Industrial vehicle and image projection method

Abstract

A forklift (industrial vehicle) (1) is provided with: a travel control unit (detection unit) (12) that detects the travel direction and travel speed of the own vehicle; a generation unit (13) that generates a moving image (21) in which information is displayed in a direction opposite to the travel direction and which moves at the travel speed; and a projection unit (14) that projects the moving image (21) onto a predetermined projection region (R) on a road surface (G) around the host vehicle.

Description

Technical Field

[0001] The present disclosure relates to industrial vehicles and image projection methods. Background Art

[0002] Conventionally, there has been known a technique of projecting an image from a vehicle onto a surrounding road surface to notify the presence, traveling direction, etc. of the vehicle to the surroundings. For example, in the vehicle described in Japanese Patent Laid-Open No. 2022-186340, an information processing device predicts a forward road of the vehicle based on navigation-related information and projects an image associated with the predicted forward road onto the road surface in front of the vehicle. Further, for example, in the vehicle described in Japanese Patent Laid-Open No. 2014-013524, a vehicle notification device predicts a traveling route of the own vehicle and depicts a graphic for warning pedestrians around the traveling route not to enter the traveling route. Summary of the Invention

[0003] As display information projected around a vehicle, various patterns such as characters, arrows, and graphics indicating warnings and the like can be conceived. The projection of such display information is also considered a very useful technique for industrial vehicles that carry out cargo handling and the like while operators come and go. However, when the display information projected onto the road surface moves along with the vehicle's travel, from the perspective of people (pedestrians, etc.) around the vehicle, the display information moves on the road surface, and there may be a problem that the display information is difficult to recognize.

[0004] The present disclosure has been made to solve the above problems, and an object thereof is to provide an industrial vehicle and an image projection method capable of projecting display information that is easy to recognize from the perspective of people around the vehicle onto the road surface.

[0005] The gist of the present disclosure is as follows.

[0006] [1] An industrial vehicle, comprising: a detection unit that detects a traveling direction and a traveling speed of the own vehicle; a generation unit that generates an animated image in which display information moves at the traveling speed in a direction opposite to the traveling direction; and a projection unit that projects the animated image onto a predetermined projection area on the road surface around the own vehicle.

[0007] In this industrial vehicle, an animated image in which display information moves at the traveling speed in a direction opposite to the traveling direction of the own vehicle is projected onto a predetermined projection area on the road surface around the own vehicle. Thus, from the perspective of people around the own vehicle, in the projection area where the animated image is projected, the display information appears to be fixed to the road surface. Therefore, in this industrial vehicle, it is possible to project display information that is easy to recognize from the perspective of people around the vehicle onto the road surface.

[0008] [2]In the industrial vehicle according to [1], the projection unit projects the animated image onto the road surface in the traveling direction. Thereby, it is possible to more effectively alert people around the vehicle to pay attention to the vehicle's travel.

[0009] [3]In the industrial vehicle according to [1] or [2], the generation unit generates the animated image such that the transparency of the display information at the end in the traveling direction becomes higher as it approaches the end. In this case, since the display information gradually appears and gradually disappears within the projection area, it is possible to reduce the sense of strangeness when people around the vehicle see the display information projected on the road surface.

[0010] [4]In the industrial vehicle according to any one of [1] to [3], the projection unit sets the projection area such that the greater the traveling speed of the vehicle, the longer the animated image is projected in the traveling direction. In this case, since the display information is displayed longer in the traveling direction according to the traveling speed of the vehicle, it is possible to more effectively alert people around the vehicle to pay attention to the vehicle's travel.

[0011] [5]In the industrial vehicle according to any one of [1] to [4], the generation unit generates an animated image including text information as the display information. In this case, it is possible to directly alert people around the vehicle to pay attention to the vehicle's travel through the text information.

[0012] [6]In the industrial vehicle according to any one of [1] to [5], a human presence sensor for sensing the presence of people around the vehicle is provided, and the generation unit generates an animated image in which the display information is emphasized when the human presence sensor senses the presence of people. In this case, it is possible to more effectively alert the people present around the vehicle to pay attention to the vehicle's travel.

[0013] [7]An image projection method includes: a detection step of detecting the traveling direction and traveling speed of the vehicle; a generation step of generating an animated image in which display information moves at the traveling speed in the direction opposite to the traveling direction; and a projection step of projecting the animated image onto a predetermined projection area on the road surface around the vehicle.

[0014] In this image projection method, an animated image that displays information moving at the traveling speed of the own vehicle is projected onto a predetermined projection area on the road surface around the own vehicle in the direction opposite to the traveling direction of the own vehicle. Thus, to a person around the own vehicle, in the projection area where the animated image is projected, the displayed information appears to be fixed to the road surface. Therefore, in this image projection method, it is possible to project display information that is easily recognizable to a person around the vehicle onto the road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic side view showing the configuration of an industrial vehicle according to an embodiment of the present disclosure.

[0016] Figure 2 is a diagram showing Figure 1 the functional components of the industrial vehicle shown.

[0017] Figure 3 is a diagram showing an example of an animated image generated by a generation unit.

[0018] Figure 4 is a diagram showing an example of the projection of the animated image in the projection area.

[0019] Figure 5 is a diagram showing another example of the projection of the animated image in the projection area.

[0020] Figure 6 is a flowchart showing an image projection method according to an embodiment of the present disclosure.

[0021] Figure 7 is a diagram showing another example of the setting of the projection area.

[0022] Figure 8 is a diagram showing still another example of the setting of the projection area.

[0023] Figure 9 (a) to (c) of [] are diagrams showing other examples of the animated image.

[0024] Figure 10 is a block diagram showing the functional components of an industrial vehicle according to a modified example. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Hereinafter, preferred embodiments of an industrial vehicle and an image projection method according to an aspect of the present disclosure will be described in detail with reference to the drawings.

[0026] Figure 1 is a schematic side view showing the configuration of an industrial vehicle according to an embodiment of the present disclosure. In this embodiment, as Figure 1As shown, as an industrial vehicle, a forklift 1 is illustrated. The forklift 1 can be either a manually driven vehicle or an autonomous vehicle. The forklift 1 is, for example, a counterbalanced forklift. The forklift 1 picks up, for example, a pallet P carrying a load L from a loading platform of a truck or the like, and travels to a predetermined unloading position while holding it with forks 7.

[0027] The forklift 1 includes a vehicle body 2, a pair of left and right front wheels 3 disposed at the front of the vehicle body 2, a pair of left and right rear wheels 4 disposed at the rear of the vehicle body 2, a mast 5 installed at the front end of the vehicle body 2, a pair of left and right forks 7 that are vertically movable via a lifting bracket 6, a lifting cylinder 8 that raises and lowers the forks 7 via the lifting bracket 6, and a tilt cylinder 9 that tilts and moves the mast 5.

[0028] Figure 2 is a block diagram showing Figure 1 the functional components of the industrial vehicle shown. As Figure 2 shown, the forklift 1 includes a travel drive unit 11, a travel control unit 12, a generation unit 13, and a projection unit 14.

[0029] The travel drive unit 11 is a drive unit that makes the forklift 1 travel. The travel drive unit 11 includes, for example, a travel motor, a steering motor, etc. Although not shown, the forklift 1 further includes a lift drive unit in addition to the travel drive unit 11. The lift drive unit is a drive unit that causes the lifting cylinder 8 to expand and contract. The lift drive unit is constituted by, for example, an electromagnetic control valve disposed between a hydraulic pump and the lifting cylinder 8.

[0030] The travel control unit 12 is a part that controls the travel of the forklift 1. Physically, it is a computer system composed of a CPU, a RAM, a ROM, an input / output interface, etc. The travel control unit 12 controls the travel drive unit 11 based on operation data from the driver of the forklift 1 in the case of manual travel, and based on pre-input operation data in the case of autonomous travel, to make the forklift 1 travel. In addition, the travel control unit 12 also functions as a detection unit 15 that detects the travel direction and travel speed of the vehicle itself. The travel control unit 12 as the detection unit 15 detects the travel direction and travel speed of the vehicle itself during the control of the travel drive unit 11, and outputs information (detection result information) indicating the detection result to the generation unit 13.

[0031] The generation unit 13 is a part that generates an animation image 21 to be displayed on the road surface G by the projection unit 14. Similar to the travel control unit 12, the generation unit 13 is physically a computer system composed of a CPU, a RAM, a ROM, an input / output interface, and the like. The animation image 21 generated by the generation unit 13 is composed of display information for notifying various information to people around the forklift 1, and is an image that makes the display information move. In the present embodiment, the generation unit 13 generates an animation image 21 for alerting people around the forklift 1 to the presence of the forklift 1 when the forklift 1 is backing up. The generation unit 13 outputs the generated animation image 21 to the projection unit 14.

[0032] Figure 3 FIG. is an example of the animation image 21 generated by the generation unit 13. In Figure 3 the shown animation image 21, as the display information, it includes a plurality of colored marks 22 in the shape of a parallelogram representing the travel track of the forklift 1. Here, the marks 22 are arranged in two columns at intervals corresponding to the tread width of the forklift 1, and the marks 22 in each column are arranged in a straight line in a separated state from each other. In addition, the display information may also include text information. Although the content of the text information is arbitrary, in Figure 3 the shown animation image 21, a text string 23 of "CAUTION" (be careful) is arranged at regular intervals along the arrangement direction of the marks in each column.

[0033] When setting the movement of the display information in the animation image 21, the generation unit 13 refers to the detection result information of the travel direction and travel speed output from the travel control unit 12. Then, the generation unit 13 generates the animation image 21 in such a way that the display information moves in the direction opposite to the travel direction represented by the detection result information and at the same speed as the travel speed represented by the detection result information. In Figure 3 the example, when the travel direction of the forklift 1 is set to the +X direction ( Figure 3 the right direction of the paper surface in Figure 3 ), and the travel speed of the forklift 1 is set to V km / h, the marks 22 and the text string 23 in the animation image 21 move in the -X direction ( Figure 3 the left direction of the paper surface in Figure 3 ) at a speed of V km / h.

[0034] In addition, the generation unit 13 may also generate the animation image 21 in such a way that the transparency of the display information at the end of the travel direction of the forklift 1 becomes higher as it approaches the end. In Figure 3 the example, among the marks 22 in each column arranged in a straight line, the transparency of the 4 central marks 22 is 0%, the transparency of the marks 22 at the second position from both ends is 40%, and the transparency of the marks 22 at both ends is 80%.

[0035] The projection unit 14 is a part that projects the animated image 21 onto a predetermined projection area R on the road surface around the host vehicle. The projection unit 14 is constituted by, for example, a projector 16 mounted on the vehicle body 2. Here, as Figure 4 shown, the projector 16 is mounted on the rear part of the vehicle body 2, and forms a rectangular projection area R on the road surface G behind the forklift 1. The projection area R is, for example, a rectangular shape with the longitudinal direction of the forklift 1 as the long side and the width direction of the forklift 1 as the short side.

[0036] The projection unit 14 projects the animated image 21 received from the generation unit 13 onto the projection area R. At this time, as described above, in the animated image 21, the display information moves in the direction opposite to the traveling direction of the forklift 1 at the traveling speed of the forklift 1. Therefore, from the forklift 1 retreating at a speed of V km / h, it seems that the display information such as the marker 22 and the character string 23 moves toward the host vehicle at a speed of V km / h within the projection area R.

[0037] On the other hand, from a person around the forklift 1 (for example, a person stationary on the road surface G), it seems that the display information such as the marker 22 and the character string 23 is fixed to the road surface G within the projection area R. Since the projection area R moves together with the traveling of the forklift 1, as the perception of the animated image 21 from a person around the forklift 1, it becomes the following situation: as if the display information such as the marker 22 and the character string 23 is pre-printed on the road surface G, and the display information printed on the road surface G can be visually recognized only within the projection area R that moves together with the forklift 1.

[0038] As Figure 5 shown, the projection unit 14 may also set the projection area R in such a way that the greater the traveling speed of the forklift 1, the longer the animated image 21 is projected in the traveling direction. In this case, the detection result information indicating the detection result of the traveling direction and the traveling speed of the host vehicle is output from the traveling control unit 12 to the projection unit 14, and the projection unit 14 only needs to expand the projection area R in the traveling direction based on the detection result information received from the traveling control unit 12.

[0039] In Figure 5 the example, the traveling speed of the forklift 1 increases from V km / h to V' km / h. Along with this, the projection area R expands forward in the traveling direction of the forklift 1 by a length that can display about two more markers 22. The marker 22 and the character string 23 in the animated image 21 move in the -X direction ( Figure 3 the left direction of the paper surface in

[0040] this Figure 5In the example, the projection area R is extended forward in the traveling direction of the forklift 1. However, the extension of the projection area R only needs to be along the traveling direction of the forklift 1. It can also be extended backward in the traveling direction, or extended in both the forward and backward directions of the traveling direction.

[0041] Figure 6 is a flowchart showing an image projection method according to an embodiment of the present disclosure. As Figure 6 shown, the image projection method includes a detection step (step S01), a generation step (step S02), and a projection step (step S03). In the present embodiment, the image projection method is executed as the operation of the above-mentioned forklift 1.

[0042] The detection step S01 is a step of detecting the traveling direction and traveling speed of the own vehicle. In the detection step S01, the traveling control unit 12 that controls the traveling drive unit 11 detects the traveling direction and traveling speed of the forklift 1 and outputs them to the generation unit 13.

[0043] The generation step S02 is a step of generating an animated image 21 that displays information moving at the traveling speed in the direction opposite to the traveling direction. In the generation step S02, the generation unit 13 generates an animated image 21 that displays information moving at the traveling speed in the direction opposite to the traveling direction of the forklift 1 based on the traveling direction and traveling speed detected in the detection step S01, and outputs it to the projection unit 14.

[0044] The projection step S03 is a step of projecting the animated image 21 onto a predetermined projection area R on the road surface G around the own vehicle. In the projection step S03, the projection unit 14 projects the animated image 21 generated in the generation step S02 onto the projection area R of the road surface G. Thus, in the projection area R, the displayed information is projected as if it were fixed to the road surface G.

[0045] As described above, in the forklift 1, the animated image 21 that displays information moving at the traveling speed of the own vehicle in the direction opposite to the traveling direction of the own vehicle is projected onto a predetermined projection area R on the road surface G around the own vehicle. Thus, from the perspective of people around the own vehicle, in the projection area R where the animated image 21 is projected, the displayed information seems to be fixed to the road surface G. Therefore, in this forklift 1, it is possible to project display information that is easy to recognize from people around the vehicle onto the road surface.

[0046] In the present embodiment, the projection unit 14 projects the animated image 21 onto the road surface G in the traveling direction. Thus, it is possible to more effectively alert people around the own vehicle to pay attention to the traveling of the vehicle.

[0047] In the present embodiment, the generation unit 13 generates the animated image 21 such that the transparency of the display information at the end in the traveling direction becomes higher as it approaches the end. As a result, since the display information gradually appears and gradually disappears within the projection area R, it is possible to reduce the sense of strangeness when people around the vehicle see the display information projected on the road surface G.

[0048] In the present embodiment, the projection unit 14 sets the projection area R such that the greater the traveling speed of the own vehicle, the longer the animated image 21 is projected in the traveling direction. As a result, since the display information is displayed longer in the traveling direction according to the traveling speed of the own vehicle, it is possible to more effectively draw the attention of people around the own vehicle to the traveling of the vehicle.

[0049] In the present embodiment, the generation unit 13 generates an animated image including text information as the display information. As a result, it is possible to directly draw the attention of people around the own vehicle to the traveling of the vehicle through the text information.

[0050] The present disclosure is not limited to the above-described embodiment. For example, in the above-described embodiment, the projection area R is formed on the road surface G behind the forklift 1 when the forklift 1 is moving backward, but the projection area R can be formed at any position on the road surface around the own vehicle. For example, the projection area R can also be formed on the road surface G in front of the forklift 1 when the forklift 1 is moving forward, and it can also be as Figure 7 shown, in at least one of the forward and backward movements of the forklift 1, the projection area R is formed in the area including the forklift 1. When the forklift 1 is turning, a curved projection area R can also be formed according to the predicted trajectory of the forklift 1 from the steering angle and the traveling speed.

[0051] In addition, in the above-described embodiment, the projection unit 14 sets the projection area R such that the greater the traveling speed of the forklift 1, the longer the animated image 21 is projected in the traveling direction, but it can also be as Figure 8 shown, and the following scheme can be adopted: without changing the size of the projection area R itself, a mask M is used to adjust the display area of the animated image 21 in the projection area R. In this case, for example, a mask M is used near the end in the traveling direction in the projection area R, and as the traveling speed of the forklift 1 increases, the width (width in the traveling direction) of the mask M is decreased, whereby the animated image 21 can be projected longer in the traveling direction according to the traveling speed of the forklift 1.

[0052] Regarding the animated image 21 generated by the generation unit 13, various schemes can also be adopted. For example, it can be as Figure 9As shown in (a), an animated image 21 for displaying information uses a plurality of markers 22 arranged in two columns and arrows 24 between the markers 22 arranged in each column. The arrows 24 can move in the same direction and at the same speed as the markers 22 and the character strings 23, or can be stationary. Additionally, as shown in Figure 9 (b), in order to emphasize the display of the arrows 24, a shielding member M such as a rectangular shape is set around the arrows 24, and a scheme is adopted in which the markers 22 overlapping with the shielding member M are not displayed. It can also be as shown in Figure 9 (c), a shielding member M such as a triangular shape is set so as to overlap with the markers 22 in each column, and a scheme is adopted in which the length of the markers 22 in each column (for example, the length in the vehicle width direction of the forklift 1) becomes longer as the distance from the forklift 1 increases.

[0053] Moreover, as shown in Figure 10 , it is also possible that the forklift 1 is provided with a human presence sensor 31 that senses the presence of people around the vehicle. In this case, the generation unit 13 can also generate an animated image 21 in which the display information is emphasized compared to normal when the human presence sensor 31 senses the presence of people around the forklift 1. As a method for emphasizing the display information, there is no particular limitation, and examples include blinking of the markers 22, arrows 24, or text information, change to a warning color such as red, and change in color shading.

[0054] In the above-described embodiment, the forklift 1 is exemplified as the industrial vehicle. However, the industrial vehicle to which the present disclosure is applied is not limited to the forklift, and can be widely applied to other manned transport vehicles, unmanned transport vehicles capable of autonomous driving, transport robots capable of autonomous driving, towing vehicles, and the like.

Claims

1. An industrial vehicle, characterized in that: have: A detection unit, which detects the driving direction and driving speed of the vehicle; a generating unit that generates an animated image showing information moving at the traveling speed in a direction opposite to the traveling direction; and The projection unit projects the animation image onto a predetermined projection area on a road surface around the host vehicle.

2. The industrial vehicle according to claim 1, wherein: The projection unit projects the animation image onto a road surface in the traveling direction.

3. The industrial vehicle according to claim 1 or 2, wherein: The generating unit generates the animation image in such a manner that the transparency of the display information at an end portion of the traveling direction becomes higher as the transparency becomes closer to the end portion.

4. The industrial vehicle according to claim 1 or 2, wherein: The projection unit sets the projection area so that the animation image is projected longer in the traveling direction as the traveling speed increases.

5. The industrial vehicle according to claim 1 or 2, wherein: The generating unit generates a moving image including text information as the display information.

6. The industrial vehicle according to claim 1 or 2, wherein: A human sensing sensor is provided to sense the presence of people around the host vehicle. The generating unit generates a moving image that emphasizes the display information when the human sensing sensor senses the presence of the person.

7. An image projection method, characterized in that: have: A detection step, detecting the driving direction and speed of the vehicle; A generating step of generating an animated image showing information moving at the driving speed in a direction opposite to the driving direction; as well as The projection step projects the animation image onto a predetermined projection area on a road surface around the host vehicle.

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