Dust collection vehicle

Abstract

To provide a work vehicle which can provide a notification about the safety of a worker.SOLUTION: A work vehicle comprises: detection means for detecting a fact that a worker has intruded into a dangerous area where there is a possibility of danger to the worker in the vicinity of a work apparatus in a work area in which the worker performs a work relative to the work apparatus and a fact that the worker has approached the dangerous area; plural lamps to notify the worker working at the rear of the vehicle; and a control unit for executing control based on the detection information of the detection means. When the fact that the worker has intruded into the dangerous area is detected by the detection means, the control unit lights up one lamp 63c of the plural lamps 63b, 63c, and when the fact that the worker has approached the dangerous area is detected by the detection means, the control unit lights up the other lamp 63b of the plural lamps 63b, 63c.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to Dust collection vehicle .

Background Art

[0002] Conventionally, a garbage collection vehicle, which is an example of a work vehicle, is known. This garbage collection vehicle includes a garbage storage box for storing garbage, and a loading device having a pushing member that temporarily holds the garbage thrown in from the rear inlet by an operator or the like and moves the garbage into the garbage storage box.

[0003] In addition, the above-described garbage collection vehicle is provided with a monitoring system for ensuring safety so that an operator who throws garbage into the inlet of the garbage input box can avoid contact with the loading device when moving the garbage in the garbage input box into the garbage storage box by the loading device. This monitoring system is provided at the upper part of the rear end of the garbage collection vehicle, and includes a camera that images the periphery of the loading device, and a control device for urgently stopping the loading device based on the imaging information from the camera (see, for example, Patent Document 1).

[0004] In the above monitoring system, while the loading operation is being performed by pressing a start switch for starting the loading device, the control unit determines whether or not a human figure (for example, an operator) invading the intrusion prohibited area exists based on the imaging information captured by the camera. When it is determined that a human figure has invaded the intrusion prohibited area, the loading device is urgently stopped.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the above monitoring system, the control unit only determines that an operator has entered the restricted area and is in a dangerous situation, leaving room for improvement from the perspective of notifying the operator.

[0007] Therefore, an object of the present invention is to be able to notify an operator about safety. Dust collection vehicle

Means for Solving the Problem

[0008] The work vehicle of the present invention includes a work device that performs a predetermined work, a detection means that detects that an operator has entered a dangerous area where there is a possibility of danger to the operator and that the operator has approached the dangerous area in the vicinity of the work device in the work area where the operator works on the work device, a plurality of lamps provided at the rear of the vehicle for notifying an operator working at the rear of the vehicle, and a control unit that controls based on the detection information of the detection means. When the detection means detects that an operator has entered the dangerous area, the control unit causes one of the plurality of lamps to emit light, and when the detection means detects that an operator has approached the dangerous area, the control unit causes another one of the plurality of lamps to emit light.

[0009] Further, in the work vehicle of the present invention, the detection means includes means for detecting whether an operator is working in a safe area where there is little danger in the work area. When the detection means detects that the operator is working in the safe area, a lamp other than the one lamp and the other lamp among the plurality of lamps may be caused to emit light.

Effects of the Invention

[0010] The present invention can notify an operator about safety. Dust collection vehicle

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying out the Invention

[0012] Hereinafter, an embodiment of a work vehicle according to the present invention will be described with reference to FIGS. 1 to 8.

[0013] The work vehicle includes a working device that performs a predetermined work, an imaging means that images a work area where an operator or the like performs work on the working device, and a control unit that controls based on the image captured by the imaging means. The work vehicle of the present embodiment is a dust collection vehicle 1 that collects dust such as garbage and transports it to a disposal facility, as shown in FIGS. 1, 2, and 4. The imaging means constitutes a detection means for detecting that an operator has entered a danger area where there is a possibility of danger to the operator in the vicinity of the working device in the work area where the operator or the like performs work on the working device. Specifically, it is a camera 61 that can image the rear of the dust collection vehicle 1. The working device is a loading device 5 for performing a loading operation of dust into the dust collection vehicle 1. Hereinafter, the specific configuration of the dust collection vehicle 1 will be described.

[0014] 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 (working 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 (see FIG. 1).

[0015] The dust storage box 3 is a box-shaped part for storing dust and has an opening 31 that opens rearward.

[0016] The dustbin 4 has an input opening (input section) 41 that opens rearward at the rear end, and dust is input through the input opening 41. Inside this 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 input opening 41 by sliding in the vertical direction. This 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 a position like the one 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.

[0017] The loading device 5 has a pushing plate (pushing member) 53 that pushes the dust input from the input opening 41 into the dust storage box 3, and is arranged inside the dustbin 4. This loading device 5 is connected to the control unit 7 and is 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 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 arranged between the pair of sliders 52, and a pin 54 that connects each slider 52 and the pushing plate 53. This 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. This pushing plate 53 is a member that compresses the dust input 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.

[0018] 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 move forward and backward 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.

[0019] 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.

[0020] 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 piston 55p does not move forward and backward with respect to the cylinder 55c, when these pair of press cylinders 56 extend in a synchronized manner 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 manner with each other, the pushing plate 53 rotates around the pin 54 (rotates in the counterclockwise direction in FIG. 1).

[0021] In addition, the loading device 5 has an operation unit 57 for an operator or the like who loads dust and dirt into the dust and dirt input box 4 from the input opening 41 to operate the loading device 5. This operation unit 57 has an input unit for performing various inputs such as an ON / OFF button (operation input unit) and switches of the loading device 5, an emergency stop button of the loading device 5, a reset button, etc. Also, various input units such as switches, buttons, dials, etc. for setting and changing settings related to the control of the loading device 5 are arranged on this operation unit 57.

[0022] 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, the 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.

[0023] 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, on the operation unit 57 arranged on the left side of the input opening 41 when viewed from the rear, there is a starting means (starting button, see FIG. 2) 574 for performing a starting operation to start the loading device 5, a releasing means (releasing button, see FIG. 2) 575 for performing a releasing operation to release the invalidation of restarting by an invalidation means 76 described later after the loading device 5 has been emergently stopped, and a plurality of buttons necessary for other operations are arranged. On the operation unit 57 arranged on the right side of the input opening 41, only an emergency stop button is arranged. In addition to configuring the starting means 574 and the releasing means 575 with push buttons, they may be configured with snap switches or rotary switches.

[0024] Regarding the details of the dust loading operation of the loading device 5 configured as described above, with reference to FIGS. 3(a) to 3(d), it will be described below. Here, FIGS. 3(a) to 3(d) are operation explanatory diagrams in which only the pushing plate 53, the push cylinder 55, and the press cylinder 56 are extracted. For ease of viewing the drawings, the position of the push cylinder 55 is shifted in each figure.

[0025] First, when each component 53, 55, 56 is in the initial state (the state shown in FIG. 3(a)), as each press cylinder 56 contracts, the pushing plate 53 rotates around the pin 54 in the direction in which the tip 53a of the pushing plate 53 moves away from the dust storage box 3 (the counterclockwise direction in FIG. 3(a)) (that is, the "inversion" stroke is performed), and the state shown in FIG. 3(b) is reached.

[0026] From this state, as each push cylinder 55 contracts, the pushing plate 53 moves obliquely downward along the extending direction of the guide rail 51 while maintaining its posture in the rotational direction around the pin 54 (that is, the "primary compression" stroke is performed), and the state shown in FIG. 3(d) is reached. That is, the pushing plate 53 approaches the input opening 41.

[0027] Subsequently, as each press cylinder 56 extends, the pushing plate 53 rotates around the pin 54 in the direction in which the tip 53a of the pushing plate 53 approaches the dust storage box 3 (the clockwise direction in FIG. 3(d)) (that is, the "secondary compression" stroke is performed), and the state shown in FIG. 3(c) is reached. By this rotation of the pushing plate 53 around the pin 54, the tip 53a of the pushing plate 53 moves along the bottom 45 in the dust input box 4. That is, the bottom 45 in the dust input box 4 has a curved surface shape along the locus of the tip 53a of the rotating pushing plate 53 in the secondary compression stroke.

[0028] Subsequently, as each push cylinder 55 extends, the pushing plate 53 moves obliquely upward along the extending direction of the guide rail 51 while maintaining its posture in the rotational direction around the pin 54 (i.e., the "pushing-in" process is performed) and returns to the state shown in Fig. 3(a). That is, the pushing plate 53 pushes the garbage after primary compression and secondary compression from the opening 31 into the garbage storage box 3.

[0029] As described above, as each push cylinder 55 and each press cylinder 56 alternately expand and contract, the pushing plate 53 performs a one-cycle stroke operation (reversal, primary compression, secondary compression, pushing-in). As a result, the garbage introduced into the garbage input box 4 from the input opening 41 is stored (loaded) in the garbage storage box 3. In this one-cycle stroke operation, the operation locus of the tip 53a of the pushing plate 53 viewed from the vehicle width direction forms a closed shape connecting four points (see the two-dot chain line in Figs. 3(a) to 3(d)).

[0030] As shown in Fig. 4, the imaging unit 6 includes a camera 61 capable of imaging the work area where an operator or the like performs the operation of introducing garbage into the loading device 5 in the garbage input box 4 from the input opening 41, 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. The garbage collection vehicle 1 is provided with a second notification unit (notification means) 64 different from this notification unit (notification means) 63. The second notification unit (notification means) 64 can be configured by combining one or more of a buzzer, a patrol light (registered trademark), a liquid crystal display device, and the like. It should be noted that the monitor of the patrol light (registered trademark) and the liquid crystal display device is preferably arranged at a position visible from the outside, and more preferably around the input opening 41.

[0031] The second notification unit 64 is a means for notifying a third party when, after the loading device 5 is emergently stopped by a stop instruction means 741 described later, the restart determination means 77 described later has not received a release operation signal from the release means 575 even after a predetermined time has elapsed. When, as described above, the restart determination means 77 described later has not received a release operation signal from the release means 575 even after a predetermined time has elapsed, the control unit 7 determines that the operator is in a dangerous state and cannot operate the release means 575, and the dangerous state of the operator can be eliminated by notifying a third party. Incidentally, the predetermined time can be freely set by the operator.

[0032] 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 that can perform video imaging and image a sufficient range (wide range) when 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.

[0033] The imaging element 612 is, for example, a CCD image sensor, a CMOS image sensor, etc., and outputs image data of the captured image (moving image in the example of the present embodiment). Further, the camera 61 is connected to the control unit 7 and outputs 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 image data to the back monitor M as well.

[0034] The support unit 62 supports (holds) the camera 61 so that the camera 61 is positioned above the loading opening 41. The support unit 62 includes a base 621 fixed to the upper side of the loading opening 41 in the dust bin 4, a bracket 622 connecting the camera 61 to the base 621, and a cover plate 624 attached around the base 621.

[0035] The base 621 is a frame-shaped 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).

[0036] The bracket 622 connects the tip of the base 621 and the camera 61 disposed below the tip. The base end portion (the end portion on the base 621 side) 622a of this bracket is connected to the tip of the base 621 via a shaft member 623 extending in the vehicle width direction, and the tip 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.

[0037] The cover plate 624 is a plate-shaped member disposed around the base 621 to protect the camera 61 from dust and the like flying during the running of the dust collection vehicle 1.

[0038] The notification unit 63 notifies workers and others performing the operation of loading dust into the dust bin 4 from the input opening 41 and people around them (around the loading device 5) about the safety of the workers and others. The notification unit 63 of the present embodiment has a plurality of lamps 63a, 63b, 63c that emit different colors when lit, and notifies the safety of workers and others by the lit lamp. For example, in the notification unit 63, when the worker is working in the 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. Note that the notification unit 63 may notify by sound (buzzer or voice) in addition to or instead of the lamps 63a to 63c.

[0039] The control unit 7 can control the loading device 5 based on the image Im1 captured by the camera 61. The control unit 7 is composed of, 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 the so-called working memory of this CPU, and a microcomputer including its peripheral circuits and the like.

[0040] In the control unit 7 configured in this way, as shown in FIG. 5, 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, a test drive control means 75, a disabling means 76, and a restart determination means 77 are configured. That is, the control unit 7 includes a person identification means 71, a boundary setting means 72, a border crossing determination means 73, an instruction means 74, a test drive control means 75, a disabling means 76, and a restart determination means 77.

[0041] As shown in FIGS. 6 and 7, the human identification means 71 identifies a human image Im2 by surrounding it with a geometric frame Fr from the object in the image (moving image) Im1 captured by the camera 61. When the human image Im2 surrounded by the frame Fr moves within the image Im1, the human identification means 71 moves the frame Fr along with the movement of the human image Im2. Further, although the area (size, shape, etc.) of the human image Im2 in the image Im1 changes depending on the change in the posture of the human image Im2, the position in the work area, etc., the human 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 human image Im2. Further, when the image Im1 from the camera 61 includes a plurality of human images Im2, the human identification means 71 surrounds each human image Im2 with a frame Fr. The human identification means 71 of the present embodiment surrounds the human image Im2 with a square frame Fr. Note that surrounding the human image Im2 with a geometric frame Fr from the object in the image (moving image) Im1 captured by the camera 61 includes applying a geometric shape to the human 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 human image) between the human image Im2 and the background and using the edge of the irregular shape as the frame Fr.

[0042] In the image (moving image) Im1 captured by the camera 61 of the present embodiment, when a person is in a normal posture (for example, standing with the back straight), the head of the person in the human image Im2 is located in the upper part. Note that this frame Fr is a rectangular frame (bounding box), but may be a frame of another geometric shape such as a circular frame including an elliptical shape.

[0043] The boundary setting means 72 sets a predetermined line (boundary line) L within 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 shape (line shape) of the line L within 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 projected onto a monitor with respect to the image Im1 from the camera 61, or may set the line L in terms of data.

[0044] The boundary addition means 721 adds the 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 dust bin 4 in the work area or a 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 to workers or the like due to the loading device 5 and another area (area other than the danger area Ar1) Ar2 (see FIG. 1).

[0045] 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 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. The warning line L2 is a line for the notification unit 63 to notify that the 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 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.

[0046] 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. Each of the lines L1 and L2 in 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 of the lines L1 and L2 is a curve having a shape that conforms to the straight line in the captured image Im1 (that is, 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 dust collecting vehicle 1 and images the rear thereof, when there is no distortion caused by the lens 611, a straight line parallel to the vehicle width direction is imaged as a straight line extending in the horizontal direction in the image Im. 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 and 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 L1 and the warning line L2 are 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 and L2 is set based on the distance from the position corresponding to the optical axis.

[0047] The boundary position setting means 722 sets (changes) the positions of the lines L1 and 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 and L2.

[0048] Specifically, the operation unit 57 has a boundary position input unit (boundary position input means) 571 capable of inputting 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 respective 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 respective lines L1 and L2 in the image Im1 in the vertical direction (the depth direction of the loading device 5). The boundary position setting means 722 may be configured to change the positions of the respective lines L1 and L2 in the image Im1 individually, or may be configured to change both lines L1 and L2 together (simultaneously).

[0049] The boundary curvature setting means 723 sets (changes) the curvatures of the respective lines L1 and L2 in the image Im1 from the camera 61. Further, the boundary curvature setting means 723 changes the curvatures of the respective 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 the respective lines L1 and L2) of the respective lines L1 and L2 with respect to the image Im1.

[0050] Specifically, based on the distances from the positions corresponding to the optical axes in the image Im1 of the respective lines L1 and L2 set (position-changed) by the boundary position setting means 722, the curvatures (specifically, the curvatures of the respective parts of the respective lines L1 and L2) of the respective 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 the respective parts) of the lines L1 and L2 change in response to this position change (in response to the change in the distance from the position corresponding to the optical axis in the image Im1). That is, the respective lines L1 and L2 whose positions in the image Im1 are changed are deformed according to the distortion aberration of the lens 611.

[0051] 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 greater 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 from the center of the optical axis. Specifically, as shown in FIG. 6, on the image Im1, the insertion opening (insertion part) 41 of the dustbin 4 is imaged with a large curvature.

[0052] 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.

[0053] The border crossing determination means 73 determines whether or not the human 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 crossing has occurred. The border crossing determination means 73 of the present embodiment determines whether or not at least a part (for example, a part of the frame Fr) of the frame Fr specified by the person specifying 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 specified by the person specifying 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 of this border crossing determination means 73 differs depending on the lines L1 and L2 that the frame Fr is determined to have crossed.

[0054] 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.

[0055] Further, when the border crossing determination means 73 determines that at least a part (for example, a part of the frame Fr) of the frame Fr has crossed the danger line L1 to the danger area Ar1 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 the stop instruction means 741 receives an instruction signal from the border crossing determination means 73, it stops the operation of the loading device 5. At this time, the stop instruction means 741 also instructs the notification unit 63 to cause the third lamp 63c to emit light.

[0056] When the border crossing determination means 73 determines that at least a part (for example, a part of the frame Fr) of the frame Fr has crossed the warning line L2 to the danger area Ar1 side (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 the warning instruction means 742 receives an instruction signal from the border crossing determination means 73, it causes the notification unit 63 to give a notification. The warning instruction means 742 of the present embodiment instructs the notification unit 63 to cause the second lamp 63b to emit light when at least a part of the frame Fr has crossed the warning line L2 to the danger area Ar1 side.

[0057] In addition, while the test run control means 75 is functioning (operating), that is, while the test run of the control unit 7 is being performed, the warning instruction means 742 outputs an instruction to the notification unit 63 when at least a part of the frame Fr crosses the warning line L2 to the danger area Ar1 side. Further, while the test run of the control unit 7 is being performed, the stop instruction means 741 does not give an instruction to the loading device 5 even if at least a part of the frame Fr crosses the danger line L1 to the danger area Ar1 side.

[0058] The test run control means 75 executes the test run of the control unit 7. Specifically, the operation unit 57 has a test run switch (test run input means) 573 for switching the control unit 7 to the test run state (setting mode), and the test run control means 75 executes the test run of the control unit 7 based on the input from the test run switch 573 of the operation unit 57. This test run control means 75 functionally includes a stop maintenance means 751 and a notification instruction means 752.

[0059] The stop maintenance means 751 maintains the loading device 5 in a stopped state. Specifically, the stop maintenance means 751 maintains the stopped state of the loading device 5 while the test operation of the control unit 7 is being executed by the input from the test operation switch 573 of the operation unit 57. That is, the stop maintenance means 751 does not activate the loading device 5 even if an operator operates the operation unit 57 to activate the loading device 5 while the test operation of the control unit 7 is being executed. In other words, the test operation control means 75 ignores the operation input from the operation unit 57 during the execution of the test operation.

[0060] The notification instruction means 752 instructs the notification unit 63 to issue a notification when the border crossing determination means 73 determines that the frame Fr has crossed each of the lines L1 and L2 to the dangerous area Ar1 side while the stop maintenance means 751 maintains the loading device 5 in a stopped state (i.e., while the test operation of the control unit 7 is being executed). Specifically, the notification instruction means 752 instructs the corresponding lamp 63b in the notification unit 63 to emit light 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, and further instructs the corresponding lamp 63c in the notification unit 63 to emit light when at least a part of the frame Fr in the image Im1 has crossed the danger line L1 to the dangerous area Ar1 side.

[0061] The invalidation means 76 is a means for invalidating the restart of the loading device 5 by the start operation of the start means 574 after the loading device 5 has been emergently stopped. Specifically, when the border crossing determination means 73 determines that at least a part (for example, a part of the frame Fr) of the frame Fr in the image Im1 from the camera 61 has crossed the danger line L1 to the dangerous area Ar1 side, the stop instruction means 741 instructs the loading device 5 to emergently stop the operation (work execution) of the loading device 5, and the stop instruction means 741 instructs the invalidation means 76 to invalidate the restart of the loading device 5 by the start operation of the start means 574.

[0062] When the loading device 5 is emergently stopped by the stop instruction means 741, the restart determination means 77 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 does not cross the danger line L1 to the danger area Ar1 side, that is, at least a part of the frame Fr does not enter the danger line L1, and by receiving the release operation signal when the release means 575 is released, the invalidation by the invalidation means 76 is released, enabling the restart of the loading device 5 by the start operation of the start means 574.

[0063] In the dust collection vehicle 1 configured as described above, when an operator or the like is performing the operation of loading dust from the loading opening 41 into the dust collection box 4 (loading device 5), it accurately catches that an operator or a person (such as a worker) near the dust collection vehicle 1 during operation has approached or entered the danger area Ar1, and by means of notification or stopping (emergency stop) of the loading device 5, accidents caused by the loading device 5 such as entanglement accidents can be prevented. Specifically, it is as follows.

[0064] When the start means 574 is operated and the loading device 5 starts, and the operation of loading dust from the loading opening 41 starts, as shown in FIG. 8, imaging by the camera 61 of the imaging unit 6 starts (step S1), and the captured image (moving image data) Im1 is output to the control unit 7.

[0065] When the control unit 7 receives the image Im1 from the camera 61, the boundary addition means 721 adds lines L (danger line L1 and warning line L2) to the image (image data) Im1 (step S2).

[0066] Also, the person identification means 71 identifies a person image Im2 in the image Im1 from the camera 61 by surrounding it with a frame Fr (step S3). After this identification, the person identification means 71 changes the position, shape, size, 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 of posture) of the identified person image Im2.

[0067] Subsequently, the border crossing determination means 73 determines whether at least a part of the frame Fr has crossed any of the lines L1 and L2 to the dangerous area Ar1 side in the image Im1 with the danger line L1 and the warning line L2 added. In the case where a plurality of frames Fr are set in the image Im1 (i.e., there are a plurality of human figures Im2), the border crossing determination means 73 makes a determination as to whether the lines L1 and L2 have crossed to the dangerous area Ar1 side for each frame Fr of the plurality of human figures Im2.

[0068] Specifically, when the border crossing determination means 73 determines in the image Im1 from the camera 61 that the frame Fr has approached the dangerous area Ar1 and at least a part of the frame Fr has crossed the warning line L2 to the dangerous 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 has received this instruction signal causes the notification unit 63 to give a notification (step S5). 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.

[0069] Also, while the frame Fr has not crossed the warning line L2 to the dangerous area Ar1 side in the image Im1 from the camera 61 (step S4: No), the border crossing determination means 73 continues to determine (monitor) whether at least a part of the frame Fr has crossed the warning line L2 to the dangerous area Ar1 side.

[0070] Further, when the border crossing determination means 73 determines that the operator or the like has left the dangerous area Ar1 due to the notification by the notification unit 63, that is, 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 where at least a part of the frame Fr has crossed the warning line L2 to the dangerous area Ar1 side) (step S6: Yes), the border crossing determination means 73 stops outputting the instruction signal to the warning instruction means 742. As a result, the warning instruction means 742 stops the notification to the notification unit 63 (step S9), and the border crossing determination means 73 resumes the determination (monitoring) as to whether at least a part of the frame Fr has crossed the warning line L2 to the dangerous area Ar1 side.

[0071] 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.

[0072] The stop instruction means 741 that has received the instruction signal performs an emergency stop of the loading device 5 as described above (step S8), and instructs the disabling means 76 to disable the restart of the loading device 5 (step S10). Therefore, even if the worker performs a start operation (push operation in this embodiment) of the start means 574, the loading device 5 cannot be restarted. Then, the control unit 7 judges that the border crossing determination means 73 in the image Im1 from the camera 61 indicates that at least a part of the frame Fr does not cross the danger line L1 toward the danger area Ar1 (safety is ensured) (step S11, No), and checks whether the worker has performed a release operation on the release means 575 (step S12). By the worker performing a release operation on the release means 575, the worker can be made aware that he or she was in a dangerous state. When it is confirmed that the worker has performed a release operation on the release means 575 (step S12, Yes), the control unit 7 releases the disablement by the disabling means 76, and enables the restart of the loading device 5 by the start operation of the start means 574. Then, it is confirmed whether the worker has performed the start-up operation of the starting means 574 (step S13), and if it is confirmed that the start-up operation of the starting means 574 has been performed (step S13, Yes), the worker can be made aware of the dangerous situation and then allowed to restart the loading device 5 (step S14).

[0073] In step S12, when the release means 575 is not released, it is monitored whether a release operation is performed until a predetermined time elapses (step S15). If the release operation is not performed even after the predetermined time has elapsed, notification by the second notification unit 64 is started (step S16), and this will notify a third party.

[0074] In the image Im1 from the camera 61, in a state where the frame Fr crosses the warning line L2 toward the danger area Ar1 side and does not cross the danger line L1 toward the danger area Ar1 side (step S7: No), that is, in a state where the part of the frame Fr located on the most danger area Ar1 side is located between the warning line L2 and the danger line L1, the border determination means 73 continues to determine (monitor) whether the state (border crossing state) where the frame Fr has crossed the warning line L2 has been resolved and whether the danger line L1 has crossed toward the danger area Ar1 side.

[0075] Also, in the garbage collection vehicle 1 of the present embodiment, the positions and curvatures of the danger line L1 and the warning line L2 in the image Im1 can be set (changed). When this setting (change) is made, 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 worker or the like can actually approach the loading opening 41 or the loading device 5 in the loading opening 41 to test at which position 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.

[0076] 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 are functioning (operating). 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) is functioning, 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 (operation 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. Note that if the loading device 5 is operating, it stops to shift to the stop state and is maintained.

[0077] 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 (step S12). 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.

[0078] 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 (that is, the distortion aberration of the lens 611). Here, when 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 a single curvature (approximated to 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 the curves. Further, when the boundary curvature setting means 723 sets 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.

[0079] In this state where the position and curvature are set (changed), 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 L2 (a warning line whose position and curvature in the image Im1 are set (changed)), the notification instruction means 752 of the test run 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 L1 (a danger line whose position and curvature in the image Im1 are set (changed)), the notification instruction means 752 of the test run control means 75 instructs the notification unit 63 to cause the corresponding lamp 63c to emit light.

[0080] In this way, in the dust collecting 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 in an emergency stop state (a state in which an accident caused by the loading device 5 such as an entanglement accident does not occur).

[0081] 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, an emergency stop of the loading device 5 is performed, 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.

[0082] 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.

[0083] 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.

[0084] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.

[0085] In the garbage collection vehicle 1 of the above embodiment, both the danger line L1 and the warning line L2 were provided as the boundary line L. However, only the danger line L1 may be provided as the boundary line L. In this 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 emergency stop of the loading device 5 will be performed. Further, only the warning line L2 may be provided as the boundary line L. In this case, only a warning will be given when the frame Fr crosses the warning line L2 of the danger area Ar1 to the danger area Ar1 side.

[0086] Also, the instruction means 74 of the above embodiment functionally had 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. Further, the instruction means 74 of the above embodiment was an inseparable single 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 separate means.

[0087] The work vehicle 1 may be a dump truck, a vehicle transporter (the working device corresponds to a loading platform that tilts and 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 that lifts and a lifting mechanism that lifts 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, an aerial work truck (boom), an excavation truck (boom and excavation drill), or other work vehicles. Particularly, when it has a device that operates by transmitting the rotation of the drive source to a hydraulic pump or a blower via a PTO or the like, the working device 5 corresponds not only to the operating device, the drive source, the hydraulic pump, etc., but also to the power transmission shaft that connects them.

[0088] Further, when the work vehicle 1 is, for example, a container transporter, a vehicle transporter, etc., and the work device 5 is, for example, a loading platform lifting device, etc., and operates in a momentary manner, the work device 5 may operate only when the input unit is ON-operated. In this case, the work device 5 may not be of the momentary type but may operate in an alternate (holding type) manner in which the operation continues until the input unit is OFF-operated after being ON-operated.

[0089] Also, in the above embodiment, the detection means is configured by the imaging means (camera 61), but it may be various non-contact sensors, laser sensors, etc. When using the detection means K (see FIG. 10) such as various non-contact sensors and laser sensors, the distance from the loading device 5 is detected by the detection means K in, for example, two steps, and the control unit 7 instructs according to the detected distance. Specifically, the detection means K is made to detect a danger area where the distance from the operator to the loading device 5 is less than a preset first distance and a warning area between the second distance, which is longer than the first distance, and the first distance. Then, when the detection means K detects that the distance has become less than the first distance, it is determined that the operator has entered the danger area, and as shown in FIG. 10, a detection signal is output to the stop instruction means 741. The stop instruction means 741 instructs the loading device 5 to stop urgently and also instructs the invalidation means 76 to invalidate the restart of the loading device 5 by the start operation of the start means 574. Further, when the detection means K detects that the operator is located between the second distance and the first distance, it is determined that the operator has entered the warning area, and the notification by the notification unit 63 is started.

[0090] Also, in the above-described embodiment, the restart determination means 77 (see FIG. 5) is provided. However, as shown in FIG. 10, an ignoring means 78 may be provided instead of the restart determination means 77. This ignoring means 78 ignores the start operation signal from the start means 574 even if the start means 574 is operated when the loading device 5 is emergently stopped by the stop instruction means 741 of the instruction means 74, in a state where the detection means K has detected that an operator has entered the danger area, or in a state where the release means 575 has not been operated for release. Thus, when the loading device 5 is emergently stopped, in a state where the detection means K has detected that an operator has entered the danger area, that is, in a dangerous state where safety is not ensured, or in a state where the release means 575 has not been operated for release, even if the start means 574 is operated for start, the start operation signal from the start means 574 is ignored, so that the loading device 5 does not restart. Thereby, the operator can be made to recognize that the loading device 5 has been emergently stopped and is in a dangerous state. Then, when receiving the release operation signal when the release means 575 is operated in a safe state where the detection means K has detected that no operator has entered the danger area, the control unit 7 releases the invalidation by the invalidation means 76 and enables the restart of the loading device 5 by the start operation of the start means 574. Still, as described above, if the release operation signal from the release means 575 has not been received even after a predetermined time has elapsed since the loading device 5 was emergently stopped by the stop instruction means 741 of the instruction means 74, the second notification unit (second notification means) 64 will notify a third party.

[0091] In addition, in the above-described embodiment, the release means 575 for performing a release operation to cancel the invalidation of restart by the invalidation means 76 is provided separately from the start means 574. However, as shown in FIG. 11, the release means 575 may be omitted and only the start means 574 may be provided. Specifically, the start means 574 is configured to cancel the invalidation by the invalidation means 76 by performing an operation different from a normal start operation (pressing once). The different operation may be an operation of pressing the start means 574 a plurality of times (any number of times of two or more) or an operation of continuously pressing for a predetermined time or more. Further, when there are two start means, the different operation may be an operation of pressing the two start means simultaneously. In addition, by performing a different operation, the operator may be notified by a notification means such as a buzzer or a lamp that the invalidation by the invalidation means 76 has been canceled. The restart determination means 79 shown in FIG. 11 detects that the operator has not entered the danger area by the detection means K when the loading device 5 is emergently stopped by the stop instruction means 741 of the instruction means 74, and receives a different operation signal when performing the operation different from the start operation on the start means 574. Thus, it is a means for canceling the invalidation by the invalidation means 76 and enabling the restart of the loading device 5 by the start operation of the start means 574. Similar to the above, when a different operation signal from the start means 574 has not been received even after a predetermined time has elapsed since the loading device 5 was emergently stopped by the stop instruction means 741 of the instruction means 74, the second notification unit (second notification means) 64 will notify a third party.

[0092] Also, in the above-described embodiment, when the work device is emergently stopped by the instruction means, the detection means 61 detects that the operator has not entered the danger area, and receives the release operation signal when the release means 575 performs the release operation. Thus, the invalidation by the invalidation means 76 is canceled and the restart of the loading device 5 by the start operation of the start means 574 is enabled. However, in a state where the detection means 61 detects that the operator has entered the danger area or in a state where the release operation signal from the release means 575 has not been received, even if the start means 574 is operated to start, the start operation signal from the start means 574 may be ignored.

[0093] Further, in the above embodiment, after determining in step S11 that the frame has not crossed the danger line L1, the presence or absence of a release operation is determined (step S12). However, when a release operation is performed in the determination of the presence or absence of a release operation (Yes in step S12), it may be determined that the release signal is received when the detection means is released by determining whether the frame has crossed the danger line. In this case, since the notification by the second notification unit is started when the release operation is not performed for a predetermined time even when the frame is in a state of having crossed the danger line, it becomes easier to eliminate the dangerous state of the operator.

Explanation of Signs

[0094] 1... Dust collection vehicle, 2... Chassis, 3... Dust storage box, 4... Dust input box, 5... Loading device, 6... Imaging unit, 7... Control unit, 21... Driver's cab, 31... Opening, 41... Input opening (input section), 42... Lid, 43... Rotating shaft, 45... Bottom, 51... Guide rail, 52... Slider, 53... Pushing plate (pushing member), 53a... Tip, 54... Pin, 55... Push cylinder (compression driving means), 55c, 56c... Cylinder, 55p, 56p... Piston, 56... Press cylinder (pushing driving means), 57... Operation unit, 61... Camera (imaging means), 62... Support unit, 63... Notification unit (notification means), 63a... First lamp, 63b... Second lamp, 63b... Third lamp, 63c... Third lamp, 71... Person identification means, 72... Boundary setting means, 73... Crossing determination means, 74... Instruction means, 75... Test drive control means, 76... Invalidation means, 77... Restart determination means, 78... Ignoring means, 79... Restart determination means, 551, 552... Pin, 561... Pin, 571... Boundary position input section (boundary position input means), 572... Boundary curvature input section (boundary curvature input means), 573... Test drive switch (test drive input means), 611... Lens, 611... Wide-angle lens, 612... Image sensor, 621... Base end portion (base), 622... Bracket, 622a... Base end portion, 622b... Tip portion, 623... Shaft member, 624... Cover plate, 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... Danger area, Fr... Frame, Im1... Image (moving image), Im2... Person image, L... Line (boundary line), L1... Danger line, L2... Warning line, M... Rear monitor

Claims

1. A dust collection box disposed on the vehicle body, a dust input box connected to the rear part of the dust collection box and having an input opening for inputting dust, a loading device for performing the loading operation of the dust input from the input opening, detection means for detecting that an operator has entered a dangerous area where there is a possibility of danger to the operator and that the operator has approached the dangerous area in the vicinity of the loading device in the working area where the operator performs the loading operation with respect to the loading device, a plurality of lamps provided at the rear part of the vehicle for notifying an operator working at the rear part of the vehicle, a control unit for controlling based on the detection information of the detection means, and the control unit when the detection means detects that an operator has entered the dangerous area, causes one of the plurality of lamps to emit light, when the detection means detects that an operator has approached the dangerous area, causes the other of the plurality of lamps to emit light, wherein the plurality of lamps are provided above the upper edge of the input opening, a dust collection vehicle.

2. The dust collection vehicle according to claim 1, wherein the detection means is provided above the upper edge of the input opening.

3. The detection means is supported by a support portion fixed to the upper side of the input opening in the dust input box, The dust collection vehicle according to claim 1 or 2, wherein the plurality of lamps are provided at the lower part of the support portion.

4. The dust collection vehicle according to claim 2, wherein the plurality of lamps are provided in front of the vehicle with respect to the detection means.

5. The detection means includes means for detecting whether an operator is working in a safe area where the danger in the working area is low, The dust collection vehicle according to claim 1 or 2, wherein when the detection means detects that the operator is working in the safe area, a lamp other than the one lamp and the other lamp among the plurality of lamps is caused to emit light.

Images