Refuse collection vehicle

Abstract

To provide a garbage collecting vehicle allowing a worker and the like to easily escape from a situation where he or she may be caught and capable of securing their safety at an early stage.SOLUTION: A garbage collecting vehicle is provided with a garbage loading device, an object image acquisition section for acquiring an object image of a garbage throw-in opening and its nearby area, and a controller for controlling drive of the garbage loading device, wherein the controller comprises: a person detection section that not only recognizes whether or not the object image acquired through the object image acquisition section is a person but determines whether or not the person is within the garbage throw-in opening and a specific area nearby; a notification section for reporting the detection of the person by the person detection section; an emergency stop section for automatically stopping the garbage loading device when the person detection section determines the person is in an off-limit area during motion of the garbage loading device; and an evacuation motion section for making the garbage loading device perform an evacuation motion in association with the emergency stop section. The garbage collecting vehicle is configured to trigger the evacuation motion section in a state the notification section is under operation.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a dust collection vehicle, and more particularly to an improvement of a configuration having a function of urgently stopping a dust loading device when an operator or the like enters a prohibited entry area near a dust inlet.

Background Art

[0002] Conventionally, in a dust collection vehicle, as disclosed in Patent Document 1 for example, an object image acquisition unit that acquires an object image near a dust inlet opened in a dust input box, and a control device that controls the drive of a dust loading device in the dust input box are provided. When the object image acquisition unit determines that a person such as an operator has entered a prohibited entry area near the dust inlet during the drive of the dust loading device, the dust loading device is urgently stopped to ensure the safety of the operator or the like. Such a configuration is known.

[0003] In such a conventional dust collection vehicle, when an operator or the like is likely to be卷入 the dust loading device within the prohibited entry area, the drive of the dust loading device is automatically stopped urgently. Therefore, compared with the case where the operator manually stops the drive of the dust loading device by pressing an emergency stop switch for example, a more rapid emergency stop is possible.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional refuse collection vehicle described above, if it is determined that a person, such as a worker, has entered a restricted area and is about to be caught, the refuse loading device stops operating in the state it was in at the time of the determination. Therefore, if, for example, the worker's clothing gets caught in the garbage in the refuse input box or in the refuse loading device and the device stops, it may be difficult to free the catch. Furthermore, if it takes time to free the catch, it takes a considerable amount of time before the refuse loading device can be restarted.

[0006] The present invention has been made in consideration of the circumstances described above, and its purpose is to provide a refuse collection vehicle that allows workers to easily escape from situations where they might be caught in the refuse loading device when the device makes an emergency stop, thereby ensuring the safety of workers and others more quickly, and also allows for the restart of the refuse loading device more quickly, thereby improving work efficiency. [Means for solving the problem]

[0007] The present invention provides the following means for solving the above-mentioned problems. Specifically, the refuse collection vehicle of the present invention comprises a refuse loading device disposed inside a refuse input box, an object image acquisition unit for acquiring an object image near a refuse input opening in the refuse input box, and a control device for controlling the drive of the refuse loading device. The control device is characterized by having a person detection unit that recognizes whether the object image acquired by the object image acquisition unit is a person and determines whether a person is in a restricted area near the refuse input opening, and an emergency evacuation stop unit that, when the person detection unit determines that a person is in the restricted area while the refuse loading device is in operation, causes the refuse loading device to move to a retraction position and then stops.

[0008] In the above configuration, if the person detection unit determines that a person, such as a worker, has entered a restricted area while the refuse loading device is in operation, the refuse loading device does not simply stop at that point, but instead performs a retraction movement, and then stops in that retracted position. This retraction movement widens the gap between the movable tip of the refuse loading device and the bottom of the refuse input box, allowing the refuse loading device to stop. Therefore, even if a worker's clothing gets caught in the garbage in the refuse input box or the refuse loading device, the worker's range of motion can be expanded to release the catch. As a result, even after the refuse loading device has been emergency stopped, workers can more easily escape from situations where they might get caught, thus ensuring their safety more quickly. Furthermore, because such early escape is possible, the refuse loading device can be restarted sooner, resulting in a safer and more efficient refuse collection vehicle.

[0009] More specifically, the waste loading device is preferably equipped with a loading plate that loads the waste introduced into the waste input port into the waste input box, and the retraction operation performed by the emergency retraction stop unit is configured to reverse the waste loading operation of the loading plate for a predetermined period of time.

[0010] In this configuration, while the refuse loading device is in operation, the loading plate loads refuse into the refuse input box. If it is determined that a person, such as a worker, has entered a restricted area, the loading plate reverses its refuse loading operation and retracts, remaining stopped for a predetermined period of time. Therefore, even if, for example, a worker's clothing gets caught on the loading plate during the refuse loading operation, the retraction of the loading plate loosens the catch, allowing the worker to quickly and easily escape from a situation where they were in danger of being caught.

[0011] Furthermore, the waste loading device comprises a pushing plate that rotates in the front-rear direction and a loading plate that is rotatable about a base end located below the pushing plate, and is configured to perform a loading operation cycle that includes an avoidance rotation step in which the loading plate rotates to a position where it does not interfere with the rearward rotation of the pushing plate, a return step in which the pushing plate rotates backward, a scraping rotation step in which the loading plate rotates to scrape up the waste, and a pushing step in which the pushing plate rotates forward, and preferably the avoidance operation is such that if it is determined that a person has entered the restricted area during the scraping rotation step, only the loading plate is rotated in the reverse direction for a predetermined time.

[0012] In this configuration, in a rotary-plate type refuse collection vehicle where the loading plate rotates, if it is determined that a person has entered a restricted area during the raking rotation phase, in which the loading plate rotates to rake up the refuse, particularly when the loading plate is moving towards the bottom of the refuse input box, only the loading plate that was performing the raking rotation phase will perform a retraction operation, rotating in the reverse direction for a predetermined time. Therefore, even if a worker's clothing gets caught on the loading plate during the raking rotation phase, the gap between the loading plate and the bottom of the refuse input box will widen, making it easier for the worker to free their clothing from the loading plate. Furthermore, although this retraction operation performed during an emergency stop is an unintended movement for the worker whose clothing is caught, if this retraction operation is large, the range of unintended movement for the worker will be large, potentially leading to secondary accidents. However, since this evacuation operation can be limited to the minimum necessary, requiring only the loading plate to reverse, the possibility of secondary disasters can be significantly reduced. Furthermore, even if the person detection unit incorrectly determines that a person is in a restricted area and the refuse loading device is stopped due to this misrecognition, the evacuation operation is minimal, allowing the loading plate to be returned to its original position in a short time, thus minimizing the loss of working time during the refuse loading operation.

[0013] Furthermore, the waste loading device is preferably configured to perform a loading operation in one cycle, which includes a sliding plate that can be raised and lowered, and a loading plate that is rotatably connected to the lower end of the sliding plate, and which includes a reversal step of rotating the loading plate backward, a lowering step of lowering the sliding plate together with the loading plate, a compression step of rotating the loading plate forward, and an upward step of raising the sliding plate together with the loading plate, and the retraction operation is preferably performed in either the lowering step or the compression step or both of them.

[0014] In this configuration, in a press-type refuse collection vehicle that compresses refuse using a loading plate, if it is determined that a person is in a restricted area during the lowering process, the compression process, or both the lowering and compression processes of one loading cycle performed by the sliding plate and the loading plate, i.e., when the loading plate is moving towards the bottom of the refuse input box, the vehicle performs an evacuation action. This widens the gap between the loading plate and the bottom of the refuse input box, making it easier for workers to free their clothing from getting caught on the loading plate.

[0015] In addition, it is preferable that the retraction operation during the lowering process involves raising the sliding plate together with the loading plate for a predetermined time when the person detection unit determines that a person has entered the restricted area, and that the retraction operation during the compression process involves rotating only the loading plate backward for a predetermined time when the person detection unit determines that a person has entered the restricted area.

[0016] In this configuration, if the press-type refuse collection vehicle detects that a person has entered a restricted area during the descent process, both the sliding plate and the loading plate, which were in the descent phase, are moved upward for a predetermined time. If the vehicle detects that a person has entered a restricted area during the compression phase, only the loading plate, which was rotating forward, is moved in reverse (rotates backward). Therefore, the need for retraction during the descent and compression phases can be minimized, thereby reducing the possibility of secondary accidents. Furthermore, even if the refuse loading device is stopped due to a misjudgment by the person detection unit, the sliding plate and loading plate can be returned to their original positions in a short time, minimizing the loss of time during the refuse loading operation. [Brief explanation of the drawing]

[0017] [Figure 1] This is a side view showing a refuse collection vehicle according to the first embodiment of the present invention. [Figure 2] Figure 1 is a rear view of the garbage collection vehicle. [Figure 3] This is an explanatory diagram of the operation of the refuse loading device equipped on a refuse collection vehicle. [Figure 4] This is a view taken along line X1 in Figure 3. [Figure 5] This is a hydraulic circuit diagram for the refuse loading system of a refuse collection vehicle. [Figure 6] This is a schematic diagram showing the main control unit and image processing unit of a refuse collection vehicle, and their input / output states. [Figure 7] This is a side view diagram illustrating a worker loading garbage bags into the waste disposal opening. [Figure 8] This is an example of an image captured by a camera, showing the first and second detection areas. [Figure 9] This flowchart illustrates an example of the person recognition process performed by the image processing unit. [Figure 10] This flowchart shows an example of an emergency stop procedure for the waste loading operation of the waste loading device by the main control unit. [Figure 11]This is a diagram showing an example of the retraction operation of the rotating plate. [Figure 12] This is a side view showing the main part of the dust collection vehicle according to the second embodiment of the present invention. [Figure 13] This is a flowchart diagram showing an example of the emergency retraction stop process of the dust loading operation of the press-type dust loading device. [Figure 14] This is a side view showing an example of the emergency retraction stop operation in the lowering process of the press-type dust loading device. [Figure 15] This is a side view showing an example of the emergency retraction stop operation in the compression process of the press-type dust loading device.

Embodiments for Carrying Out the Invention

[0018] -First Embodiment- The first embodiment in which the present invention is applied to a rotary plate type dust collection vehicle will be described with reference to the drawings. In the following description, for convenience, the front, rear, left, and right of the dust collection vehicle may be simply referred to as "front, rear, left, and right".

[0019] FIG. 1 and FIG. 2 show a dust collection vehicle 100 according to the first embodiment of the present invention. In the dust collection vehicle 100, a dust storage box 2 and a dust input box 3 are provided on the vehicle body 1, and the opening at the rear of the dust storage box 2 and the opening at the front of the dust input box 3 are in communication. Further, the dust input box 3 is pivotally supported with respect to the dust storage box 2 by a left-right direction pivot 3a provided at the upper part thereof, and is tilted by a pair of left and right tilting cylinders (not shown).

[0020] Furthermore, a roughly rectangular refuse inlet 4 for loading refuse G (see Figure 8) is provided at the lower part of the rear of the refuse inlet 3, and the refuse inlet 4 is opened and closed by a vertically movable tailgate 5. A switch box 6 for operating the refuse loading device (described later) 8 is provided to the left of the refuse inlet 4. A camera unit 7 is also positioned above the refuse inlet 4 to photograph the refuse inlet 4 and the surrounding area. The camera unit 7 is fixed to the top of the refuse inlet 3 via a support member 80 that protrudes rearward from the inclined rear surface (curved rear surface) 3b of the refuse inlet 3, which is positioned above the refuse inlet 4.

[0021] More specifically, as shown in Figures 2 to 4, the support member 80 is frame-shaped with base ends at both the left and right ends of the inclined rear surface portion 3b. The camera unit 7 is fixed to the support member 80 at a position that is the left and right center of the waste disposal box 3. The camera unit 7 has a camera 71 as an object image acquisition unit, a detection lamp 73 as a notification unit, and an operating lamp 72 as a second notification unit. As the camera 71, for example, a monocular camera that has a proven track record as a back-eye camera is used.

[0022] The camera 71 is mounted via a mounting bracket 75 in a recess 74 located in the left-right center of the camera unit 7. The camera 71 has an imaging lens 71a, which is mounted on the mounting bracket 75 of the camera unit 7 so as to be adjustable vertically around a horizontal axis, with the imaging lens 71a facing diagonally downward. On both the left and right sides of the recess 74 of the camera unit 7, there are fixed surfaces 7a that are angled upward and backward relative to the horizontal plane (tilting upward as it approaches the rear of the vehicle). An operating indicator lamp 72 is mounted facing downward on the left fixed surface 7a. A detection lamp 73 is mounted facing downward on the right fixed surface 7a. In other words, the operating indicator lamp 72 and the detection lamp 73 are located on both the left and right sides of the camera 71, near the imaging lens 71a of the camera 71.

[0023] Next, as shown in Figure 3, the refuse input box 3 is equipped with a refuse loading device 8 that loads the deposited refuse G into the refuse storage box 2. This refuse loading device 8 pushes the refuse G deposited into the refuse input box 3 into the refuse storage box 2, which is connected to the front of the refuse input box 3. The refuse storage box 2 is equipped with a refuse discharge device (not shown) for discharging the contained refuse G. Possible examples of this refuse discharge device include tilting the refuse storage box 2 using a dump cylinder interposed between the chassis 1 and the refuse storage box 2 to discharge the refuse G, or moving a discharge plate installed inside the refuse storage box 2 to the rear of the refuse storage box 2 using a discharge cylinder to discharge the refuse G.

[0024] Next, the refuse loading device 8 of this embodiment will be described in detail. The refuse loading device 8 of this embodiment is configured as a so-called rotary plate type refuse loading device, which scoops up refuse G by the rotation of a rotary plate 10 as a loading plate and pushes it into the refuse storage box 2 by a pushing plate 20. A rotating shaft 11 is installed inside the refuse input box 3 below the pushing plate 20 and extends in the width direction of the refuse input box 3. The base end of the rotary plate (loading plate) 10 is fixed to this rotating shaft 11, and the rotary plate 10 is rotatable about its base end (rotating shaft 11).

[0025] In the illustrated example, a hydraulic motor 13 capable of forward and reverse rotation is connected to the end of the rotating shaft 11 via a reduction mechanism 12. The rotation of this hydraulic motor 13 is torque-enhanced by the reduction mechanism 12 and transmitted to the rotating shaft 11, causing the rotating plate 10 to rotate integrally with the rotating shaft 11. As a result, its tip moves in the front-rear direction along the inner bottom 3c of the waste collection box 3, which is formed in a roughly semi-circular cross-section.

[0026] On the other hand, the push plate 20 is provided above the rotating plate 10, extending across the entire width of the waste collection box 3, and is supported so as to be rotatable in the front-rear direction around a left-right pivot axis 21 provided at its upper part. The push plate 20 is also provided with an extension portion 22 that extends above the pivot axis 21, and a push cylinder 24 is installed between this extension portion 22 and a support pin 23 in front of it, and the extension and retraction of the cylinder causes the push plate 20 to rotate in the front-rear direction.

[0027] Specifically, as shown by the solid line in Figure 3, when the pushing plate 20 is at its furthest rotational position (forward limit position) toward the waste container 2, the rotating plate (loading plate) 10 performs an avoidance rotation process in which it rotates backward while avoiding interference with the pushing plate 20. Then, lagging behind the backward rotation of the rotating plate 10, the pushing plate 20 rotates toward the waste inlet 4, and performs a return process in which it stops at the position shown by the dashed line in Figure 3 (reverse limit position), which is its furthest rotation toward the waste inlet 4. After that, the rotating plate 10 rotates downward following the avoidance rotation process, then rotates forward to scrape up the waste G along the inner bottom 3c of the waste inlet 3 toward the waste container 2, and then rotates upward to perform a scraping rotation process in which it temporarily stops at a set stop position extending toward the waste container 2 in front, as shown by the solid line in Figure 3. Subsequently, the pushing plate 20 rotates toward the waste collection box 2 at the front, pushing the waste G on the rotating plate 10 into the waste collection box 2, and performing a pushing process again until it reaches the forward limit position.

[0028] In this way, the rotating plate (loading plate) 10 and the pushing plate 20 perform a waste loading operation in which the waste G put into the waste input box 3 is continuously loaded into the waste storage box 2 by repeating the rotation of the rotating plate 10 and the rotation of the pushing plate 20 in sync with each other, with the rotation of the rotating plate 10 and the rotation of the pushing plate 20 forming one cycle of four steps: avoidance rotation, return rotation, scraping rotation, and pushing. The configuration of the hydraulic circuit and control system for operating the rotating plate 10 and the pushing plate 20 in this way will be described later.

[0029] Inside the waste collection box 3, switches LS1 to LS4 are provided for detecting the positions of the rotating plate 10 and the push plate 20. Specifically, as shown in Figure 3, switches LS1 and LS2 are turned on when the push plate 20 is at its forward limit position or backward limit position, respectively; switch LS3 is turned on when the rotating plate 10 is at its set stop position; and switch LS4 is turned on when the rotating plate 10 rotates a predetermined angle in the positive direction (clockwise in Figure 3) from its set stop position, and turned off when it rotates another predetermined angle.

[0030] Switches LS1 and LS2 are designed to detect a dog (not shown) located at the end of the pivot shaft 21 of the push plate 20, while switches LS3 and LS4 are designed to detect a dog (not shown) located at the end of the pivot shaft 11 of the rotating plate 10. For example, limit switches, photoelectric switches, proximity switches, etc., can be used as switches LS1 to LS4. Furthermore, as shown by hatching in Figure 3, switch LS4 detects the angular range Z from directly below the front edge (upper edge) 4a of the waste inlet 4, downwards while rotating backward, until it is closest to the rear edge (lower edge) 4b of the waste inlet 4. It is a sensor for detecting that the rotating plate 10 is operating in the vicinity of the waste inlet 4.

[0031] Furthermore, as shown in Figures 1 to 3, emergency stop buttons 60 and 61, and an emergency stop plate 62 are provided near the refuse inlet 4 to stop the operation of the refuse loading device 8. As shown in Figure 1, the emergency stop button 60 (corresponding to switch SW1 in Figure 6) is located on the side of the switch box 6, which is located to the left of the refuse inlet 4, and as shown by the dashed line in Figure 3, the emergency stop button 61 (corresponding to switch SW3 in Figure 6) is located to the right of the refuse inlet 4. The emergency stop plate 62 is positioned below the refuse inlet 4 to turn switch SW2 on and off. Furthermore, as shown in Figure 2, a stop release switch 63 is located on the rear of the switch box 6. This stop release switch 63 is positioned to turn momentary switch SW4 on and off, for example. The stop release switch 63 is operated to release the emergency retraction stop of the refuse loading operation of the refuse loading device 8, which will be described later.

[0032] -Control system for the waste loading device 8- Next, with reference to Figures 5 and 6, the control system for operating the refuse loading device 8 will be described. This control system includes a hydraulic circuit that controls the hydraulic pressure supplied to the hydraulic motor 13 and push cylinder 24 of the refuse loading device 8, a main control unit PLC (programmable logic controller) that outputs control signals to electromagnetic control valves V1 and V2 provided in the hydraulic circuit, and an image processing unit 9 that acts as a person detection unit that performs person recognition processing based on image data from the camera 71. The main control unit PLC functions as an emergency retraction stop unit that can urgently retract and stop the refuse loading operation of the refuse loading device 8. The main control unit PLC controls not only the drive of the refuse loading device 8 but also the drive of the refuse discharge device.

[0033] First, the hydraulic circuit will be explained with reference to Figure 5. This hydraulic circuit comprises a hydraulic pump P, an oil reservoir T, an electromagnetic control valve V1 for controlling the push cylinder 24, and an electromagnetic control valve V2 for controlling the hydraulic motor 13. The hydraulic pump P is powered by a PTO (power take-off) which extracts power from the engine (not shown) that serves as the vehicle's driving source.

[0034] As an example, both electromagnetic control valves V1 and V2 consist of 6-port, 3-position electromagnetic directional control valves. When the solenoid SOLa of electromagnetic control valve V1 is energized by the main control unit PLC, it switches to the first communication position (upper position in Figure 5) and supplies hydraulic fluid from the hydraulic pump P to the rod-side oil chamber of the pair of push cylinders 24. On the other hand, when the solenoid SOLb of electromagnetic control valve V1 is energized by the main control unit PLC, it switches to the second communication position (lower position in Figure 5) and supplies hydraulic fluid to the head-side oil chamber.

[0035] When hydraulic fluid is supplied from the electromagnetic control valve V1 to the head-side oil chamber, the pair of push cylinders 24 extend, rotating the push plate 20 forward. Conversely, when hydraulic fluid is supplied to the rod-side oil chamber, the pair of push cylinders 24 retract, rotating the push plate 20 backward. Furthermore, when neither solenoid SOLa nor SOLb is energized, the electromagnetic control valve V1 returns to its neutral position (center position in Figure 5).

[0036] When the solenoid SOLc is energized, the electromagnetic control valve V2 switches to the first communication position (lower position in Figure 5), supplying hydraulic fluid to the forward-rotating oil chamber of the hydraulic motor 13, causing the hydraulic motor 13 to rotate in the forward direction, and also allowing the push cylinder 24 to extend and retract. On the other hand, when the solenoid SOLd is energized, the electromagnetic control valve V2 switches to the second communication position (upper position in Figure 5), supplying hydraulic fluid to the reverse-rotating oil chamber of the hydraulic motor 13, causing the hydraulic motor 13 to rotate in the reverse direction.

[0037] Furthermore, when neither solenoid SOLc nor SOLd is energized, the electromagnetic control valve V2 returns to the neutral position (center position in Figure 5). When both electromagnetic control valves V1 and V2 are in the neutral position, the hydraulic fluid returns to the oil reservoir T. In the hydraulic circuit shown, the symbol V3 is a check valve, and the symbol V4 is a relief valve for setting the upper limit of the discharge pressure of the hydraulic pump P.

[0038] Next, the input / output states of the signals of the main control unit PLC and the image processing unit 9 will be explained with reference to Figure 6. First, power to the main control unit PLC is supplied by battery BT. The energizing line K2, which extends from the positive terminal of battery BT to the right side of Figure 6 and leads to the ground line K1, has the ignition switch SWK, PTO switch SWP, relay coil R1, etc. of the refuse collection vehicle 100 interposed therein.

[0039] Furthermore, the upstream end of the power supply line K3 is connected so as to branch off from the power supply line K2 midway between the ignition switch SWK and the battery BT, and the contact (relay switch) r1 of the relay coil R1 is interposed on the upstream side (closer to the battery BT). A power lamp L is interposed on this power supply line K3, and when the relay coil R1 is energized and contact r1 is closed, power is supplied to the power supply line K3, causing the power lamp L to light up.

[0040] Furthermore, the upstream end of the power supply line K4 is connected so as to branch off from the power supply line K3 midway between the contact r1 of the relay coil R1 and the power lamp L, thereby supplying power to the signal power supply unit (not shown) of the main control unit PLC. In other words, when contact r1 is closed, power is supplied to the main control unit PLC via power supply lines K3 and K4.

[0041] Furthermore, a power supply line K5, which branches off from the power supply line K4, ensures that the main control unit PLC is always powered during the refuse loading operation of the refuse loading device 8. In other words, power supply line K5 is the line that inputs the so-called load continuation signal, and switches SW1 to SW3, which open and close in response to the operation of the emergency stop buttons 60 and 61 and the emergency stop plate 62 mentioned above, are installed here. When the power supply (i.e., the input of the load continuation signal) is cut off by these switches SW1 to SW3, the main control unit PLC turns off the output of the control signals for exciting the solenoids SOLa to SOLd of the electromagnetic control valves V1 and V2. As a result, the electromagnetic control valves V1 and V2 return to the neutral position, and the drive of the refuse loading device 8 is stopped.

[0042] Furthermore, the power supply line K4 is connected to multiple branch lines that diverge from it, and each of these branch lines is fitted with the aforementioned switches LS1 to LS4. Signals from switches LS1 to LS4 are input to the main control unit PLC, and based on these signals, the position, or in other words, the operating status, of the rotating plate 10 and the pushing plate 20 of the waste loading device 8 is detected.

[0043] Furthermore, in addition to switches LS1 to LS4, the input side to the main control unit PLC also electrically connects to the following: a loading switch (loading button) SW5 for cyclically operating the refuse loading device 8; a changeover switch SW6 for switching between the refuse loading operation of the refuse loading device 8 and the refuse discharge operation of the refuse discharge device; a switch SW7 for tilting and opening the refuse input box 3; a selector switch for single-acting or continuous operation of the refuse loading operation (not shown); and switches for independently operating the rotating plate 10 and the push plate 20 (not shown). The changeover switch SW6 is located at the branching point where the power supply line K5 branches off from the power supply line K4, and the power supply line K5 is connected to the loading side of the changeover switch SW6.

[0044] As described above, various switches are connected to the input side, while the solenoids SOLa~SOLd of the electromagnetic control valves V1 and V2 are connected to the output side of the main control unit PLC. The main control unit PLC is programmed to output to the corresponding solenoids SOLa~SOLd in order to operate the hydraulic motor 13, push cylinder 24, etc., according to a preset procedure based on the signals input from switches SW1~SW3, LS1~LS4, etc.

[0045] Specifically, when the waste loading device 8 is loading waste, the relay coil R1 is energized when both the ignition switch SWK and the PTO switch SWP on the power supply line K2 are turned on. As a result, the contact r1 of the relay coil R1 is closed, and power is supplied to the main control unit PLC via the power supply lines K3 and K4, so that the main control unit PLC becomes operational and outputs control signals to the solenoids SOLa~SOLd as appropriate.

[0046] Upon receiving this control signal, the solenoids SOLa~SOLd are energized, and the positions of the electromagnetic control valves V1 and V2 are switched as appropriate, thereby supplying hydraulic pressure to the hydraulic motor 13 and the push cylinder 24, etc. As a result, the hydraulic motor 13 and the push cylinder 24, etc. operate, and as described above, the rotation of the rotating plate 10 and the rotation of the push plate 20 are repeated in synchronous motion.

[0047] In detail, first, as shown by the solid line in Figure 3, when the push plate 20 is at its forward limit position and an ON signal is output from switch LS1, and the rotating plate 10 is at the set stop position and an ON signal is output from switch LS3, the main control unit PLC, which receives the signal from the loading switch SW5, outputs a control signal, the electromagnetic control valve V2 is switched to the first communication position, and the hydraulic motor 13 starts forward rotation. As a result, the rotating plate 10 starts to rotate backward, and the avoidance rotation process begins. This avoidance rotation process is the process of rotating the rotating plate 10 in the positive direction from the set stop position to directly below the front edge (upper edge) 4a of the waste inlet 4 (the beginning of the angle range Z).

[0048] Once the avoidance rotation process has started and a predetermined period of time has elapsed, the main control unit PLC outputs a control signal to the solenoid SOLa of the electromagnetic control valve V1, switching the electromagnetic control valve V1 to the first communication position and causing the push cylinder 24 to begin contracting. As a result, the push plate 20 begins to rotate toward the rear waste inlet 4, initiating the return process. When the push plate 20 reaches its retraction limit position, an ON signal is output from the switch LS2. In response, the main control unit PLC stops outputting the control signal to the solenoid SOLa, causing the electromagnetic control valve V1 to return to the neutral position, stopping the rotation of the push plate 20, and ending the return process.

[0049] Furthermore, the rotation of the rotating plate 10 continues even during the return process in which the push plate 20 is rotating. When the rotating plate 10 transitions from rotation backward to rotation downward, the scraping rotation process of the rotating plate 10 begins immediately following the avoidance rotation process. This scraping rotation process is a process in which the rotating plate 10 is rotated in the positive direction from directly below the front edge (upper edge) 4a of the waste inlet 4 (the beginning of the angle range Z) to the set stop position.

[0050] When the scraping rotation process begins, the rotating plate 10 passes through the angular range Z, scraping the debris G towards the debris collection box 2. When the rotating plate 10 reaches the set stop position, an ON signal is output from the switch LS3. In response, the main control unit PLC stops outputting the control signal to the solenoid SOLc of the electromagnetic control valve V2, causing the electromagnetic control valve V2 to return to the neutral position, stopping the rotation of the hydraulic motor 13, stopping the rotation of the rotating plate 10, and ending the scraping rotation process.

[0051] Furthermore, once the scraping rotation process is completed, the main control unit PLC outputs a control signal to the solenoid SOLb of the electromagnetic control valve V1, which switches the electromagnetic control valve V1 to the second communication position, causing the push cylinder 24 to start extending, which in turn causes the push plate 20 to start rotating forward from its retracted limit position, thus initiating the push process.

[0052] In this way, the pushing plate 20, which rotates toward the forward waste collection box 2, pushes the waste G on the rotating plate 10 into the waste collection box 2. When it reaches the forward limit position, an ON signal is output from the switch LS1. In response, the main control unit PLC stops outputting the control signal to the solenoid SOLb, causing the electromagnetic control valve V1 to return to the neutral position, stopping the extension operation of the pushing cylinder 24, that is, stopping the forward rotation of the pushing plate 20, and ending the pushing process and completing one cycle of operation.

[0053] As shown in Figure 6, the upstream end of the power supply line K6 is connected between the ignition switch SWK and the PTO switch SWP, and the image processing unit 9 is connected to this power supply line K6. When the ignition switch SWK is turned on, power is supplied to the image processing unit 9 via this power supply line K6. The image processing unit 9 is connected to the camera 71 of the camera unit 7 via the power supply line K7. In addition, the image processing unit 9 receives a reverse signal based on the vehicle's driving operation via the power supply line K8.

[0054] The image processing unit 9 has the function of a person detection unit in the present invention. Furthermore, the image processing unit 9, together with the main control unit PLC, constitutes the control device in the present invention.

[0055] Specifically, the image processing unit 9 includes a central processing unit CPU that executes a predetermined program to perform various controls, an image processing unit DSP that acquires image data from the camera 71 and performs image processing, a memory M that stores data used by the central processing unit CPU and the image processing unit DSP, an image output unit VOP that receives commands from the central processing unit CPU and displays the results of image processing on a monitoring monitor 93 (see Figure 1), a timing unit C that measures the time of the data log, and a camera control unit (not shown) that controls the camera 71. The image processing unit DSP is an integrated circuit that performs image processing logic at high speed and, for example, executes a routine for person recognition processing as shown in the flowchart of Figure 9. The upstream end of the power supply line K9 is connected so as to branch off from the power supply line K3 upstream of the contact r1 of the relay coil R1, and power is supplied to the timing unit C via this power supply line K9. For this reason, power is always supplied to the timing unit C even when the ignition switch SWK is off.

[0056] Furthermore, the image processing unit 9 is connected to a power supply line K10 that branches off from the power supply line K5. This power supply line K10 is a loading signal line that functions during the loading operation of the waste loading device 8, but does not function during the waste discharge operation of the waste loading device 8 for the person recognition processing performed by the image processing unit 9. The power supply line K10 is connected to the loading side of the changeover switch SW6, and the loading line signal is input to the image processing unit 9 when the PTO switch SWP is ON and the changeover switch SW6 is switched to the loading side.

[0057] An operating switch SWS is interposed between the image processing unit 9 and the main control unit PLC. The image processing unit 9 is provided with a human safety signal output port, and this output port is connected to the operating switch SWS by a power supply line K16. The image processing unit 9 is also provided with a data log start signal input port, and this input port is connected to the operating switch SWS by a power supply line K17. Furthermore, a power supply line K15, which is branched from the power supply line K10, is connected to the operating switch SWS.

[0058] When the activation switch SWS is switched to the ON position, the output port of the person safety signal of the image processing unit 9 and the main unit control PLC are connected via the power lines K16 and K12.

[0059] Here, the person safety signal output from the image processing unit 9 is input to the main control unit PLC via the power lines K16 and K12. However, if a person enters the no-entry area (the second detection area Y12 described later) during the waste loading operation of the waste loading device 8, the person safety signal is not output from the image processing unit 9, and the person safety signal is not input to the main control unit PLC. The main control unit PLC is configured to perform an emergency evacuation stop of the waste loading operation of the waste loading device 8, with the absence of a person safety signal input as one of its conditions.

[0060] Furthermore, when the activation switch SWS is switched to the ON position, the power supply line K11, which is branched from the power supply line K6, is connected to the power supply line K17. In this case, when the ignition switch SWK is turned ON, power is supplied to the power supply line K6, and a data log start signal is sent to the image processing unit 9 through the power supply lines K11 and K17. This then triggers the execution of data logging.

[0061] On the other hand, when the operating switch SWS is switched to the off position, the power line K10 is connected to the main control unit PLC via the power lines K15 and K12. In this case, when the loading line signal is input to the image processing unit 9, the voltage from the power line K10 is input to the main control unit PLC instead of the person safety signal. Therefore, regardless of whether the image processing unit 9 has detected a person in the restricted area or not, the main control unit PLC recognizes that there is always a person safety signal input.

[0062] Furthermore, if the operating switch SWS is switched to the off position, power will not be supplied to the power line K17, and data logging will not start.

[0063] Furthermore, a switch SW4 corresponding to the stop release switch 63 is interposed between the image processing unit 9 and the main control unit PLC. Switch SW4 is installed in the power supply line K13, which is branched from the power supply line K10. When the stop release switch 63 is not turned ON, switch SW4 is in the OFF state, and no signal is input to the main control unit PLC. On the other hand, when the stop release switch 63 is turned ON, switch SW4 is turned ON, and when the loading line signal is input to the image processing unit 9, the voltage from the power supply line K10 is input to the main control unit PLC as an ON signal for stop release. Note that when the waste loading device 8 is in the waste discharge operation, the loading line signal is not input to the image processing unit 9, so the function of the stop release switch 63 is disabled.

[0064] When the main control unit PLC recognizes the ON signal of the stop release switch 63, it is configured not to perform an emergency evacuation stop of the waste loading operation of the waste loading device 8, even if the input of a person safety signal from the image processing unit 9 is no longer received.

[0065] The image processing unit 9 is electrically connected to pilot lamps (not shown) located around the driver's seat, and to an operating lamp 72 and a detection lamp 73 located near the waste disposal port 4, which serve as notification units. The illumination of these lamps is controlled by the central processing unit CPU. The image processing unit 9 is also connected to a buzzer 91 that outputs a reverse warning sound, and this is also controlled by the central processing unit CPU. The low-potential sides of the operating lamp 72, detection lamp 73, and buzzer 91 are connected to the ground line K1 via the power supply line K14.

[0066] Furthermore, as shown in Figures 1, 3, and 7, a camera 71 is positioned on the upper rear of the waste disposal box 3, in other words, above the waste disposal opening 4, with its imaging lens 71a pointed diagonally downwards and to the rear. Figures 7 and 8 show a person (worker, etc.) H standing near the waste disposal opening 4 with both arms extended forward, loading waste G (garbage bags in Figures 7 and 8). The camera 71 photographs the waste disposal opening 4 and a predetermined area behind it, as shown in Figures 7 and 8 as an example.

[0067] The optical axis of the imaging lens 71a of camera 71 extends in the direction along the X1 line in Figure 3, and is angled backward from vertically downward to photograph the area behind the refuse inlet 4, so as to photograph the person H and refuse G in the vicinity of the refuse inlet 4 from above. Based on the image data captured (acquired) by camera 71 and input to the image processing unit 9, the image processing unit 9 determines whether or not a person H, such as a worker, is in the refuse inlet 4 and the person detection area behind it (the area enclosed by dashed lines and the area enclosed by solid lines in Figure 8). Furthermore, if the image processing unit 9 determines that a person H is in the second detection area Y12 of the person detection area, the main control unit PLC determines whether or not to urgently evacuate and stop the refuse loading operation of the refuse loading device 8.

[0068] To explain in more detail, the area for detecting people during loading is divided into a first detection area Y11 (shown by a dashed line in Figure 8) and a second detection area Y12 (shown by a solid line in Figure 8). The second detection area Y12 is located closer to the waste inlet 4 than the first detection area Y11 and functions as a no-entry zone. The image processing unit 9 determines whether or not a person H is in the first detection area Y11 or the second detection area Y12. If it determines that a person H is in the second detection area Y12, which is a no-entry zone, it sends a stop signal to the main control unit PLC, which then stops the waste loading operation of the waste loading device 8. For example, the first detection area Y11 is the normal area when a worker performs waste loading work and is set as a rectangular area near the waste inlet 4. The second detection area Y12 is set in a rectangular area between the front edge 4a and the rear edge 4b ​​of the waste inlet 4. This second detection area Y12 is set to include at least a portion of the area enclosed by the front edge (upper edge) 4a, the rear edge (lower edge) 4b, the left edge 4c, and the right edge 4d of the waste inlet 4.

[0069] In addition, when the vehicle is reversing, the image processing unit 9 determines whether or not person H is in the third detection area Y2 (shown as a dashed line in Figures 7 and 8) behind the garbage inlet 4. If it is determined that person H is in the third detection area Y2, the image processing unit 9 notifies the driver to alert them. The third detection area Y2 is set as a rectangular area that includes the second detection area Y12, the first detection area Y11, and the area behind them. On the monitor 93, along with the image from the camera 71, lines corresponding to the outer edge of the first detection area Y11 (shown as a dashed line in Figure 8), lines corresponding to the outer edge of the second detection area (no-entry area) Y12 (shown as a solid line in Figure 8), and lines corresponding to the outer edge of the third detection area Y2 (shown as a dashed line in Figure 8) are displayed.

[0070] -Routine for person recognition processing- Next, the routine for person recognition processing performed in the refuse collection vehicle 100 will be explained with reference to the flowchart in Figure 9. This person recognition processing is performed by the image processing unit 9 in the refuse collection vehicle 100 when the loading switch SW5 is ON and the refuse loading operation of the refuse loading device 8 is being performed.

[0071] In performing the person recognition processing shown in Figure 9, the central processing unit CPU of the image processing unit 9 sets the feature data (dictionary data) used for person recognition processing as loading feature data, and sets the detection area used for person detection determination as the loading person detection area. The loading feature data is referenced during the person recognition processing and is stored in the memory M of the image processing unit 9. The loading feature data is created by taking images of the heads of many people in advance and extracting features such as their size and shape. The features extracted as loading feature data mainly consist of the shape of the head when the person is viewed from above. The loading person detection area is used during person detection determination and is stored in the memory M of the image processing unit 9. As described above, the loading person detection area is divided into a first detection area Y11, which is set as the normal area when workers perform rubble loading work, and a second detection area Y12, which is an area where entry is prohibited, and each area is stored in memory M.

[0072] In step S1, the image processing unit 9's DSP performs a person detection process. In this person detection process, the image processing unit 9's DSP first performs a binarization process on the image data (input image data) captured by the camera 71 and input to the image processing unit 9. This binarization process, for example, sets the brightness value of each pixel in the input image data to the maximum brightness value if it is above a preset threshold, and to the minimum brightness value if it is below the threshold. The resulting binarized image data has much of the noise and light intensity changes removed.

[0073] Next, labeling is performed on the binarized image data by the image processing unit (DSP). This labeling process involves creating regions for each pixel that is adjacent to each other in the binarized image data. For example, multiple pixels that belong to the same brightness value and are closely located within a predetermined distance are considered as a single region. The labeling process is performed on the entire image plane, and each of these regions is then extracted as an object image.

[0074] Then, the image processing unit DSP performs person identification processing on each object image detected within the first detection area Y11 or the second detection area Y12 described above. In this embodiment, a camera 71 is positioned above the waste inlet 4, and the area near the waste inlet 4 below is photographed from almost directly above. As a result, the image will show a large portion of a person's head, as shown in Figure 8 as an example, as well as a portion of the face as seen from above. Therefore, the system refers to pre-set loading feature data and determines that an object image that satisfies the conditions of this loading feature data is a person's head.

[0075] Next, in step S2, the central processing unit CPU of the image processing unit 9 determines the processing flow based on the determination result in step S1. Specifically, if the determination result in step S1 indicates that the image data captured by the camera 71 contains an object image that has been determined to be a person's head, the process proceeds to step S3. On the other hand, if the determination result in step S1 indicates that the object image is not included, the process returns to step S1.

[0076] In step S3, the central processing unit CPU of the image processing unit 9 determines whether or not a person is present in the second detection area (restricted area) Y12 (hereinafter sometimes abbreviated as restricted area Y12). If it is determined that a person is present in the restricted area Y12, the process proceeds to step S4. On the other hand, if it is not determined that a person is present in the second detection area Y12, in other words, if it is determined that a person is present in the first detection area (normal area) Y11, the process proceeds to step S5.

[0077] In step S4, the central processing unit CPU of the image processing unit 9 outputs an ON signal for the detection lamp 73, illuminating the detection lamp 73 to indicate that a person is being detected. It also turns off the output of the person safety signal to initiate emergency evacuation stop processing for the waste loading operation of the waste loading device 8. As a result, the main control unit PLC, with the absence of a person safety signal input as one of its conditions, performs emergency evacuation stop processing for the waste loading operation of the waste loading device 8 and terminates the routine (end). This emergency evacuation stop processing of the waste loading operation of the waste loading device 8 by the main control unit PLC (emergency evacuation stop unit) is performed based on the subflowchart shown in Figure 10.

[0078] On the other hand, in step S5, the output of the person safety signal is not turned off (remains on), so the emergency evacuation stop process for the waste loading operation of the waste loading device 8 is not performed. In step S5, the central processing unit CPU of the image processing unit 9 outputs an ON signal for the detection lamp 73, lighting up the detection lamp 73 and indicating that a person is being detected. Then, the routine ends.

[0079] -Routine for emergency evacuation and stop processing during refuse loading operation- Next, referring to the flowchart shown in Figure 10, the routine for emergency evacuation stop processing of the refuse loading operation of the refuse loading device 8 by the main control unit PLC will be explained. The main control unit PLC starts the emergency evacuation stop processing routine on the condition that there is no output of a person safety signal from the central processing unit CPU of the image processing unit 9. The emergency evacuation stop processing performed by this main control unit PLC differs depending on which stage the rotating plate 10 of the rotating plate type refuse collection vehicle 100 is in.

[0080] Specifically, in step E1, the main control unit PLC determines whether the rotating plate (loading plate) 10 is in the scraping rotation process. This determination is made by determining that the period from when the ON signal is output from switch LS4 until the ON signal is output from switch LS3 is determined to be the scraping rotation process, that is, the period from when the rotating plate 10 begins to rotate downward from the position at the end of the avoidance rotation process until the rotating plate 10 reaches the set stop position.

[0081] If the determination in step E1 indicates that the rotating plate 10 is in the scraping rotation process, the process proceeds to step E2. In step E2, the main control unit PLC determines whether the rotating plate 10 is within the angular range Z. Specifically, the main control unit PLC determines that it is within the angular range Z as long as there is an ON signal input from switch LS4.

[0082] If the determination in step E2 indicates that the rotating plate 10 is within the angular range Z, the process proceeds to step E3.

[0083] In step E3, the main control unit PLC stops the push plate 20 after the return process and rotates only the rotating plate 10 in the reverse direction, performing a retraction operation that continues this reverse movement for a predetermined time determined by a timer. Figure 11 shows an example of this retraction operation of the rotating plate 10. In this example, when the rotating plate 10 is in the position shown by the solid line in the figure, which is closest to the rear edge (lower edge) 4b of the waste inlet 4, the image processing unit 9 determines that a person is in the restricted area Y12, and the rotating plate 10 performs a retraction operation by rotating in the reverse direction (upward) for a predetermined time, as indicated by the symbol E in the figure, and the retraction operation ends at the position of the rotating plate 10 shown by the dashed line in the figure. When the predetermined time of reverse movement (retraction operation) is completed, the waste loading operation is stopped at the position of the retracted rotating plate 10, and the routine ends (end).

[0084] On the other hand, if the determination in step E1 indicates that the rotating plate 10 is not in the scraping rotation process, that is, if the pressing plate 20 is in the return or pressing process, or if the rotating plate 10 is in the avoidance rotation process, the process proceeds to step E4. Also, if the determination in step E2 indicates that the rotating plate 10 is in the scraping rotation process but is not within the angular range Z, the process proceeds to step 4.

[0085] In step E4, the main control unit PLC determines whether any of the emergency stop switches SW1 to SW3 (emergency stop buttons 60, 61 or emergency stop plate 62) have been operated. If it is determined that the operation has occurred, the process proceeds to step E5. If it is determined that the operation has not occurred, the process proceeds to step E6.

[0086] In step E5, the main control unit PLC does not perform a rotational movement (retraction movement) of the rotating plate 10 in the reverse direction, and immediately stops the waste loading operation. In step E5, the rotating plate 10 is in a position where there is no risk of the worker getting caught in it, and the worker has the intention to load waste using the waste loading device 8. This is a case where the operation is temporarily paused. Therefore, by immediately stopping the waste loading operation without any retraction movement, unintended movements and loss of work time for the worker can be suppressed.

[0087] After the waste loading operation in step E5 stops, the routine terminates (end).

[0088] On the other hand, in step E6, the main control unit PLC does not stop the waste loading operation of the rotating plate 10 midway through a cycle, even though there is no input of a human safety signal. This prevents the malfunction in which the waste loading operation of the waste loading device 8 is automatically stopped even though there is no danger, thereby improving the worker's work efficiency. In step E6, the main control unit PLC rotates the rotating plate 10 to the set stop position and ends the routine (end).

[0089] As described above, in this embodiment, the rotary plate type refuse collection vehicle 100 includes a refuse loading device 8 disposed inside the refuse input box 3, an object image acquisition unit (camera 71) that acquires an image of an object near the refuse input opening 4 opened in the refuse input box 3, and a control device (main control unit PLC and image processing unit 9) that controls the driving of the refuse loading device 8. The control device includes a person detection unit that recognizes whether the object image acquired by the object image acquisition unit is a person and determines whether a person is in the restricted area Y12 near the refuse input opening 4, and an emergency retraction stop unit (main control unit PLC) that, if the person detection unit determines that a person is in the restricted area Y12 while the refuse loading device 8 is being driven, causes the refuse loading device 8 to retract and then stop.

[0090] According to this embodiment, if the person detection unit determines that a person has entered the restricted area Y12 near the waste input port 4 while the waste loading device 8 is in operation, the waste loading device 8 is temporarily moved into a retracted position, and then stopped in this retracted state. Consequently, this retraction operation widens the gap between, for example, the movable tip of the waste loading device 8 and the inner bottom 3c of the waste input box 3 compared to when the waste loading device 8 stops immediately (i.e., without performing the retraction operation). As a result, even if the clothing of a worker or other person who has entered the restricted area Y12 near the waste input port 4 becomes caught on the waste in the waste input box 3 or the waste loading device 8, the range of motion for the worker or other person to release the catch is expanded, making it easier for the worker or other person to release the catch and escape quickly from a situation where they are likely to be caught in the waste loading device 8. Therefore, the safety of workers and others can be ensured more quickly. In addition, because escape is possible in such a short time, the restart of the waste loading device 8 can be expedited, resulting in a safer and more efficient waste collection vehicle.

[0091] In this embodiment, the refuse loading device 8 is equipped with a rotating plate (loading plate) 10 that loads refuse G, which is fed into the refuse input port 4, into the refuse input box 3. The evacuation operation performed by the emergency evacuation stop unit is configured to reverse the refuse loading operation of the rotating plate 10 for a predetermined time. Therefore, when the refuse loading device 8 is driven and the rotating plate 10 is performing the refuse loading operation, if it is determined that a person such as a worker has entered the restricted area Y12, the rotating plate 10 will perform an evacuation operation that reverses the refuse loading operation for a predetermined time. As a result, even if the clothing of a worker or other person gets caught on the rotating plate 10 during the refuse loading operation, the catch between the rotating plate 10 and the clothing will loosen after the evacuation operation, making it easy to release the catch. Thus, workers and other people can easily escape from situations where they are in danger of being caught in the rotating plate 10.

[0092] Furthermore, in this embodiment, the refuse collection vehicle 100 is of the rotary plate type, and the refuse loading device 8 includes a pushing plate 20 that rotates in the front-rear direction, and a rotary plate (loading plate) 10 that can rotate around a base end (rotation axis 11) located below the pushing plate 20. In addition, the refuse loading device 8 equipped with the pushing plate 20 and the rotary plate 10 is configured to perform a loading operation in one cycle, which includes an avoidance rotation step in which the rotary plate 10 rotates to a position where it does not interfere with the rearward rotation of the pushing plate 20, a return step in which the pushing plate 20 rotates backward, a scraping rotation step in which the rotary plate 10 rotates to scrape up the refuse G, and a pushing step in which the pushing plate 20 rotates forward. The avoidance operation is performed when it is determined that a person has entered the no-entry area Y12 during the scraping rotation step, and only the rotary plate 10 is rotated in the reverse direction for a predetermined time.

[0093] Therefore, in the rotary plate type refuse collection vehicle 100, during the scraping rotation process of the rotary plate 10, particularly when the rotary plate 10 rotates forward (clockwise in the figure) within the angular range Z (see Figure 3) near the refuse inlet 4, if the person detection unit determines that a person is in the restricted area Y12 near the refuse inlet 4, there is a high possibility that the person's clothing will get caught on the rotary plate 10. However, since only the rotary plate 10 performs a retraction operation that reverses (rotates counterclockwise) for a predetermined time, even if the person's clothing gets caught on the rotary plate 10, the retraction operation of the rotary plate 10 (reverse rotation for a predetermined time) makes it easier to detach the clothing, allowing the person to easily escape from a situation where they are likely to be caught in the rotary plate 10.

[0094] On the other hand, when the rotating plate 10 is in the avoidance rotation process, or when the pushing plate 20 is in the return or pushing process, the pushing plate 20 and the rotating plate 10 are positioned sufficiently high above the inner bottom 3c of the waste input box 3, or sufficiently far in front of the waste input opening 4. Therefore, even if it is determined that a person (worker) is in the restricted area Y12 near the waste input opening 4, the likelihood of the person's clothing getting caught on the pushing plate 20 or the rotating plate 10 is not high. Accordingly, in these avoidance rotation, return, and pushing processes, if an emergency stop button 60, 61 or emergency stop plate 62 is operated by a worker, the rotating plate 10 or the pushing plate 20 will not be retracted (reversed), and it is sufficient to simply stop the rotating plate 10 or the pushing plate 20 immediately.

[0095] In this embodiment, the retraction operation of the rotating plate 10 during the scraping rotation process was continued for a predetermined time using a timer. However, other configurations may be adopted, such as placing a switch to detect a preset retraction position of the rotating plate 10, and ending the retraction operation of the rotating plate 10 when the ON signal of this switch is output. Alternatively, an angle sensor may be attached to the rotation axis 11 of the rotating plate 10, and the retraction operation may be performed by rotating the rotating plate 10 in the reverse direction by a predetermined angle.

[0096] -Second Embodiment- Figure 12 shows a second embodiment of the refuse collection vehicle. In the first embodiment, an example of applying the present invention to a rotary plate type refuse collection vehicle 100 was shown, but in this embodiment, an example of applying the present invention to a press type refuse collection vehicle is shown.

[0097] Figure 12 is a side view of the main parts of the refuse collection vehicle 101. In this figure, in the press-type refuse collection vehicle 101, a sliding plate 30 and a loading plate 31 are arranged in the refuse input box 3. The loading plate 31 is connected to the lower end of the sliding plate 30 by a shaft portion 31a so as to be rotatable in the front-rear direction.

[0098] The sliding plate 30 is equipped with rotatable guide rollers 32 at its upper and lower ends. The guide rollers 32 are slidably engaged with guide grooves (not shown) that extend diagonally downward to the rear, provided on the left and right side walls of the waste collection box 3. A support shaft 34 is inserted through the upper side of the sliding plate 30. A sliding cylinder (not shown), which is a hydraulic cylinder, is connected to the support shaft 34, and the extension and retraction of this sliding cylinder allows the sliding plate 30 to move up and down along the guide grooves at an angle inclined diagonally downward to the rear.

[0099] A rotating cylinder (not shown), which is a hydraulic cylinder, is connected to the loading plate 31 at a connecting portion 31b located behind the shaft portion 31a. The loading plate 31 is configured to rotate in the front-rear direction by the extension and retraction movement of this rotating cylinder.

[0100] Furthermore, the waste collection box 2 is equipped with a discharge plate 35 that can move back and forth. In front of the discharge plate 35, a discharge cylinder 36 made of a hydraulic cylinder is positioned in the front-to-back direction, with its rear end fixed to the lower part of the discharge plate 35 and its front end fixed to the front wall of the waste collection box 2.

[0101] In the aforementioned press-type refuse collection vehicle 101, the refuse loading device 8' performs one cycle of refuse loading operation as shown in Figure 12. Specifically, it operates as follows: a reversal step A in which the loading plate 31 is rotated backward around the shaft portion 31a by a rotating cylinder when the sliding plate 30 is in the raised position shown in the figure and the tip of the loading plate 31 is at the front end position; a descent step B in which the sliding plate 30 is lowered by a predetermined distance from the raised position together with the loading plate 31 by the sliding cylinder from the reversal step A to the lowered position; a compression step C in which the loading plate 31 is rotated forward around the shaft portion 31a by the rotating cylinder along the inner bottom portion 3c of the refuse input box 3 from the lowered position; and an upward step D in which the sliding plate 30 is raised by a predetermined distance from the lowered position together with the loading plate 31 by the sliding cylinder from the compression step C to the raised position.

[0102] In this way, the refuse loading device 8' repeats the above cycle, thereby sending the refuse G that has been placed in the refuse input box 3 into the refuse storage box 2.

[0103] In the aforementioned waste loading device 8', four switches LS5 to LS8 are arranged inside the waste input box 3. Switches LS5 and LS7 detect the movement of the rotating cylinder that rotates the loading plate 31. Switch LS5 outputs an ON signal when the leading edge of the loading plate 31 is at the rear end position. Switch LS7 outputs an ON signal when the loading plate 31 is at the front end position. Switches LS6 and LS8 detect the movement of the sliding cylinder that raises and lowers the sliding plate 30. Switch LS6 outputs an ON signal when the loading plate 31 is in the lowered position. Switch LS8 outputs an ON signal when the loading plate 31 is in the raised position.

[0104] The ON signals from the four switches LS5 to LS8 are output to the main control unit (a control unit similar to the main control unit PLC shown in Figure 6). This main control unit (emergency evacuation stop unit) has the image processing unit (person detection unit) execute the person recognition processing routine shown in Figure 9 of the first embodiment, and if it determines that a person has entered the restricted area Y12 near the waste inlet 4, it performs an evacuation operation of the waste loading device 8' and then stops the waste loading device 8' at the position after the evacuation operation. In this embodiment, the content of the emergency evacuation stop processing of the waste loading operation by the main control unit performed in step S4 of the person recognition processing routine in Figure 9 is different.

[0105] Figure 13 is a flowchart that specifically shows the routine for emergency retraction and stop processing of the refuse loading operation of the refuse loading device 8' performed by the main control unit. In this figure, in step F1, it is determined whether or not the refuse loading device 8' is in the descent process B. Specifically, this determination of whether or not it is in the descent process B is made by detecting the period from the time when switch LS8 outputs an off signal while switch LS5 outputs an on signal until the time when switch S6 outputs an on signal.

[0106] Then, when in the descent process B, in step F2, a timer measures a predetermined period, and only the sliding plate 30 is moved for that predetermined period to perform a retraction operation in which the sliding plate 30 and the loading plate 31 are raised upward. After that, the sliding plate 30 and the loading plate 31 are stopped at the retracted position. Figure 14 shows an example of this retraction operation and stopping in the descent process B. In the example shown in the figure, when the sliding plate 30 and the loading plate 31 are in the middle of the descent process B as shown by the solid line in the figure, if it is determined that a person's hand h is in the restricted area Y12, the sliding plate 30 and the loading plate 31 perform a retraction operation in which they move in the reverse direction (diagonally forward and upward) for a predetermined time as indicated by the symbol F in the figure, and the retraction operation ends at the position of the sliding plate 30 and the loading plate 31 shown by the dashed line in the figure. Then, once the predetermined retraction operation is complete, the waste loading operation stops at the retracted positions of the sliding plate 30 and loading plate 31, and the routine ends (end).

[0107] On the other hand, if the device is not in the descent process B, step F3 determines whether the waste loading device 8' is in the compression process C. Specifically, this determination of whether or not it is in the compression process C is made by detecting the period from when switch LS5 outputs an off signal while switch LS6 outputs an on signal to when switch LS7 outputs an on signal.

[0108] If the determination in step F3 indicates that the process is in compression step C, a retraction operation is performed to rotate only the loading plate 31 backward. This retraction operation is continued for a predetermined time until the loading plate 31 has rotated to the position immediately before the start of compression step C (i.e., the end position of the lowering step B). When the predetermined time has elapsed, the retraction operation is terminated and the loading plate 31 is stopped at the position it was moved to. The moment when the loading plate 31 has rotated to the position immediately before the start of compression step C is detected when the switch LS5 outputs an ON signal.

[0109] Figure 15 shows an example of the retraction and stopping of the loading plate 31 during the compression process C. In this example, when the loading plate 31 has rotated slightly forward from the start of the compression process C, as shown by the solid line in the figure, and it is determined that a person's hand h is in the restricted area Y12, the loading plate 31 performs a retraction operation, rotating only in the reverse direction (diagonally upward and backward), as indicated by the symbol J in the figure, and the retraction operation ends at the position of the loading plate 31 just before the start of the compression process C, as shown by the dashed line in the figure. Once the retraction operation for the predetermined time is complete, the waste loading operation stops at the position of the retracted loading plate 31, and the routine ends (end).

[0110] In addition, the retraction of the loading plate 31 during the compression process C was performed for a predetermined time until it returned to the position immediately before the start of the compression process C. However, the system may also be configured to measure a predetermined time using a timer and perform the retraction of the loading plate 31 only for that predetermined time.

[0111] Furthermore, if it is determined in step F3 that the device is not in the compression process C, that is, if the waste loading device 8' is in the lifting process D or the inversion process A, the process proceeds to step F5.

[0112] In step F5, the main control unit determines whether any of the emergency stop switches have been operated. If it is determined that the operation has occurred, the process proceeds to step F6. If it is determined that the operation has not occurred, the process proceeds to step F7.

[0113] In step F6, the main control unit does not retract the sliding plate 30 or the loading plate 31, but immediately stops the waste loading operation. Step F6 occurs when the loading plate 31 is in a position where there is no risk of the worker getting caught in it, and the worker intentionally pauses the loading operation of the waste loading device 8'. Therefore, by immediately stopping the waste loading operation without retraction, unintended movements and loss of work time for the worker can be suppressed.

[0114] After the waste loading operation in step F6 stops, the routine terminates (end).

[0115] On the other hand, in step F7, the main control unit does not stop the waste loading operation of the sliding plate 30 and loading plate 31 midway through a cycle, even though there is no input of a person safety signal. This prevents malfunctions in which the waste loading operation of the waste loading device 8' is automatically stopped even though there is no danger, thereby improving the worker's work efficiency.

[0116] In step F7, the main control unit terminates the routine at the end of the lifting process D (the set position where the sliding plate 30 is in the raised position and the loading plate 31 is in the front end position).

[0117] As described above, in this embodiment, in the press-type refuse collection vehicle 101, the refuse loading device 8' includes a sliding plate 30 that can be raised and lowered, and a loading plate 31 that is rotatably connected to the lower end of the sliding plate 30. The device is configured to perform a loading operation in one cycle, which includes a reversal step A in which the loading plate 31 is rotated backward, a lowering step B in which the sliding plate 30 is lowered together with the loading plate 31, a compression step C in which the loading plate 31 is rotated forward, and an upward step D in which the sliding plate 30 is raised together with the loading plate 31. The retraction operation is performed in both the lowering step B and the compression step C.

[0118] Therefore, in this embodiment, during one cycle of the refuse loading device 8', when both the descent process B and the compression process C are performed, that is, when the loading plate 31 is moving toward the inner bottom 3c of the refuse input box 3, if the person detection unit determines that a person is in the restricted area Y12 near the refuse input opening 4, the likelihood of that person's clothing getting caught on the loading plate 31 increases. However, since a retraction operation is performed in both the descent process B and the compression process C, even if a worker's clothing gets caught on the loading plate 31, the retraction operation widens the gap between the loading plate 31 and the inner bottom 3c of the refuse input box 3, making it easier for the worker to free their clothing from the loading plate 31. Thus, it becomes easier for workers to escape from situations where they are in danger of being caught on the loading plate 31.

[0119] Furthermore, in this embodiment, when the person detection unit determines that a person has entered the restricted area Y12, the retraction operation of the waste loading operation involves raising the sliding plate 30 together with the loading plate 31 for a predetermined time during the lowering process B, and rotating only the loading plate 31 backward after a predetermined time during the compression process C.

[0120] In other words, in this embodiment, during the refuse loading operation by the refuse loading device 8', if it is determined that a person has entered the restricted area Y12 during the descent process B, both the sliding plate 30 and the loading plate 31, which were in the descent process, are moved upward for a predetermined time in a retraction operation. If it is determined that a person has entered the restricted area Y12 during the compression process C, only the loading plate 31, which was rotating forward, is moved in a retraction operation (rotating backward). Therefore, even if a worker's clothes get caught on the loading plate 31, the retraction operation widens the gap between the loading plate 31 and the inner bottom 3c of the refuse input box 3, making it easier for the worker to free their clothes from the loading plate 31 and to escape from a situation where they are about to get caught on the loading plate 31.

[0121] Furthermore, the retraction movement performed during the lowering process B and the compression process C is an unintended movement for workers whose clothing has become caught. If this retraction movement is large, the range of unintended movement for the worker becomes large, potentially leading to secondary accidents. However, in this embodiment, this retraction movement can be kept to the minimum necessary, thus reducing the possibility of secondary accidents. Moreover, even if the person detection unit incorrectly determines that a person is in the restricted area Y12, causing the sliding plate 30 or loading plate 31 to retract due to misrecognition, the retraction movement is small, allowing the sliding plate 30 or loading plate 31 to return to their original positions before the retraction in a short time, thus minimizing the loss of working time during the waste loading operation.

[0122] In this embodiment, the press-type refuse collection vehicle 101 performed a retraction operation during both the lowering process B and the compression process C of the refuse loading device 8'. However, even if the retraction operation is performed during only one of the lowering process B or the compression process C, it is possible to create an effect that makes it easier for workers and others to escape from a situation where they are likely to be caught in the loading plate 31.

[0123] -Other Embodiments- The first and second embodiments disclosed herein are illustrative in all respects and are not intended to be restrictive. The technical scope of the present invention is not construed solely by the embodiments described above, but is defined by the claims. Furthermore, the technical scope of the present invention includes all modifications within the meaning and scope of equivalence to the claims.

[0124] The person detection areas described above (first detection area Y11, second detection area Y12) are just examples, and other areas may be used. For example, the entire area in front of the rear edge 4b ​​of the waste inlet 4 may be set as the second detection area Y12 (no entry area).

[0125] In the first embodiment described above, a camera 71 was used as the object image acquisition unit, but the object image acquisition unit may be something other than a camera 71, for example, a distance image sensor, a stereo camera, a 3D-LIDAR, or any other device capable of acquiring images and measuring distance.

[0126] Furthermore, although the first embodiment described a case in which the garbage collection vehicle 100 is equipped with a main control unit PLC and an image processing unit 9 as a control device, the garbage collection vehicle 100 may also be equipped with only a single control device. For example, the main control unit PLC may also be equipped with the functions of the image processing unit 9, and the main control unit PLC may be made to execute the flowchart in Figure 9.

[0127] Furthermore, in the first embodiment, the angular range Z was set to the range from when the rotating plate 10 is directly below the front edge (upper edge) 4a of the waste inlet 4, to when it rotates backward and descends until it is closest to the rear edge (lower edge) 4b of the waste inlet 4. However, other angular ranges may also be used. For example, the angular range may be set to extend to the point where the movable tip of the rotating plate 10 enters the inner bottom 3c of the waste inlet box 3.

[0128] In addition, in the first embodiment, the rotating plate 10 was configured to retract and stop only while it was within the angular range Z of the rotating plate 10, which is part of the scraping rotation process. However, the present invention is not limited to this, and the rotating plate 10 may be configured to retract and stop throughout the entire scraping rotation process.

[0129] Furthermore, in the first embodiment, in the rotary plate type refuse collection vehicle 100, the rotary plate 10 was retracted (reversed) only during the scraping rotation process of one cycle of the refuse loading operation of the refuse loading device 8 before stopping. However, in other cases such as the avoidance rotation process and the return process, the rotary plate 10 and the pushing plate 20 may also be retracted before stopping.

[0130] Furthermore, in the second embodiment, the retraction operation in the press-type refuse collection vehicle 101 is configured to be performed in both the lowering process B and the compression process C, and in the compression process C, only the loading plate 31 is rotated to the left after a predetermined time. The present invention is not limited to this, and in the retraction operation in the compression process, the loading plate may not be rotated, and only the sliding plate may be raised for a predetermined time. Even with this configuration, if the clothing of a worker or the like gets caught on the loading plate, the retraction operation can widen the gap between the loading plate and the inner bottom of the refuse input box. This makes it easier for workers to free their clothing from the loading plate and makes it easier for them to escape from a situation where they are about to get caught on the loading plate. [Industrial applicability]

[0131] The present invention can be used in a refuse collection vehicle equipped with a refuse loading device disposed inside a refuse input box and an object image acquisition unit that acquires an image of an object near the refuse input opening that opens on the back of the refuse input box. [Explanation of Symbols]

[0132] 2. Refuse container 3 Garbage disposal box 3c inner bottom 4 Garbage inlet 8, 8' Refuse Loading Device 9. Image processing unit (control device, person detection unit) 10. Rotating plate (loading plate) 20 Push plate 30 Sliding plate 31 Loading Plate 71 Camera (object image acquisition unit) 100, 101 Refuse collection vehicles Y11 First detection area Y12 Second detection area (no entry area) PLC main unit control unit (control device, emergency evacuation stop unit) A. Reversal process B Lowering process C Compression process D Ascent process

Claims

1. A refuse container, a refuse loading device disposed inside the refuse input container, an object image acquisition unit that acquires an object image of the refuse input opening and its vicinity opened in the refuse input container, a control device that controls the drive of the refuse loading device, and a hydraulic circuit that controls the hydraulic pressure supplied to the refuse loading device, The aforementioned waste loading device includes a loading plate for loading the waste introduced into the waste inlet into the waste storage box, The hydraulic circuit includes an electromagnetic control valve having a first communication position for controlling the movement of the loading plate in the forward direction, a neutral position for controlling the stopping of the loading plate, and a second communication position for controlling the movement of the loading plate in the reverse direction. The control device is A person detection unit recognizes whether the object image acquired by the object image acquisition unit is a person, and determines whether a person is in the waste disposal opening and a predetermined area nearby thereto. A first notification unit visually notifies that a person has been detected by the person detection unit, A second notification unit, which is arranged differently from the first notification unit, visually notifies that the person detection unit is functioning normally, The waste loading device has an emergency retraction stop unit that, when the person detection unit determines that a person is in a restricted area within the predetermined area while the waste loading device is in operation, switches the electromagnetic control valve from the first communication position to the second communication position via the neutral position, and then switches it back to the neutral position, thereby automatically retracting and stopping the loading plate. Both the first notification unit and the second notification unit are arranged in the waste disposal box and are positioned above the lower edge of the waste disposal opening. A garbage collection vehicle characterized in that it is configured to activate the emergency evacuation stop unit when the first notification unit and the second notification unit are activated.

2. In the refuse collection vehicle according to claim 1, The control device has a function to determine whether the loading plate is operating in a position where there is a risk of entanglement. A refuse collection vehicle characterized in that the emergency evacuation stop unit is activated based on the control device's determination that the loading plate is in a position with a high risk of entanglement near the refuse input opening and that a person is in the restricted area.

3. In the refuse collection vehicle according to claim 1, The control device has a function to determine whether the loading plate is operating in a position where there is a risk of entanglement. A garbage collection vehicle characterized in that, based on the control device determining that the loading plate is not in a position with a high risk of entanglement near the garbage input opening and that a person is in the restricted area, the first and second notification units are activated, while the emergency evacuation stop unit is not activated.

Images