garbage collection truck

Abstract

To provide a garbage collector which enables a worker to clearly recognize a malfunction in imaging of a camera.SOLUTION: A garbage collector comprises: a garbage storage box which stores garbage; a loading device having an input part to which a worker inputs the garbage and a push-in member which pushes the garbage put into the input part into the garbage storage box; imaging means which images a work area where the worker performs work to the loading device; notification means which performs notification for the worker; and a control unit which performs control on the basis of an image captured by the imaging means. The control unit determines a dangerous state of the worker from the image, issues an instruction so as to stop the loading operation of the loading device when the dangerous state is determined, and causes the notification means to perform notification when a person image cannot be detected within the maximum range of the image even if the loading device is being operated.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a refuse collection vehicle equipped with a loading device capable of storing refuse in a storage box. [Background technology]

[0002] Refuse collection vehicles have been known that are equipped with a storage box (refuse storage box) for storing refuse, and a refuse input box (also called a "tailgate") equipped with a loading device that has a pushing member that temporarily holds refuse input from a rear input section by a worker or the like and moves the refuse into the storage box.

[0003] The garbage collection vehicle described in Patent Document 1 includes a garbage loading device disposed inside a garbage bin, a camera that photographs the vicinity of the input port that opens on the back of the garbage bin, an image processing unit that determines whether a person has been detected in a person detection area near the input port based on image data captured by the camera, and a detection lamp that lights up to notify that a person has been detected by the image processing unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-1046 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the invention described in Patent Document 1, the detection lamp issues an alert depending on whether a person is detected in a specific area for person detection. Therefore, when the detection lamp is off, the worker cannot tell whether the lamp is off because a person is outside the area for person detection in the image (a safe position), or whether the camera has an imaging problem and the lamp is off despite the person being in a dangerous position, so there is room for improvement.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a refuse collection vehicle that allows an operator to clearly recognize any problems with the imaging means (camera, etc.). [Means for solving the problem]

[0007] The present invention is a garbage collection vehicle comprising: a garbage storage box for storing garbage; a loading device having an input section where a worker puts garbage into the input section and a pushing member that pushes the garbage put into the input section into the garbage storage box; an imaging means for imaging the work area where the worker works with respect to the loading device; an alarm means for issuing an alarm to the worker; and a control unit that performs control based on the image taken by the imaging means, wherein the control unit determines whether the worker is in a dangerous state from the image, and if the worker is in a dangerous state, instructs the loading device to stop loading operation, and if a human image cannot be detected within the maximum range of the image while the loading device is operating, causes the alarm means to issue an alarm.

[0008] According to the above configuration, when a person image cannot be detected within the maximum range of the image captured by the imaging means even though the loading device is in operation, the control unit causes the notifying unit to issue a notification, thereby making the operator aware that there may be a problem with the imaging means.

[0009] The notification means may be means for visually notifying the worker. According to this configuration, the worker can recognize the problem based on visual information.

[0010] The notification means may be means for audibly notifying the worker. According to this configuration, the worker can recognize the situation based on the audible information.

[0011] The present invention also provides a garbage collection vehicle comprising: a garbage storage box for storing garbage; an input section having an opening through which a worker can input garbage; and a loading device having a pushing member that pushes the garbage input into the input section into the garbage storage box; an imaging means for imaging the work area where the worker works with respect to the loading device; an alarm means that is provided on the periphery of the input section or inside the input section and that visually alerts the worker in the work area; and a control unit that performs control based on the image captured by the imaging means, wherein the control unit determines a dangerous condition for the worker from the image, and if the condition corresponds to a dangerous condition, instructs the loading device to stop loading operation and changes the alarm mode of the alarm means.

[0012] According to the above configuration, the control unit instructs the loading device to stop the loading operation in response to a dangerous state determined from the image captured by the imaging unit, and changes the visual notification mode of the notification unit provided on the periphery of the loading unit or inside the loading unit. Therefore, the change in the notification mode of the notification unit comes into the field of view of the worker who is facing the loading unit while working, so that the worker can be sure to recognize that he or she was in a dangerous state.

[0013] The notification means may have a plurality of light emitting means, and the plurality of light emitting means may be divided into a plurality of groups that can be set to different lighting states.

[0014] According to the above configuration, the plurality of light emitting means are divided into a plurality of groups that can be set to different lighting states, so that the notification means can notify the worker of a plurality of types of information.

[0015] The present invention also provides a garbage collection vehicle comprising: a garbage storage box for storing garbage; a loading device having an input section where a worker inputs garbage and a pushing member that pushes the garbage input into the input section into the garbage storage box; an imaging means for imaging the work area where the worker works with respect to the loading device; an alarm means for issuing an auditory alarm to the worker; and a control unit for controlling the loading device based on the image taken by the imaging means, wherein the control unit determines a dangerous condition for the worker from the image, and if the condition corresponds to a dangerous condition, instructs the loading device to stop loading operation and causes the alarm means to issue an alarm.

[0016] According to the above configuration, the control unit instructs the loading device to stop the loading operation in response to a dangerous state determined from the image captured by the imaging unit, and causes the notification unit to issue an audible notification, thereby making the worker aware of the dangerous state based on the audible information.

[0017] The device may further comprise a canceling means that can be operated by an operator, and the control section may stop the notification means when the canceling means is operated while the notification means is operating.

[0018] According to the above configuration, after the worker recognizes that he or she is in a dangerous situation, the auditory notification, which is no longer necessary, can be quickly stopped by the canceling means. [Effects of the Invention]

[0019] According to the present invention, problems with imaging by the imaging means (camera, etc.) can be clearly recognized by the worker. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a side view of a refuse collection vehicle according to an embodiment of the present invention. [Figure 2] FIG. [Figure 3] FIG. 2 is a simplified rear view showing the refuse collection vehicle with its lid open. [Figure 4]4A and 4B are explanatory diagrams of the operation of the working device in the garbage collection vehicle, in which FIG. 4A shows the initial state, FIG. 4B shows the state after inversion, FIG. 4C shows the state after secondary compression, and FIG. 4D shows the state after primary compression. [Figure 5] FIG. 3 is a schematic diagram of an imaging means of the garbage collection vehicle. [Figure 6] FIG. 2 is a block diagram of the garbage collection vehicle. [Figure 7] 3 is a schematic diagram showing an image captured by an imaging means of the garbage collection vehicle. FIG. [Figure 8] 3 is a schematic diagram showing an image captured by an imaging means of the garbage collection vehicle. FIG. [Figure 9] FIG. 4 is a flowchart showing the process in the garbage collection vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, one embodiment of a refuse collection vehicle according to the present invention will be described with reference to FIGS.

[0022] The refuse collection vehicle 1 collects refuse such as garbage and transports it to a disposal facility, and is equipped with a loading device 5 for loading the refuse into the refuse collection vehicle 1, imaging means for imaging the work area where workers etc. work on the loading device 5, and a control unit for controlling based on images captured by the imaging means. The imaging means in this embodiment is a camera 61 that can capture images of the area behind the refuse collection vehicle 1.

[0023] The garbage collection vehicle 1 comprises a chassis 2 having a driver's cab 21, a garbage storage box 3 arranged on the chassis 2 behind the driver's cab 21, a garbage dump box 4 connected to the rear of the garbage storage box 3, a loading 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.

[0024] The dust collection box 3 is a box-shaped part for storing dust, and has an opening 31 that opens toward the rear.

[0025] The garbage bin 4 has an insertion opening (insertion section) 41 that opens rearward at its rear end, and garbage is inserted through the insertion opening 41. Inside the garbage bin 4, the bottom 45 has an arc-shaped curved surface that convex downward when viewed from the vehicle width direction. The garbage bin 4 also has a lid 42 that slides up and down to open and close the insertion opening 41. The garbage bin 4 is connected to the garbage collection box 3 via a pivot shaft 43 that is provided at the top and extends in the vehicle width direction. The garbage bin 4 is rotatable around the pivot shaft 43, and this rotation opens and closes the opening 31 of the garbage collection box 3. For example, when the garbage dump box 4 is in the position shown by the solid line in Figure 1, it closes the opening 31 of the garbage 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 garbage storage box 3 so that the garbage stored in the garbage storage box 3 can be discharged to the outside.

[0026] The loading device 5 has a push plate (pushing member) 53 that pushes the garbage thrown in through the throw-in opening 41 into the garbage storage box 3, and is disposed inside the garbage throw-in box 4. The loading device 5 is connected to and controlled by the control unit 7. Specifically, the loading device 5 has a pair of guide rails 51 that extend along both side walls of the garbage throw-in box 4 in the inclined direction, a pair of sliders 52 that are slidable (guided) along the guide rails 51, the push plate 53 disposed between the pair of sliders 52, and pins 54 that connect the sliders 52 and the push plate 53. The pins 54 extend in the vehicle width direction and connect the push plate 53 to the sliders 52 so that the push plate 53 is rotatable around the pins 54. This pusher plate 53 is a member that compresses the trash that has been thrown into the trash dump box 4 and pushes it into the trash storage box 3, and a tip 53a of the pusher plate 53 extends straight in the vehicle width direction.

[0027] The loading device 5 also has a pair of push cylinders (compression drive means) 55 and a pair of press cylinders (push drive means) 56 that drive the push plate 53, and each of the pair of push cylinders 55 and the pair of press cylinders 56 has a cylinder 55c, 56c and a piston 55p, 56p that moves forward and backward relative to the cylinder 55c, 56c. Each of the pair of push cylinders 55 is arranged along both side walls inside the garbage bin 4, and each of the pair of press cylinders 56 is also arranged along both side walls inside the garbage bin 4.

[0028] In each push cylinder 55, the end on the cylinder 55c side is connected to the side wall of the garbage 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.

[0029] In addition, 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, together with the piston 55p side end of the push cylinder 55, is connected to the upper end of the slider 52 via a pin 552. When the pair of push cylinders 55 maintain their length, that is, when the piston 55p does not move forward or backward relative to the cylinder 55c, the pair of press cylinders 56 extend in sync with each other, causing the push plate 53 to rotate around the pin 54 (rotating in the clockwise direction in FIG. 1), and when the pair of press cylinders 56 contract in sync with each other, causing the push plate 53 to rotate around the pin 54 (rotating in the counterclockwise direction in FIG. 1).

[0030] The loading device 5 also has an operation unit 57 as an operation input unit for an operator or the like 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 input units for performing various inputs such as an ON / OFF button and switches for the loading device 5, an emergency stop button for the loading device 5, a reset button, etc. The operation unit 57 also has various input units such as switches, buttons, dials, etc. for setting the control of the loading device 5 and changing these settings.

[0031] The loading device 5 of this embodiment operates as a momentary type (automatic return type). For example, when the input unit is turned ON, this triggers a sequence operation of the loading device 5, which then automatically stops when the series of sequence operations is completed. The loading device 5 may also operate as an alternate type (holding type) in which operation continues once the input unit is turned ON until it is turned OFF.

[0032] The operating units 57 are arranged at the rear end of the garbage dump box 4, more specifically, on both sides of the dump opening 41 in the vehicle width direction, so that workers can operate them while dumping garbage into the dump opening 41. In the garbage collection vehicle 1 of this embodiment, the operating unit 57, which is arranged on the left side of the dump opening 41 when viewed from the rear, has multiple components necessary for operation, such as buttons, and the operating unit 57, which is arranged on the right side of the dump opening 41, has only an emergency stop button.

[0033] The details of the garbage loading operation of the loading device 5 configured as above will be explained below with reference to Figures 4(a) to 4(d). Figures 4(a) to 4(d) are explanatory views of the operation, 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.

[0034] First, when each component 53, 55, 56 is in the initial state (the state shown in Figure 4(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 in Figure 4(a)) (i.e., the ``inversion'' process is performed), resulting in the state shown in Figure 4(b).

[0035] From this state, as each push cylinder 55 contracts, the pusher plate 53 moves diagonally 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 4(d). That is, the pusher plate 53 approaches the input opening 41.

[0036] 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 garbage collection box 3 (clockwise in FIG. 4(d)) (i.e., the "secondary compression" process is carried out), resulting in the state shown in FIG. 4(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 garbage bin 4. In other words, the bottom 45 inside the garbage bin 4 has a curved shape that follows the trajectory of the tip 53a of the pusher plate 53 that rotates in the secondary compression process.

[0037] Thereafter, as each push cylinder 55 extends, the pusher plate 53 moves obliquely upward along the extension direction of the guide rail 51 while maintaining its orientation in the rotation direction around the pin 54 (i.e., the "pushing" process is performed), returning to the state shown in Fig. 4(a). In other words, the pusher plate 53 pushes the trash that has been subjected to the primary and secondary compression into the trash storage box 3 through the opening 31.

[0038] As described above, the push cylinders 55 and press cylinders 56 alternately extend and retract, causing the pusher plate 53 to perform one cycle of stroke (reverse, primary compression, secondary compression, pushing). As a result, the garbage thrown into the garbage throw-in box 4 from the throw-in opening 41 is stored (loaded) into the garbage storage box 3. In this one cycle of stroke, the movement locus of the tip 53a of the pusher plate 53 as seen from the vehicle width direction forms a closed shape connecting four points (see the two-dot chain lines in Figures 4(a) to 4(d)).

[0039] 5, the imaging unit 6 has a camera 61 capable of capturing images of the work area where a worker or the like performs the work of dumping garbage into the loading device 5 in the garbage dump box 4 through the dump opening 41, 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.

[0040] 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.

[0041] The imaging element 612 is, for example, a CCD image sensor, a CMOS image sensor, or the like, and outputs image data of the captured image (a moving image in 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 back monitor M (see FIG. 1) arranged in the driver's cab 21, and outputs image data to the back monitor M as well.

[0042] 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.

[0043] 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 input opening 41 in the garbage bin 4.

[0044] Bracket 622 connects the tip of base 621 to camera 61, which is 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 a shaft 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 shaft member 623. This rotation makes it possible to change the range that can be captured by camera 61.

[0045] The cover plate 624 is a plate-like member disposed 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.

[0046] The notification unit 63 notifies workers and surrounding people who are throwing trash into the trash bin 4 through the throwing opening 41 about their safety. The notification unit 63 in this embodiment is a visual notification unit. Specifically, the notification unit 63 has multiple lamps 63a, 63b, 63c, 63d, and 63e that emit different colors when illuminated, and uses the emitted lamps to notify workers and others about their safety. Among these, the first lamp 63a to the third lamp 63c are provided on the imaging unit 6 located above the throwing opening 41, as shown in FIG. 5. Meanwhile, the fourth lamp 63d is provided inside the throwing opening 41 (but in a position visible from outside the throwing opening 41), as shown in FIGS. 1 and 3. The fourth lamp 63d provides visual notification to workers in the work area. The fifth lamp 63e is provided on the periphery of the throwing opening 41 (the portion surrounding the open space). More preferably, the fifth lamp 63e may be provided only below the side edge 41b (a portion below the middle in the vertical direction) or only on the lower edge 41c of the peripheral portion consisting of the upper edge 41a, side edge 41b, and lower edge 41c of the insertion opening 41. On the other hand, since the fourth lamp 63d is provided inside the insertion opening 41, when the insertion opening 41 is covered with the lid 42 as shown in Fig. 2, the fourth lamp 63d is prevented from being seen from behind the refuse collection vehicle 1 by the lid 42. Furthermore, the fifth lamp 63e provided on the peripheral portion of the insertion opening 41 may also be similarly provided on the periphery inside the insertion opening 41, so that the fifth lamp 63e is covered when the lid 42 is closed.

[0047] The notification unit 63 allows the worker to recognize various pieces of information related to notification based on visual information. For example, in the notification unit 63, when the worker is working in a safe area in the work area (an area where an entanglement accident in the loading device 5 or the like is unlikely to occur), the first lamp 63a emits green light, when the worker approaches a dangerous area Ar1 (an area where an entanglement accident in 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 light or flashing.

[0048] The fourth lamp 63d normally emits blue light at least during loading operation, but when a human image Im2 cannot be detected within the maximum range of the image Im1 captured by the camera 61 even though the loading device 5 is in operation, the illumination mode changes to emit red light. Similarly to the first lamp 63a to the third lamp 63c, the fourth lamp 63d and the fifth lamp 63e can also be illuminated in a predetermined color when a worker approaches or enters the dangerous area Ar1. The fourth lamp 63d can be covered with the lid 42 over the loading opening 41. This allows the fourth lamp 63d to be hidden while traveling, making it less noticeable.

[0049] The fourth lamp 63d can be provided as a pair symmetrically facing the insertion opening 41. The fourth lamp 63d and the fifth lamp 63e can be, for example, a plurality of LEDs arranged in a row. The fourth lamp 63d and the fifth lamp 63e can emit light in a plurality of colors, and the lighting and blinking patterns can be changed according to the content of the notification. This makes it possible to notify a plurality of types of information.

[0050] The notification unit 63 may notify by sound (buzzer or voice) in addition to or instead of the lamps 63a to 63e. That is, the notification unit 63 may be a means for providing auditory notification. In this case, the notification unit 63 allows the worker to recognize various pieces of information related to the notification based on the auditory information. In this case, multiple types of information can be notified by changing the tone, scale, pronunciation pattern (continuous pronunciation, intermittent pronunciation), etc. of the pronunciation. The auditory information may be a sound (such as a buzzer or chime) whose pronunciation itself has no meaning, or may be an audio language whose pronunciation itself has meaning.

[0051] Japanese Patent Application Laid-Open Publication No. 2018-154463 describes a technique for stopping the loading device and displaying the results on a monitor installed in the driver's seat of a refuse collection vehicle when a person is detected in a dangerous area near the loading port. However, this configuration requires a worker to go to the driver's seat to check the results, which is inconvenient for workers near the loading port. In contrast, this embodiment provides an advantage over the technology described in the publication in that the notification content from the notification unit 63 (specifically, the fourth lamp 63d and the fifth lamp 63e) is naturally within the field of view of the worker facing the loading opening 41 while working, thereby ensuring that the worker is aware that they are or have been in a dangerous situation.

[0052] Furthermore, the notification unit 63 of this embodiment has a plurality of lamps 63a, 63b, 63c, 63d, and 63e, but when the notification unit 63 has a plurality of light-emitting means, these light-emitting means may be divided into a plurality of groups that can be set to different lighting states. With this configuration, the notification unit 63 can notify the worker of a plurality of types of information.

[0053] 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 storage elements such as ROM (Read Only Memory) and EEPROM (Electrically Erasable Programmable Read Only Memory) that store in advance various programs executed by the CPU and data necessary for the execution of those programs, volatile storage elements such as RAM (Random Access Memory) that serve as the so-called working memory of the CPU, and peripheral circuits thereof.

[0054] In the control unit 7 configured in this manner, as shown in Figure 6, the control unit 7 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.

[0055] As shown in FIGS. 7 and 8, the person identification means 71 detects a person as a person image Im2 from the subject of an image (moving image) Im1 captured by the camera 61, and identifies the detected person image Im2 by surrounding it with a geometric frame Fr. When the person image Im2 surrounded by the frame Fr moves within the image Im1, the person identification means 71 moves the frame Fr in accordance with the movement of the person image Im2. Furthermore, the area (size, shape, etc.) of the person image Im2 occupying the image Im1 changes depending on the posture of the person image Im2, its position in the work area, etc., and the person identification means 71 changes the size of the frame Fr in accordance with this change. Note that the shape of the frame Fr may be changed in accordance with the change in the person image Im2. Furthermore, 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 rectangular frame Fr. Note that identifying the person image Im2 from the captured object 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 captured object in the image (moving image) Im1 captured by the camera 61 and setting the edge of the 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 setting the edge of the irregular shape as the frame Fr.

[0056] The boundary setting means 72 sets a predetermined line (boundary line) L in the image Im1 from the camera 61. For example, the boundary setting means 72 adds the line L to the image Im1 from the camera 61. The boundary setting means 72 can set at least one of the position (boundary position) and linear shape of the line L in the image Im1 from the camera 61. The boundary setting means 72 functionally includes boundary adding means 721, boundary position setting means 722, and 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 digitally.

[0057] 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, or a boundary region along said boundary, near the throw-in opening (loading device 5) of the garbage throw-in bin 4 in the work area, where danger may pose a risk to workers, etc. In other words, 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 region between the dangerous area Ar1 and another area (area other than the dangerous area Ar1) Ar2, where danger caused by the loading device 5 may pose a risk to workers, etc. (see FIG. 1).

[0058] 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 (image data) from the camera 61. That is, the lines L include the danger line L1, which is a boundary line indicating the boundary of the danger area Ar1, and the warning line L2. This danger line L1 is a line used by the control unit 7 to control the loading device 5 to stop performing work. The warning line L2 is a line used by the notification unit 63 to control the notification unit 63 to notify that a worker or the like is approaching the danger area Ar1 (danger line L1), and is set at a position where the distance from the loading opening 41 is greater than that of the danger line L1. In this embodiment, the warning line L2 is set above the danger line L1 in the image Im1 (on the side of the danger line L1 farther from the loading device 5).

[0059] These lines L1 and L2 are straight lines or curves extending in the left-right direction in the entire area of the image Im1 shown in Figures 7 and 8. Therefore, in this embodiment, the control unit 7 can control the loading device 5 to stop work execution in the entire area (maximum range) of the image Im1, rather than limiting it to a partial area.

[0060] For example, in the invention described in Patent Document 1, person detection was limited to a specific person detection area. Therefore, even if a person is captured outside the person detection area, it is not detected. In contrast, in this embodiment, person image Im2 is detected not in a specific area (region) in image Im1 but in the entire region. Therefore, if person image Im2 is captured in image Im1, it is always detected. Therefore, even if person image Im2 should be captured in image Im1, if the notification unit 63 does not notify the detection, it means that the detection has not been performed, and it can be determined that there is a possibility of an imaging problem with the camera 61. Furthermore, if a person enters the field of view of the camera 61 and is captured in image Im1, the person identification means 71 executes a process to detect person image Im2. However, if the person identification means 71 recognizes an object in image Im1 as something other than a person, person image Im2 is not detected and no notification is issued. Therefore, if the notification unit 63 does not notify the user that a person image Im2 is reflected in the image Im1, it is possible that the person identification means 71 is experiencing a problem in identifying the person image Im2.

[0061] In this embodiment, the lines L1 and L2 are curves set based on the distortion aberration of the lens 611 of the camera 61. Specifically, when the camera 61 captures a straight line drawn on the ground or the like that is parallel to the vehicle width direction, the lines L1 and L2 are curves whose shape conforms to the straight line in the captured image Im1 (i.e., the straight line curved due to the distortion aberration of the lens 611). Because the camera 61 is provided at the rear of the garbage collection vehicle 1 and captures an image of the rear of the garbage collection vehicle 1, the straight line that is parallel to the vehicle width direction is captured in the image Im as a straight line extending horizontally if no distortion is caused by the lens 611. However, because the lens 611 is a wide-angle lens, the curvature of each portion of the danger line L1 and the warning line L2 in this embodiment is set based on the distance from the optical axis of the lens 611 in the image Im1 (more specifically, a position corresponding 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 capturing the danger line, 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.

[0062] The boundary position setting means 722 sets (changes) the positions of the lines L1 and L2 in the image Im1 captured by the camera 61. Furthermore, the boundary position setting means 722 changes the relative positions of the lines L1 and L2 with respect to the image Im1 in at least one of the vertical and horizontal directions without changing the shapes of the lines L1 and L2.

[0063] More specifically, the operation unit 57 has a boundary position input unit (boundary position input means) 571 that can input the positions (boundary positions) of the lines L1 and L2 in the image Im1 from the camera 61, 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).

[0064] The boundary curvature setting means 723 sets (changes) the curvature of each of the lines L1 and L2 in the image Im1 from the camera 61. Furthermore, the boundary curvature setting means 723 changes the curvature of each of the lines L1 and L2 while maintaining the relative position of any one point of each of the lines L1 and L2 (for example, a central point in the extension direction of each of the lines L1 and L2) in the vertical and horizontal directions with respect to the image Im1.

[0065] Specifically, the curvature of each line L1, L2 in image Im1 (more specifically, the curvature of each portion of each line L1, L2) is set (changed) based on the distance from a position equivalent to the optical axis in image Im1 of each line L1, L2 set (position changed) by the boundary position setting means 722 (corresponding to the distance from the optical axis of the lens 611). As a result, when the positions of the lines L1, L2 in image Im1 captured by the camera 61 are changed by the boundary position setting means 722, the shapes of the lines L1, L2 (the curvature of each portion) change in accordance with this change in position (in accordance with a change in distance from a position equivalent to the optical axis in image Im1). That is, the boundary curvature setting means 723 can deform each line L1, L2 whose position in image Im1 has been changed, for example, in accordance with the distortion aberration of the lens 611.

[0066] The "distance from the optical axis" refers to the radial distance from the center of the optical axis. Due to distortion of the lens 611, subjects that are farther away in the radial direction from the center of the optical axis appear more curved in the image than subjects that are closer (closer) in the radial direction. Specifically, as shown in FIG. 7, the insertion opening (insertion section) 41 of the trash bin 4 appears to be greatly curved in the image Im1.

[0067] Furthermore, the boundary curvature setting means 723 can set (change) the curvature of each of the lines L1 and L2 regardless of whether or not the positions of the lines L1 and 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 unit (boundary curvature input means) 572 that can input 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.

[0068] The border crossing determination means 73 determines whether or not a person image Im2 in the image Im1 from the camera 61 has crossed each of the lines L1 and L2 toward the danger area Ar1, and outputs an instruction signal when it determines that the person has crossed. 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 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 determines the frame Fr has crossed.

[0069] 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 includes a stop instruction means 741 and a warning instruction means 742.

[0070] Furthermore, when the border crossing determination means 73 determines that at least a portion of the frame Fr in the image Im1 from the camera 61 has crossed the danger line L1 into the danger area Ar1 (the loading device 5 side), the stop instruction means 741 instructs the loading device 5 to stop its operation (execution of work). 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 (emergency stop). At this time, the stop instruction means 741 changes the notification mode of the alarm unit 63. Specifically, it also instructs the alarm unit 63 to make the third lamp 63c emit light. When the alarm unit 63 has a lamp, examples of changes in the notification mode include a change from off to on, a change from on to off, a change to flashing, and a change in the color (emission color) of the lit lamp (the same applies to the second lamp 63b described below). At this time, the stop instruction means 741 may also instruct the fourth lamp 63d provided at the throw-in opening 41 to change the light emission mode (for example, to change the light emission color of the LED).

[0071] The warning instruction means 742 instructs the notification unit 63 to issue a warning when the border crossing determination means 73 determines that at least a portion of the frame Fr in the image Im1 from the camera 61 has crossed the warning line L2 into the danger area Ar1 (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 changes the notification mode of the notification unit 63 when at least a portion of the frame Fr has crossed the warning line L2 into the danger area Ar1. Specifically, it instructs the notification unit 63 to emit light from the second lamp 63b. At this time, the stop instruction means 741 may also instruct the notification unit 63 to change the light emission mode of the fourth lamp 63d provided at the throw-in opening 41.

[0072] 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.

[0073] Furthermore, the warning instruction means 742 causes the notification unit 63 (specifically, the fourth lamp 63d) to issue a notification when the frame Fr corresponding to the person image Im2 cannot be detected within the maximum range of the image Im1 even though the loading device 5 is in operation. While the loading device 5 is in operation, a worker is near the loading device 5 to dump trash into the dump section. Therefore, the worker should appear in the image Im1 as the person image Im2 (see FIGS. 7 and 8). However, when the frame Fr corresponding to the person image Im2 cannot be detected within the maximum range of the image Im1, it is possible that the lens of the camera 61 is fogged or dirty, causing an imaging problem to the extent that the person identification means 71 cannot identify the person image Im2. Therefore, the warning instruction means 742 causes the notification unit 63 to issue a notification, thereby making the worker aware that there may be an imaging problem with the camera 61.

[0074] Furthermore, even in a normal case where no imaging defect occurs, it is possible that an identification defect occurs in which the person identification means 71 cannot identify the person image Im2 due to some problem on the subject side, etc. Even in this case, the warning instruction means 742 makes the notification unit 63 issue a notification, thereby making the operator aware that there is a possibility that a specific defect has occurred in the control unit 7.

[0075] The operation unit 57 includes an alarm cancellation means 574. The alarm cancellation means 574 is a button, switch, or the like that can be operated by the worker. The control unit 7 (specifically, the warning instruction means 742) stops the alarm unit 63 when the alarm cancellation means 574 is operated while the alarm unit 63 is operating. With this configuration, after the worker recognizes that he or she is in a dangerous situation, the alarm cancellation means 574 can quickly stop the unnecessary alarm. This alarm cancellation means 574 is particularly effective when the alarm unit 63 provides an auditory alert (such as a buzzer) to the worker, because the continuation of unnecessary alerts is unpleasant for the worker. Note that even when the alarm unit 63 provides a visual alert to the worker, the alarm cancellation means 574 can stop the alarm unit 63.

[0076] The trial run control means 75 executes a trial run of the control unit 7. More specifically, 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.

[0077] 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 in response to an input from the test run switch 573 of the operation unit 57. In other words, while the control unit 7 is executing a test run, the stop maintaining means 751 does not operate the loading device 5 even if an operator attempts to operate the loading device 5 by operating the operation unit 57. In other words, the test run control means 75 ignores operation input from the operation unit 57 while the test run is being executed.

[0078] 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.

[0079] In the refuse collection vehicle 1 configured as described above, when a worker or the like is performing the work of dumping refuse into the refuse dump box 4 (loading device 5) from the dumping opening 41, it is accurately detected that the worker or a person (worker, etc.) near the refuse collection vehicle 1 working at the time is approaching or entering 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 (see FIG. 9).

[0080] When the operation unit 57 is operated, the loading device 5 is activated and the operation of dumping garbage through the dump opening 41 begins, and 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.

[0081] When the control unit 7 receives the image Im1 from the camera 61, the boundary adding means 721 adds lines L (danger line L1 and warning line L2) to the image (image data) Im1 (step S2).

[0082] Furthermore, the person identification means 71 identifies the person image Im2 in the image Im1 from the camera 61 by surrounding it with a frame Fr (step S3). If the identification is successful (step S4: Yes), the person identification means 71 changes the position, shape, size, length and width dimensions, etc. of the frame Fr to follow the movement of the identified person image Im2 (movement of the worker or the like in the work area, change in posture, etc.).

[0083] 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 have been added has crossed either the line L1 or L2 into the danger area Ar1. Note that if multiple frames Fr are set in the image Im1 (i.e., if there are multiple human images Im2), the border crossing determination means 73 determines whether or not the line L1 or L2 has crossed into the danger area Ar1 for each of the frames Fr of the multiple human images Im2.

[0084] More specifically, 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 portion of the frame Fr crosses the warning line L2 toward the danger area Ar1 (the lower side in FIGS. 7 and 8) (step S5: Yes), it outputs an instruction signal to the warning instruction means 742. Upon receiving this instruction signal, the warning instruction means 742 causes the notification unit 63 to issue an alert (step S6). The warning instruction means 742 of this embodiment causes the notification unit 63 to emit the second lamp 63b to notify a worker or the like that the warning line L2 has been crossed. At this time, the loading device 5 continues to operate.

[0085] 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 S5: No), the border crossing determination means 73 continues to determine (monitor) whether at least a part of the frame Fr crosses the warning line L2 toward the dangerous area Ar1.

[0086] Furthermore, when the worker or the like leaves the danger area Ar1 in response to the notification from the notification unit 63, that is, when the border crossing determination means 73 determines that the frame Fr, which was 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 S7: 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 from the notification unit 63 (step S10), and the border crossing determination means 73 resumes determining (monitoring) whether or not at least a part of the frame Fr has crossed the warning line L2 into the danger area Ar1.

[0087] On the other hand, if the worker or the like approaches the danger area Ar1 without moving away despite the notification from the notification unit 63, that is, if the frame Fr in the image Im1 from the camera 61 approaches the danger area Ar1 without moving away (step S7: No), and the border crossing determination means 73 determines that at least a portion of the frame Fr has crossed the danger line L1 into the danger area Ar1 (step S8: 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 (by turning on the third lamp 63c). Upon receiving this instruction signal, the stop instruction means 741 stops the operation of the loading device 5 (i.e., performs an emergency stop: step S9). This prevents an accident caused by the loading device 5, such as entanglement, due to the worker or the like getting too close to the danger area Ar1 or entering the danger area Ar1. The loading device 5 that has been brought to an emergency stop can be restarted by pressing the reset button on the operation unit 57 with the operator or the like moving away from the danger area Ar1. After the stop instruction means 741 has stopped the operation of the loading device 5 (emergency stop) (step S9), the notification mode of the notification unit 63 can also be changed.

[0088] Furthermore, in the image Im1 from the camera 61, when the frame Fr crosses the warning line L2 toward the danger area Ar1 but does not cross the danger line L1 toward the danger area Ar1 (step S8: 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 determination means 73 continues to determine (monitor) whether the state in which the frame Fr has crossed the warning line L2 (border crossing state) has been resolved and whether the frame Fr has crossed the danger line L1 toward the danger area Ar1.

[0089] Furthermore, if the person identification means 71 does not succeed in identifying the person image Im2 in the image Im1 from the camera 61 (step S4: No), it outputs an instruction signal to the warning instruction means 742. The warning instruction means 742, having received this instruction signal, causes the notification unit 63 to issue an alert (step S11). The warning instruction means 742 of this embodiment causes the notification unit 63 to emit the fourth lamp 63d to notify a worker or the like. This notification means that there is a possibility that an imaging problem has occurred in the camera 61 or an identification problem in the control unit 7. Therefore, the worker or the like is made aware of the problem. At this time, the loading device 5 continues to operate.

[0090] Furthermore, in the refuse collection vehicle 1 of this embodiment, it is possible to set (change) the positions and curvatures of the danger line L1 and the warning line L2 in the image Im1. When setting (changing) this, the trial run switch 573 of the operation unit 57 is pressed, i.e., the control unit 7 enters a trial run state (setting mode), and the worker or the like can actually approach the input opening 41 or the loading device 5 without operating the loading device 5 to test the position at which the notification unit 63 will notify that the warning line L2 has been crossed and the loading device 5 will be brought to an emergency stop. Specifically, this is as follows.

[0091] When the test run switch 573 of the operation unit 57 is pressed, the control unit 7 executes a test run (switches to setting mode), and imaging by the camera 61 of the imaging unit 6 begins. At this time, the loading device 5 does not operate, but the boundary setting means 72, border crossing determination means 73, and test run control means 75 function (operate) in the control unit 7. As described above, while the control unit 7 is executing a test run, the test run control means 75 (more specifically, the stop maintenance means 751) is functioning. Therefore, 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 stop maintenance means 751 maintains the stopped state of the loading device 5; 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.

[0092] Next, the positions of the lines L1 and 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 and L2 in the image Im1 are set (changed) by the boundary curvature input unit 572 of the operation unit 57. Note that in the garbage collection vehicle 1 of this embodiment, the positions and curvatures of the lines L1 and 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.

[0093] When the positions of the lines L1 and L2 in the image Im1 are moved by input from the boundary position input unit 571, the boundary curvature setting unit 723 automatically sets (adjusts) the curvature of each line L1 and L2 according to the distance from the position corresponding to the optical axis in the image Im1 (i.e., the distortion aberration of the lens 611) even without input from the boundary curvature input unit 572. Here, we will explain an example in which the position corresponding to the optical axis coincides with the center of the image Im1 and a horizontally extending line L positioned below the center. Moving this line L upward (toward the optical axis) reduces the curvature (increases the radius of curvature), and conversely, moving it downward (away from the optical axis) increases the curvature (decreases the radius of curvature). Note that the curvature of a single line L may be a single curvature (approximately a perfect circle), or a combination of curves with multiple curvatures may be used. In the case of a combination of multiple curves, the curvature is set (adjusted) for all or just one of the curves. Furthermore, if the boundary curvature setting means 723 has set the curvature of the line L before the position change in accordance with an instruction from the boundary curvature input unit 572, a further curvature is set (adjusted) for the curve that has already been set.

[0094] With the position and curvature set (changed) in this manner, a worker or the like approaches the throwing opening 41, for example, by recreating the task of throwing garbage into the throwing opening 41. At this time, if at least a part of the frame Fr in the image Im1 from the camera 61 crosses the newly set warning line L2 (the warning line whose position and curvature in the image Im1 have been set (changed)), the notification instruction means 752 of the trial run control means 75 instructs the notification unit 63 to illuminate the corresponding lamp 63b. Also, if at least a part of the frame Fr in the image Im1 from the camera 61 crosses the newly set danger line L1 (the danger line whose position and curvature in the image Im1 have been set (changed)), the notification instruction means 752 of the trial run control means 75 instructs the notification unit 63 to illuminate the corresponding lamp 63c.

[0095] 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).

[0096] The present invention can be modified in various ways without departing from the spirit and scope of the invention. The specific configurations of the various parts are not limited to the above-described embodiments.

[0097] For example, the instruction means 74 in the above embodiment functionally includes the stop instruction means 741 and the warning instruction means 742. However, it may include only one of the stop instruction means 741 and the warning instruction means 742. Also, the instruction means 74 in the above embodiment is an inseparable 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 independent and separate units.

[0098] Furthermore, an ignore area, which is an area where no dangerous area is set, can be defined within image Im1. The edge line defining the ignore area is linear and is set at least on either the left or right edge of image Im1. Line (boundary line) L is set so as to intersect with the edge line. The edge line can be, for example, a straight line parallel to either the left or right side of image Im1 as shown in FIG. 7, etc. By defining the ignore area in this way, the image of the operator operating the operation unit 57 located within the ignore area is not judged to be dangerous. This makes it possible to prevent a warning from being issued every time the operator operates the operation unit 57.

[0099] Furthermore, in the above embodiment, the stop maintenance by the stop maintenance means 751 is performed directly on the loading device 5, but it can also be performed via the instruction means 74. To maintain the stop, for example, the power supply to the operation unit 57 may be cut off to disable the operation unit 57 itself. Also, it may be configured so that even if a signal from the operation unit 57 is received, it is ignored. Furthermore, by fitting a stopper between the movable part of the working device (the slider 52 and the push plate 53 in the garbage collection vehicle 1) and the fixed part (the garbage bin 4 in the garbage collection vehicle 1), it may be mechanically disabled.

[0100] In the above embodiment, the notification instruction from the notification instruction means 752 is given directly to the notification unit 63, but it can also be given via the instruction means 74.

[0101] 9, the alarm unit 63 issues an alarm from the time when the border crossing determination means 73 determines that the frame Fr in the image Im1 from the camera 61 approaches the danger area Ar1 and that at least a portion of the frame Fr crosses the warning line L2 toward the danger area Ar1 until the state is resolved. Therefore, for example, when a worker travels back and forth between the garbage collection site and the loading opening 41, the alarm may be turned on and off. If the alarm unit 63 is a lamp, it will flash, and if it is a buzzer, it will emit an intermittent sound. For businesses that do not prefer this type of alarm, after the alarm unit 63 starts issuing an alarm in step S6, steps S7 and S10 may not be performed, and instead the alarm may be continued for a certain period of time, for example, using a timer, or until the loading device 5 stops.

[0102] Furthermore, the target to which the notification instruction means 752 instructs to notify during the test run is not limited to the notification unit 63, but may be a means provided in the garbage collection vehicle 1 separately from the notification unit 63. For example, the notification instruction means 752 may instruct to notify a display provided in the driver's cab.

[0103] 5, the first lamp 63a to the third lamp 63c of the notification unit 63 are provided in the imaging unit 6 located above the insertion opening 41, but they may also be provided in the insertion opening 41, like the fourth lamp 63d and the fifth lamp 63e. Furthermore, only the fourth lamp 63d or the fifth lamp 63e may be provided as the notification unit 63, and the functions of the first lamp 63a to the third lamp 63c may be performed by the fourth lamp 63d and the fifth lamp 63e.

[0104] Furthermore, although the notification unit 63 in the above embodiment has five lamps 63a to 63e, the number of lamps is not limited to this. For example, it may have three lamps 63a to 63c, and at least one of the three lamps 63a to 63c may be illuminated in a different light-emitting mode (such as a flashing state or a light color) or two or more of the three lamps 63a to 63c may be illuminated simultaneously, thereby enabling the notification function performed by the fourth lamp 63d (fifth lamp 63e) in the above embodiment to be performed. Furthermore, existing lamps may be diverted or used as some or all of the lamps constituting the notification unit 63.

[0105] Furthermore, although the fourth lamp 63d in the above embodiment is designed to alert by the light emission mode of the lamp 63d itself, it may also be designed to alert by shining a beam of light onto the bottom surface of the input opening 41, like a spotlight, and by the reflection of the bottom surface or the garbage input into the input opening 41.

[0106] Furthermore, the visual notification is not limited to light emitted from a lamp, but may be notification by an image using a small display, for example. [Explanation of symbols]

[0107] 1...garbage collection truck, 2...chassis, 21...driver's cab, 3...garbage collection box, 31...opening, 4...Garbage input box, 41...Insertion opening (input part), 42...Lid, 45...Bottom, 5...loading device, 51...guide rail, 52...slider, 53...push plate (push member), 53a...tip, 54...pin, 55...push cylinder (compression drive means), 55c...cylinder, 55p...piston, 56...press cylinder (push drive means), 56c...cylinder, 56p...piston, 551, 552, 561...pin, 57...operation unit (operation input unit), 571...boundary position input unit (boundary position input means), 572...boundary curvature input unit (boundary curvature input means), 573...trial operation switch (trial operation input means), 574...warning release means (release means), 6...imaging unit, 61...camera (imaging means), 611...wide-angle lens (lens), 612...imaging element, 62...supporting portion, 621...base portion, 622...bracket, 622a...base end portion, 622b...tip portion, 623...shaft member, 624...cover plate, 63...notifying portion (notifying means), 63a...first lamp (lamp), 63b...second lamp (lamp), 63c...third lamp (lamp), 63d...fourth lamp (lamp), 63e...fifth lamp (lamp), 7...control unit, 71...person identification means, 72...boundary setting means, 73...border crossing determination means, 74...instruction means, 75...trial operation control means, 721...boundary addition means, 722...boundary position setting means, 723...boundary curvature setting means, 741...stop instruction means, 742...warning instruction means, 751...stop maintenance means, 752...notification instruction means, Ar1: Dangerous area, Ar2: Area other than dangerous area, Fr...Frame, Fr1...Near end (end), Fr2...Far end (end), Im1...Image (image data, video image, video data), Im2...Portrait, L...line (boundary line), L1...danger line (line, stop boundary line), L2...warning line (line), M...Back monitor

Claims

1. a dust collection box for collecting dust; a loading device including an input section into which a worker inputs garbage and a pushing member that pushes the garbage input into the garbage storage box; an imaging means for imaging a work area where an operator performs the work of loading into the loading section of the loading device; a notification means for notifying a worker; a control unit that performs control based on the image captured by the imaging means, The control unit determines, from the human image detected from the image in relation to a line set in the image, whether the worker is in a dangerous state where there is a high possibility of the worker being caught in the loading device via the loading part, and if the dangerous state is met, instructs the loading device to stop the loading operation, and if no human image can be detected within the entire area of the image even while the loading device is operating, activates the alarm means to issue an alarm.

2. 2. The refuse collection vehicle according to claim 1, wherein the notification means is a means for visually notifying an operator.

3. 2. The refuse collection vehicle according to claim 1, wherein the notification means is a means for providing an auditory notification to an operator.

Images