danger lines L1 and two warning lines L2 are provided will be described.

[0084] 9, 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 line L includes the danger line L1 and the warning line L2.

[0085] This danger line L1 is a line used by the control unit 7 to control the loading device 5 to stop performing its work, and includes a first danger line (nearby stopping boundary line) L11 on the side closer to the danger area Ar1 (loading device 5) in the image Im1 from the camera 61, and a second danger line (far stopping boundary line) L12 on the side farther from the danger area Ar1 (loading device 5) in the image Im1.

[0086] In addition, the warning line L2 is a line for controlling the alarm unit 63 to alert that a worker, etc. is approaching the danger area Ar1 (danger line L1), and includes a first warning line L21 on the side closer to the danger area Ar1 (loading device 5) in the image Im1 from the camera 61, and a second warning line L22 on the side farther from the danger area Ar1 (loading device 5) in the image Im1.

[0087] These two warning lines L21, L22 are set at positions that are farther from the input opening 41 than the corresponding danger lines L11, L12. Specifically, in the image Im1, the first warning line L21 is set above the first danger line L11 and below the second danger line L12, and the second warning line L22 is set above the second danger line L12.

[0088] The boundary position setting means 722 sets (changes) the positions of the lines L11, L12, L21, and L22 in the image Im1 from the camera 61. In 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 L11, L12, L21, and L22 in the image Im1 from the camera 61, and the boundary position setting means 722 changes the positions (vertical positions in this embodiment) of the lines L11, L12, L21, and L22 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 L11, L12, L21, and L22 in the image Im1 in the vertical direction. The boundary position setting means 722 may be configured to change the position of each of the lines L11, L12, L21, and L22 in the image Im1 individually, or may be configured to change all of the lines L11, L12, L21, and L22 together (simultaneously).

[0089] The boundary curvature setting means 723 sets (changes) the curvature of each of the lines L11, L12, L21, and L22 in the image Im1 from the camera 61. Based on the distance from the position equivalent to the optical axis in the image Im1 of each of the lines L11, L12, L21, and L22 set (position changed) by the boundary position setting means 722, the boundary curvature setting means 723 sets (changes) the curvature of each of the lines L11, L12, L21, and L22 in the image Im1 (more specifically, the curvature of each portion of each of the lines L11, L12, L21, and L22). As a result, when the positions of the lines L11, L12, L21, and L22 in the image Im1 from the camera 61 are changed by the boundary position setting means 722, the shapes (curvature of each portion) of the lines L11, L12, L21, and L22 change in accordance with the change in position (in accordance with the change in distance from the position equivalent to the optical axis in the image Im1). That is, the lines L11, L12, L21, and L22 whose positions in the image Im1 have been changed are deformed in accordance with the distortion aberration of the lens 611.

[0090] Furthermore, the boundary curvature setting means 723 can set (change) the curvature of each of the lines L11, L12, L21, and L22, regardless of whether or not the positions of the lines L11, L12, L21, and L22 in the image Im1 have been 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 of the lines L11, L12, L21, and L22 in the image Im1 from the camera 61, and the boundary curvature setting means 723 sets (changes) the curvature of each of the lines L11, L12, L21, and L22 in the image Im1, based on the input from the boundary curvature input unit 572 of the operation unit 57.

[0091] The border crossing determination means 73 determines whether or not a person image Im2 in an image Im1 from the camera 61 has crossed each of the lines L11, L12, L21, and L22 into the dangerous area Ar1.

[0092] Specifically, when the border crossing determination means 73 determines that an end (near end) Fr1 on the side closer to the danger area Ar1 (loading device 5) in the frame Fr identified by the person identification means 71 in the image Im1 has crossed the first danger line L11 toward the danger area Ar1, and an end (far end) Fr2 on the side farther from the danger area Ar1 (loading device 5) in the frame Fr has crossed the second danger line L12 toward the danger area Ar1, the border crossing determination means 73 outputs an instruction signal to the stop instruction means 741 of the instruction means 74. Therefore, even if the near end Fr1 of the frame Fr in the image Im1 has crossed the first danger line L11 toward the danger area Ar1, if the far end Fr2 of the frame Fr does not cross the second danger line L12 toward the danger area Ar1, the border crossing determination means 73 does not output an instruction signal to the stop instruction means 741 of the instruction means 74. When the border crossing determination means 73 outputs an instruction signal, the far end Fr2 of the frame Fr is located between the first danger line L11 and the second danger line L12.

[0093] Furthermore, when the border crossing determination means 73 determines that the near end Fr1 of the frame Fr crosses the first warning line L21 toward the danger area Ar1 and that the far end Fr2 of the frame Fr crosses the second warning line L22 toward the danger area Ar1, it outputs an instruction signal to the warning instruction means 742 of the instruction means 74. Therefore, even if the near end Fr1 of the frame Fr crosses the first warning line L21 toward the danger area Ar1 in the image Im1, if the far end Fr2 of the frame Fr does not cross the second warning line L22 toward the danger area, the border crossing determination means 73 does not output an instruction signal to the warning instruction means 742 of the instruction means 74. Note that when the border crossing determination means 73 outputs an instruction signal, the far end Fr2 of the frame Fr is located between the first warning line L21 and the second warning line L22.

[0094] The notification instruction means 752 instructs the notification unit 63 to issue a notification when the border crossing determination means 73 determines that the near end Fr1 and the far end Fr2 of the frame Fr have crossed the corresponding lines L11, L12, L21, and L22 toward the danger area Ar1 while the stop maintaining means 751 is keeping the loading device 5 stopped (i.e., while the control unit 7 is performing a trial run).

[0095] Specifically, when the near end Fr1 of the frame Fr crosses the first warning line L21 toward the danger area Ar1 and the far end Fr2 of the frame Fr crosses the second warning line L22 toward the danger area Ar1 in the image Im1 from the camera 61, the notification instruction means 752 instructs the notification unit 63 to emit light from the corresponding lamp 63b. Furthermore, when the near end Fr1 of the frame Fr crosses the first danger line L11 toward the danger area Ar1 and the far end Fr2 of the frame Fr crosses the second danger line L12 toward the danger area Ar1 in the image Im1, the notification instruction means 752 instructs the notification unit 63 to emit light from the corresponding lamp 63c.

[0096] According to this configuration, when the near end Fr1 of the frame Fr of a person included in the image Im1 from the camera 61 crosses the first danger line L11 on the side closer to the loading device 5 and the far end Fr2 of the frame Fr of this person crosses the second danger line L12 on the side farther from the loading device 5, that is, when it can be determined that the person has definitely entered the danger area Ar1, the operation of the loading device 5 can be reliably stopped.

[0097] In the above embodiment, the camera 61 photographs the danger area Ar1 from above, but the danger area Ar1 may be photographed from a direction other than above, for example, from the side. In this case, the lines L1 and L2 extend in the vertical direction and are spaced apart from each other in the horizontal direction. Specifically, when the danger area Ar1 is located on the left side in the image Im1 from the camera 61, the danger line L1 is located to the left of the warning line L2. The camera 61 may also photograph the danger area Ar1 from the front or below.

[0098] In the above embodiment, the shape (three-dimensional shape) of the lens 611 is symmetrical in the vertical and horizontal directions. Therefore, the optical axis (corresponding to the undistorted part of the image Im1) coincides with the center of the image Im1. On the other hand, the lens 611 having an asymmetric shape can also be used. In this case, the undistorted part of the image corresponds to the optical axis.

[0099] Furthermore, with regard to setting the curvature of the line (boundary line) L, the distance to the line L (i.e., the radius of curvature) may be increased or decreased while maintaining the relative vertical and horizontal position of any one point (in the above embodiment, the center of image Im1).

[0100] Furthermore, although the line (boundary line) L was a curved line in the above embodiment, it may be a straight line, for example when the line L is set to coincide with the optical axis of the lens 611. Furthermore, the line L may be a combination of curves with multiple radii of curvature. For example, the curvature (radius of curvature) of the line L may be different between the center of the image and both the left and right ends of the image. Furthermore, the shape of the line L may be asymmetrical in the image Im1.

[0101] Moreover, the instruction means 74 in the above embodiment functionally has the stop instruction means 741 and the warning instruction means 742. However, it may have only one of the stop instruction means 741 and the warning instruction means 742. Moreover, the instruction means 74 in the above embodiment is an inseparable unit 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 separate units.

[0102] Furthermore, it is also possible to define an ignored area within the image Im1, which is an area where no dangerous area is set. The edge line defining the ignored area is linear and is set at least at either the left or right edge within the image Im1. The 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 the image Im1 shown in FIG. 6 etc. By defining the ignored area in this manner, a danger judgment is not made for the image of the operator operating the operation unit 57 located within the ignored area. This makes it possible to prevent a warning from being issued every time the operator operates the operation unit 57.

[0103] The work vehicle 1 may be a dump truck or vehicle transporter (the working device corresponds to a loading platform that tilts or slides), a container transporter having a container loading device (the working device corresponds to a loading device that loads and unloads containers), a vehicle with a loading platform lifting device (the working device corresponds to a lifting platform and a lifting mechanism that lifts and lowers the loading platform), a concrete mixer truck (the working device is a concrete drum), a concrete pump truck (a concrete pressure pump and a concrete distribution boom device), a crane truck or aerial work vehicle (boom), an excavator (boom and excavation drill), or other work vehicle, and in particular, when the vehicle has a device that operates by transmitting the rotation of a drive source to a hydraulic / pneumatic pump or blower via a PTO or the like, the working device 5 corresponds not only to the operating device, the drive source, the hydraulic / pneumatic pump, etc., but also to the power transmission shaft that connects them.

[0104] Furthermore, when the work vehicle 1 is, for example, a container transporter, a vehicle transporter, etc., and the working device 5 is, for example, a loading platform lifting device, etc., which operates by a momentary system, the working device 5 may operate only when the input unit is turned ON. In this case, the working device 5 may operate not by a momentary system, but by an alternate system (holding type) in which operation continues when the input unit is turned ON until it is turned OFF. [Explanation of symbols]

[0105] 1...Refuse collection vehicle (work vehicle), 2...Vehicle chassis, 3...Refuse storage box, 4...Refuse input box, 5...Loading device (work 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...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, 56 p... piston, 57... operation unit, 61... camera, 62... support unit, 63... notification unit (notification 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 unit (boundary position input means), 572... boundary curvature input unit (boundary curvature input means), 573... trial operation switch (trial operation 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 instruction means, 751... stop maintaining means, 752... notification instruction means, Ar1... danger area, Ar2... area other than the danger area Ar1, Fr... frame, Fr1... near end (end), Fr 2...far end (end), Im1...image (image data, video image, video data), Im2...human figure, L...line (boundary line), L1...danger line (line, stop boundary line), L2...warning line (line), L11...first danger line (nearby stop boundary line, danger line, line), L12...second danger line (far stop boundary line, danger line, line), L21...first warning line (warning line, line), L22...second warning line (warning line, line), M...back monitor

Claims

1. A work device that performs a predetermined work; an imaging means for imaging a work area in which a worker performs work using the work device; A control unit that performs control based on an image captured by the imaging means, A boundary line is set on the image, the boundary line indicating a boundary of a dangerous area in the vicinity of the work device in the work area where the worker may be in danger, The control unit is a person identification means for identifying a person from among the captured objects in the image by surrounding the person with a geometric frame; a border crossing determination means for determining whether or not a part of the frame identified by the person identification means crosses the boundary line into the dangerous area; and an instruction means for instructing a notification means capable of issuing an alarm to issue an alarm when the border crossing determination means determines that the border line has been crossed into the dangerous area, the boundary line includes a warning line for controlling the control unit to issue a warning to the notification means, the warning lines include a near-side warning line on a side closer to the work device in the image, and a far-side warning line on a side farther from the work device in the image, when the crossing determination means determines that a near end portion of the frame that is closer to the working device has crossed the near-side warning line and a far end portion of the frame that is farther from the working device has crossed the far-side warning line, the instruction means instructs the notification means to issue a warning; when the crossing determination means determines that the near end of the frame crosses the near-side warning line and the far end of the frame does not cross the far-side warning line, the instruction means does not instruct the notification means to issue a warning, A work vehicle in which, when the border crossing determination means determines that the near end of the frame has not crossed the near warning line and the far end of the frame has crossed the far warning line, the instruction means does not issue an instruction to the notification means to issue a warning.

2. A work device that performs a predetermined work; an imaging means for imaging a work area in which a worker performs work using the work device; A control unit that performs control based on an image captured by the imaging means, A boundary line is set on the image, the boundary line indicating a boundary of a dangerous area in the vicinity of the work device in the work area where the worker may be in danger, The control unit is a person identification means for identifying a person from among the captured objects in the image by surrounding the person with a geometric frame; a border crossing determination means for determining whether or not a part of the frame identified by the person identification means crosses the boundary line into the dangerous area; and an instruction means for instructing a notification means capable of issuing a warning to stop the work execution of the work device when the border crossing determination means determines that the boundary line has been crossed into the dangerous area, the boundary line includes a near side line on a side closer to the working device in the image and a far side line on a side farther from the working device in the image, When the crossing judgment means judges that a near end portion of the frame that is closer to the working device crosses the near line and a far end portion of the frame that is farther from the working device crosses the far line, the instruction means issues an instruction to stop the working device from operating, or the instruction means issues an instruction to the notification means to issue a warning, when the crossing determination means determines that the near end of the frame crosses the near side line and the far end of the frame does not cross the far side line, the instruction means does not issue an instruction to stop the operation of the working device, A work vehicle in which, when the border crossing determination means determines that the near end of the frame has not crossed the near line and the far end of the frame has crossed the far line, the instruction means does not issue an instruction to the notification means to issue a warning.

3. When the border crossing determination means determines that a part of the frame crosses the far side line, the instruction means instructs the notification means to issue a warning, 3. The work vehicle according to claim 2, wherein when the border crossing determination means determines that the near end of the frame crosses the near side line and the far end of the frame crosses the far side line, the instruction means issues an instruction to stop operation of the work device.

4. The work vehicle according to any one of claims 1 to 3, wherein the control unit is provided with a boundary setting means capable of setting at least one of a boundary position, which is a position of the boundary line within the image, and a shape of the boundary line.

Images