Systems and the like

Abstract

To provide a technology for charging a battery that drives a camera mounted on a working unit that is movable relatively to a vehicle body unit.SOLUTION: A working unit 422 is equipped with a second photographing device 17 and a battery 19 that supplies power to the second photographing device. When a fork 402 of the working unit is positioned at a height where it should stop when parking, a power receiving unit 433 that supplies power to the battery and a power supply unit 417 that supplies power to a vehicle battery 415 face each other and charge. When the fork is in a working position, the power receiving unit and the power supply unit do not face each other and charging does not occur.SELECTED DRAWING: Figure 17

Description

[Technical field]

[0001] The present invention relates to, for example, a system. [Background technology]

[0002] For example, there is a technique for capturing an image of the area ahead of a forklift and displaying the captured image on a monitor so that the driver can check what is ahead (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-246597 A Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present invention is to provide a technology that is superior to conventional technology, for example, to provide technology related to charging a battery for driving a camera provided in a working unit of a vehicle having a body unit and a working unit.

[0005] The above-mentioned problems are described as being independent, and the present invention does not necessarily have to solve all of the problems described. The purpose of the present invention is not limited to this, and the applicant intends to obtain rights for configurations that aim to obtain effects from parts of the configurations disclosed in this specification and drawings, etc., by filing a divisional application, amendment, etc. For example, this specification discloses a problem in which the part described as "can be" in this specification is read as "is a problem." The problems are described as being independent, and the applicant intends to obtain rights for the configurations for solving these problems alone by filing a divisional application, amendment, etc. Even if the problem is implicitly understood from the description in the specification, the applicant intends to include part of the configurations described in this specification in the scope of the patent claim by amendment or divisional application. Problems that combine these independent problems are also disclosed. [Means for solving the problem]

[0006] (1) It is desirable to provide a system for use in a vehicle having a body section and a working section that is movable relative to the body section, the working section including a camera and a battery that supplies power to the camera, and in a first state in which the working section is in a predetermined first positional relationship with respect to the body section, a power supply path from a power supply means to the battery is connected.

[0007] With this arrangement, when the working unit is in a first state in which it is in a predetermined first positional relationship with respect to the vehicle body unit, the power supply path is connected, and the battery can be brought into a state in which it can be charged.

[0008] (2) The first positional relationship may be a predetermined positional relationship that is adopted when no work is being performed using the working unit. In this way, when the working unit assumes a predetermined positional relationship with respect to the vehicle body that is adopted when no work is being performed using the working unit, the power supply path is connected, and the battery can be put into a state in which charging can be performed. Such a first positional relationship may be, for example, after work is completed, before work is started, or while work is being interrupted, but is particularly preferably after work is completed. In this case, the system can perform charging after work is completed, and time can be secured to charge the battery.

[0009] (3) The first state may be a state of the working unit based on a predetermined operation that the user should perform when the work using the working unit is completed.

[0010] In this way, when the user performs a predetermined operation when the work using the working unit is completed, the power supply path is connected and the battery can be put into a state where charging can be performed. The predetermined operation that the user should perform when the work is completed may be an operation determined by laws and regulations, operational standards, or other standards. The predetermined operation that the user should perform when the work is completed may be an operation that is natural to a user who has correctly completed the work, and based on such a natural operation, the working unit enters the first state and the battery can be naturally charged. The time when the work using the working unit is completed may be, for example, when the vehicle is parked, when the power source or drive source of the vehicle is turned off, or when the user gets off the vehicle.

[0011] (4) The vehicle may be a forklift, and the first state may be a state in which forks constituting the working unit are positioned at a height at which the forks should be stopped when parked.

[0012] In this way, when the forks are positioned at the height at which they should stop when parking, the power supply path is connected, and the battery can be in a state where it can be charged. For example, the position of the forks when parking may be determined and recommended by laws and regulations, industry or site standards and practices, etc. In such cases, when parking, the driver operates the forks so that they are positioned at the height at which they should stop. A driver who is about to park can lower the forks to the specified position in the natural flow of operations that are performed beforehand. Thus, the driver can be in a state where it can be charged without consciously performing any special operations to charge the battery.

[0013] Also, from a safety perspective, it is not advisable to leave the forks raised when the work is finished. If charging is not performed when the vehicle is not in the first state, the system will not charge the battery when the forks are raised and the camera cannot be used. If this state continues, the camera will not be able to be used. Therefore, drivers and others will lower the forks to a designated position when parking.

[0014] (5) The first state may be a state in which the forks, which are positioned at a height at which the vehicle should stop during parking, have their tips tilted downward.

[0015] When the forks, which are positioned at a predetermined height, are tilted downward with their tips, the power supply path is connected, enabling charging of the battery. When parking, it is recommended that the forks be positioned at the above-mentioned predetermined height and then tilted slightly downward. Therefore, by adding the condition that the tips of the forks are tilted downward to the first state, it is possible to prevent the driver from getting off the vehicle with the forks in a horizontal position and to encourage parking in the correct position.

[0016] (6) When the working unit is in the first state, it is preferable that a power receiving unit electrically connected to the battery and a power supply unit of the power supply means come into contact with or come into close proximity with each other to connect the power supply path.

[0017] When the working unit is in the first state, the power receiving unit and the power supply unit come into contact with each other or are close to each other, thereby connecting the power supply path, and thus charging the battery from the power supply means can be performed.

[0018] (7) In a second state in which the positional relationship of the working unit with respect to the vehicle body unit is a second positional relationship that is adopted while the working unit is working, it is preferable that the power supply path from the power supply means to the battery is cut off.

[0019] In this way, when the working unit is in the second state, which is the second positional relationship adopted during the working unit's work, the system can set the battery in a state in which charging is not possible. The second state may be a state in which the user is working, and particularly may be a state in which the user is working while moving the working unit. In this way, when the user is working, the camera can be driven based on the charged battery. In order to charge the battery, the working unit needs to be set in the first state, and a user such as a driver is made aware of the need to set the working unit in the first state. For example, in order to charge the battery, the working unit needs to be set in the first state after the work is completed, and a user such as a driver is made aware of the need to set the working unit in the first state after the work is completed.

[0020] (8) When the working unit is in the second state, a power receiving unit electrically connected to the battery and a power supply unit of the power supply means may be separated from each other to cut off the power supply path.

[0021] When the working unit is in the second state, the power receiving unit and the power supply unit are separated from each other, and the power supply path is cut off. Accordingly, charging of the battery from the power supply means can be prevented when no work is being performed.

[0022] (9) The battery may be integrally attached to a case in which the camera is housed, and a power receiving unit may be provided at the tip of a cable extended to the outside of the case, and the power receiving unit may face a power supply unit that is connected to the power supply means in the first state.

[0023] By mounting the battery in the case in which the camera is stored, the battery and the camera are compactly arranged. The user can set the battery and the camera to the working unit by mounting the case in a predetermined position on the working unit, and the installation can be easily performed. The power receiving unit is provided at the tip side of the cable. Therefore, the power receiving unit can be located outside the case and can be mounted in a different position away from the mounting position of the case. For example, as an example of the mounting positions of the case and the power receiving unit, the case can be mounted in a position where the shooting area of ​​the camera is within a desired range, and the power receiving unit can be mounted in a position where it faces the power feeding unit and is connected to the power feeding means when the fork is at a predetermined height position.

[0024] (10) The case may be equipped with a wireless communication unit that transmits images captured by the camera.

[0025] The wireless communication unit can wirelessly transmit images captured by the camera. By integrating the wireless communication unit with the camera, the camera, battery, and wireless communication unit can be mounted on the working unit in a compact package, making it easy to install on the working unit.

[0026] (11) The power receiving unit is attached to a backrest to which the forks are connected, and a power supply unit of the power supply means that supplies power to the power receiving unit is attached to a predetermined position of a mast to which the backrest is attached so that it can be raised and lowered, and the predetermined position is preferably a position facing the power receiving unit when the forks are in the first state.

[0027] When the forks reach the first state, the power receiving unit and the power supply unit face each other. As a result, the power supply path from the power supply means to the battery is connected, and the battery becomes chargeable. When the mast in the upright state tilts forward, the backrest also tilts forward, but the relative positions of the mast and the backrest do not change. Therefore, for example, if the power receiving unit and the power supply unit face each other when the forks are in a horizontal position and at a predetermined height, even if the mast tilts forward from there, the opposing state of the power receiving unit and the power supply unit will not change, and the power supply path will remain connected.

[0028] (12) The vehicle is a battery-powered forklift, and the body section is equipped with a second battery that supplies power to the vehicle, and when the working section is in the first state and the second battery is to be charged, power is supplied to the battery, and when the second battery is not to be charged, power is not supplied to the battery.

[0029] The system can charge the battery when the second battery is being charged, and can prevent the battery from supplying power when the second battery is not being charged. For example, if the second battery is the power supply means, the battery will not supply power when the second battery is not being charged, thereby preventing the second battery from running out.

[0030] (13) It is preferable that the battery be charged in a first mode in which the battery is charged when the battery is in the first state, and that the battery be charged in a second mode in which the battery is charged when the battery is in the first state and the second battery is being charged, and that a setting means be provided for setting the operating mode.

[0031] The system can charge the battery in the mode set by the setting means. For example, the user may set an appropriate mode depending on the usage conditions of the vehicle. When such a setting is made, the battery can be charged according to the conditions.

[0032] (14) It is preferable that the camera is configured so that it can operate even while the battery is being charged.

[0033] The camera can capture images even while the battery is being charged. When the working unit is in a first state in which the working unit is in a predetermined first positional relationship with respect to the vehicle body, the camera provided on the working unit can capture images of the surroundings of the working unit. For example, if the first state in the first positional relationship is the position of the working unit when no work is being performed using the working unit, in such a system the user can capture images of the surroundings of the working unit when no work is being performed, and monitor the surroundings.

[0034] (15) The camera should be mounted on the backrest so as to be able to photograph the tips of the forks and the luggage, and the battery should be mounted at a predetermined position on the backside of the backrest, the predetermined position being a position that does not come into contact with a mast to which the forks and the backrest are attached so as to be able to be raised and lowered.

[0035] The battery is disposed behind the backrest, which prevents the battery from coming into contact with luggage or the like, for example, during work.

[0036] (16) It is preferable to include a control unit that performs control to notify the user that charging is not possible if the working unit is not in the first state when the vehicle is parked.

[0037] If the working unit is not in the first state when parking, the control unit notifies the user that charging is not possible. The user who receives the notification can know that charging will not occur if the user gets off the vehicle as is. This allows the user to, for example, return the state of the working unit to the first state, thereby preventing the occurrence of a situation in which the battery is not charged while the vehicle is parked. This notification can also prompt the user to park the vehicle in the first state.

[0038] (17) A sheet member is provided that is attached to the upper surface of the forks, one end of the sheet member is set back a predetermined distance from the tips of the forks, the one end has a tapered surface that is thin at the tip and gradually thickens, the camera is attached to a hole provided in the tapered surface, the camera wiring is arranged between the underside of the sheet member and the upper surfaces of the forks, and the other end of the sheet member is positioned behind the innermost part of the luggage to be placed on the forks.

[0039] In this way, the camera can be placed near the tip of the fork and can capture the area in front of the tip. Since the camera is covered with the sheet member, it is possible to prevent the camera from being damaged by contact with the baggage. In addition, since the other end of the sheet member is located on the innermost side of the baggage to be placed on the fork, it is possible to prevent the baggage to be placed on the fork from contacting the wiring and breaking it.

[0040] (18) It is preferable that a laser irradiation device that emits a laser beam indicating the height position of the tip of the fork and a case that includes the camera are integrally connected.

[0041] The laser irradiation device and the case are connected together, so the user can simply attach the integrated device to a predetermined position on the working unit, and both can be easily installed on the working unit.

[0042] (19) It is preferable that the relative position of a laser irradiation device that emits a laser beam indicating the height position of the tip of the fork and a case that houses the camera be adjustable.

[0043] In this way, the user can change and adjust the positional relationship between the irradiation position of the laser light and the shooting area of ​​the camera, so that the user can, for example, point the laser irradiation device and the camera to appropriate positions and easily attach them to the working unit.

[0044] (20) When the forks are in the first state, the camera may stop taking pictures, and when it detects that the forks are rising, the camera may be operated to take pictures for a predetermined period of time.

[0045] In this way, the camera stops capturing images when in the first state, thereby reducing battery consumption. Furthermore, after detecting the upward movement of the forks, the system controls the camera to operate for a predetermined time and then stop capturing images. This makes it possible to extend the time during which the camera does not capture images, thereby further reducing battery consumption. As an example of the predetermined time, it is preferable to set it based on the time required for the forks to rise to a predetermined position, insert the forks under the luggage, and place the luggage on the luggage.

[0046] (21) The vehicle body unit may include a second power receiving unit compatible with wireless power supply for charging the second battery, and a third power receiving unit adjacent to the second power receiving unit compatible with the wireless power supply, and the third power receiving unit may receive power from a power supply pad for the second power receiving unit and charge the battery.

[0047] When the second power receiving unit is brought close to the power supply pad and wireless power is supplied to the second battery, a leakage magnetic field is generated around the power supply pad. The third power receiving unit receives power based on the leakage magnetic field and can use it to charge the battery. The third power receiving unit may be, for example, a power receiving unit provided in the working unit, or may be configured as a separate member from the power receiving unit. In the case of a system configured as a separate member, for example, a power supply path from the third power receiving unit to the power supply unit may be provided, and the power supply unit may supply power to the power receiving unit.

[0048] (22) The working unit may include a recording device that records images captured by the camera, and the recording device may operate by receiving power from the battery.

[0049] The recording device can record images captured by the camera. By charging the battery in the first state, the recording device installed in the working unit also receives power supply from the battery and operates.

[0050] The inventions shown in (1) to (22) above can be arbitrarily combined. For example, at least a part of the configuration of at least one of the inventions after (2) may be added to all or a part of the configuration of the invention shown in (1). In particular, it is preferable to add at least a part of the configuration of at least one of the inventions after (2) to the invention shown in (1). In addition, any configuration may be extracted from the inventions shown in (1) to (22) and the extracted configurations may be combined. The applicant of this application intends to obtain rights to the inventions including these configurations. In addition, even if there is a description such as "in the case of" or "when", it is not intended to describe the configuration as being limited to that case or time. These are examples of better configurations, and the applicant intends to obtain rights to configurations other than these cases or times. In addition, the parts described in order are not limited to this order. Configurations in which some parts have been deleted or the order has been changed are also disclosed, and the applicant intends to obtain rights. [Brief description of the drawings]

[0051] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the system 100. [Diagram 3] 1A to 1C are six views showing an example of the external configuration of a first image capturing device 12. [Figure 4] 2 is a diagram showing an example of an image captured by the first photographing device 12. FIG. [Diagram 5] 1 is a diagram showing an example of a relationship between the installation of a first image capturing device 12 and an image capturing range of the first image capturing device 12. FIG. [Figure 6] FIG. 1 is a diagram illustrating a system configuration of the present embodiment. [Figure 7] A view showing the backrest 412 and the fork 402. [Figure 8] FIG. 1 is a diagram showing an example of a forklift loaded with luggage 32 and a pallet 31. [Figure 9] FIG. 2 is a diagram showing an example of a forklift, cargo 32 to be handled, and a pallet 31. [Figure 10] FIG. [Figure 11] 11 is a cross-sectional view taken along line CC in FIG. 10. [Figure 12] 10. (a) is a cross-sectional view taken along line AA in FIG. 10, and (b) is a cross-sectional view taken along line BB in FIG. [Figure 13] 13 is a display example of the display device 20 based on an image captured by the second image capturing device 17. [Figure 14] 13 is a diagram showing an example of how the photographing unit 430 is attached. FIG. [Figure 15] 13 is a diagram showing an example in which the second image capturing device 17 is mounted on the tip of a toe 4021. FIG. [Figure 16] 13 is a diagram showing an example in which the second image capturing device 17 is mounted on the tip of a toe 4021. FIG. [Figure 17] 13 is a diagram showing an example in which the second image capturing device 17 is mounted on the tip of a toe 4021. FIG. [Figure 18] FIG. 1 is a diagram illustrating an embodiment of a charging system. [Figure 19]FIG. [Figure 20] FIG. 13 is a diagram illustrating another embodiment. [Figure 21] FIG. 2 is a diagram showing an example of a system configuration related to a second image capturing device 17. [Figure 22] FIG. 2 is a diagram showing an example of a system configuration related to a second image capturing device 17. [Figure 23] FIG. 13 is a diagram showing an example of a monitor display. [Figure 24] FIG. 13 is a diagram illustrating another embodiment. [Diagram 25] FIG. 13 is a diagram illustrating another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0052] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. These drawings are used to explain technical features that the present invention can employ. The configurations and shapes of the described devices are merely illustrative examples, and the present invention is not to be interpreted as being limited thereto. Various changes, modifications, and improvements may be made based on the knowledge of those skilled in the art without departing from the scope of the present invention. In the following description, labeling using numbers such as 1, 2, ... is for identifying each element, and does not determine the number of elements. In addition, in each figure referred to in the following description, the scale may be different from the actual scale in order to make each member, each region, etc. recognizable.

[0053] [1. Overall system configuration] FIG. 1 is a diagram for explaining the configuration of the system of this embodiment. FIG. 1 shows a schematic diagram of a vehicle 400 viewed from the side. The system 100 is a system mounted on the vehicle 400. In this embodiment, the vehicle 400 is a forklift, and may be, for example, an electric forklift. The vehicle 400 is not limited to a forklift, and may be, for example, a large transport vehicle with four or more wheels, such as an automobile, a bus, or a truck, a two-wheeled vehicle such as a motorcycle or a bicycle, or other vehicles. The vehicle may be, for example, a vehicle of a transportation facility such as a train, a monorail, or a linear motor car. In addition to vehicles, the present invention can also be used in other moving bodies that carry people, such as ships and airplanes, and other moving bodies other than moving bodies.

[0054] The vehicle 400 includes a vehicle body 421 and a working unit 422 that is movable relative to the vehicle body 421. The vehicle body 421 has a space in which a driver or an operator rides and drives the vehicle 400 and operates the working unit 422. The forklift includes the working unit 422 in front of the vehicle body 421. The working unit 422 has a function of performing a predetermined task, and moves relative to the vehicle body 421 when performing the task. The working unit 422 in this embodiment is also a loading device for loading and transporting the baggage 32 and unloading it at a predetermined location. The working unit 422 moves relative to the vehicle body 421, and is therefore sometimes referred to as a "movable unit."

[0055] The working unit 422 has a mast 401, forks 402, and a backrest 412. The mast 401 is provided on the front side of the body of the vehicle 400. The forks 402 are also called claws, and are a portion on which luggage is placed. As shown in Figs. 6 and 7, etc., the two forks 402 are arranged on the left and right, and are attached to the backrest 412 to be integrated.

[0056] The fork 402 has an L-shaped cross section, a first portion 4022 that extends horizontally and carries the baggage 32, and a second portion 4023 that stands vertically at the base of the first portion 4022. The tip of the first portion 4022 is also called a toe 4021. The upper end of the second portion 4023 has a hook-shaped portion 4024. The backrest 412 has, for example, a rectangular outer frame 4121, and includes a band-shaped mounting member 4122 that connects the inner surfaces of the outer frame 4121 and extends in the left-right direction. The fork 402 has the hook-shaped portion 4024 hooked from above onto the mounting member 4122 of the backrest 412, and the hook-shaped portion 4024 may be fixed with a fastener 413 such as a screw or a bolt. The backrest 412 is attached to the mast 401 so that it can be raised and lowered. The fork 402 moves up and down together with the backrest 412 relative to the mast 401 .

[0057] The two forks 402 move up and down together with the backrest 412 along the mast 401 in response to the operation of a lift lever by a driver (not shown) sitting in the driver's seat 403. The mast 401 also tilts forward and backward in response to the operation of a tilt lever by the driver. When the mast 401 tilts, the backrest 412 and therefore the forks 402 tilt together in response.

[0058] The steering wheel 404 is an operating device for operating the steering mechanism of the vehicle 400 and adjusting the traveling direction of the vehicle 400. The main switch 405 is an operating device for turning on and off the power supply of the entire vehicle 400. The operating lever 406 has various levers operated by the driver and is an operating device for controlling the operation of the vehicle 400. The operating lever 406 has, for example, a lift lever, a tilt lever, a shift lever, and a forward / reverse lever. The shift lever is a lever for switching the number of gears of the transmission. The forward / reverse lever is a lever for moving the vehicle 400 forward or backward. The pedal 407 has various pedals operated by the driver and is an operating device for controlling the operation of the vehicle 400. The pedal 407 has a clutch pedal and a brake pedal. The clutch pedal is a pedal for transmitting or cutting off the power of the engine or other driving source to the transmission when starting, stopping, and changing gears of the vehicle 400. The brake pedal is a pedal for operating the foot brake of the vehicle 400.

[0059] When a main switch 405 of the vehicle 400 is turned on, power is supplied to, for example, an electronic control unit, a traveling motor, various sensors, and lighting fixtures as the electrical system of the vehicle 400. When power is supplied to the electrical system of the vehicle 400, the driver operates an operating lever 406 and a pedal 407, causing the vehicle 400 to perform operations such as traveling and raising and lowering the forks 402. In addition, DC power is supplied to the imaging device 10 from a switch-linked power supply terminal 410 of the vehicle 400.

[0060] When the main switch 405 is turned off, no power is supplied to the electric system of the vehicle 400, and even if the driver operates, for example, the operation lever 406 or the pedal 407, the vehicle 400 does not travel or the fork 402 does not rise or fall. In addition, no DC power is supplied from the switch-linked power supply terminal 410 to the system 100. On the other hand, DC power is constantly supplied from a vehicle battery 415 mounted on the vehicle 400 to the system 100 from a +B terminal (also called a constant power supply terminal) 411 of the vehicle 400, regardless of whether the main switch 26 is on or off. Even after the control device 11 detects that the main switch 405 is turned off and the power supply from the switch-linked power supply terminal 410 has stopped, the control device 11 continues to receive power from the +B terminal 411 and maintains the power-on state until a predetermined time has passed. This predetermined time may be specified by duration information stored in a storage medium 500 of the first photographing device 12, which will be described later.

[0061] The system 100 is, for example, a device (also referred to as an aftermarket product) that is purchased by a user separately from the vehicle 400 and later attached to the vehicle 400. The system 100 includes a control device 11, a first photographing device 12, a GNSS receiving device 13, a sensor device 14, a first communication device 15, a one-touch SW (switch) device 16, a second photographing device (an example of a camera) 17, a second communication device (an example of a wireless communication unit) 18, a battery 19, and a display device 20. In this embodiment, the control device 11, the first photographing device 12, the GNSS receiving device 13, the sensor device 14, the first communication device 15, the one-touch SW device 16, the second photographing device 17, the second communication device 18, the battery 19, and the display device 20 are unitized so as to have separate housings. Therefore, the "device" in the names of these devices may be read as a "unit" or the like. Furthermore, two or more of these devices may be configured to have the same housing.

[0062] The control device 11, the first photographing device 12, the GNSS receiving device 13, the sensor device 14, the first communication device 15, the one-touch SW (switch) device 16, and the display device 20 are attached to appropriate positions of the vehicle body 421. As an example, the control device 11, the first photographing device 12, and the sensor device 14 are attached to the lower surface side of the head guard 408 of the vehicle 400. The GNSS receiving device 13 and the first communication device 15 are attached to a support 409 that supports the head guard 408. The positions at which each device is attached are not limited to these positions. For example, the first communication device 15 may be attached to another position as long as its communication function is exercised without hindrance. The first communication device 15 may be attached to, for example, the lower surface side or the upper surface side of the head guard 408. The display device 20 is disposed at a position visible to the driver sitting in the driver's seat 403. The display device 20 displays images captured by the first photographing device 12 and the second photographing device 17.

[0063] The second image capturing device 17, the second communication device 18, and the battery 19 are attached to the working unit 422 as described below.

[0064] The system 100 is a system having a function of photographing the cabin of the vehicle 400 and the surroundings of the vehicle 400. The first photographing device 12 and the second photographing device 17 perform this photographing. The first photographing device 12 is an example of a photographing means for photographing a celestial image. The first photographing device 12 is a camera that photographs a hemispherical area or a range wider than the hemispherical area to generate image data. The celestial image may be, for example, a hemispherical image or a full celestial image. The image area of ​​the celestial image is circular or elliptical. In this embodiment, the first photographing device 12 is disposed near directly above the driver's seat 403, and disposed so that the photographing direction is downward. The first photographing device 12 has, for example, an imaging lens with a field of view (which may be rephrased as VIEW AREA, field of view, field of view, etc.) exceeding 180°. In this embodiment, the first photographing device 12 is set so that the field of view θ in the vertical direction is about 210° and the first photographing device 12 can photograph the surroundings 360° in the horizontal direction. 1, the range that can be photographed by the first photographing device 12 is indicated by a two-dot chain line. The photographing lens may be a lens called a fisheye lens, etc. The second photographing device 17 will be described later.

[0065] 2 is a block diagram showing an electrical configuration of the system 100. The control device 11 is physically and electrically connected to each of the first image capturing device 12, the GNSS receiving device 13, the sensor device 14, the first communication device 15, the one-touch SW device 16, and the display device 20 via cables. Each device other than the control device 11 receives power from the control device 11 via a power line of the cable, and outputs a signal to the control device 11 via a signal line of the cable. The control device 11, the first image capturing device 12, the GNSS receiving device 13, the sensor device 14, the first communication device 15, the one-touch SW device 16, and the display device 20 are mounted at appropriate positions of the vehicle body 421.

[0066] The second photographing device 17 is physically and electrically connected to the second communication device 18 and the battery 19. The control device 11 transmits and receives data to and from the second photographing device 17 via wireless communication. The second photographing device 17, the second communication device 18, and the battery 19 are mounted in appropriate positions on the working unit 422. The detailed configuration mounted on the working unit 422 will be described later.

[0067] The control device 11 is also called a main unit in this embodiment, and controls the system 100. The control device 11 has a control unit 111, a storage unit 112, an audio output unit 113, and a reader / writer 114. The control unit 111 controls each unit of the system 100. The control unit 111 controls the operation of each unit of the system 100 and supplies each unit with power required for the operation. The control unit 111 has a processor such as a central processing unit (CPU), a micro processing unit (MPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA). The storage unit 112 is a main storage device having a random access memory (RAM), a read only memory (ROM), and the like. The control unit 111 temporarily stores a program read from the ROM of the storage unit 112 in the RAM. The RAM of the storage unit 112 provides a working area for the processor. The control unit 111 realizes various functions by performing arithmetic processing while temporarily storing data generated during execution of a program in a RAM. The control unit 111 further includes a clock unit that keeps time. The clock unit is, for example, a real-time clock. The clock unit may be mounted on the motherboard of the processor, or may be external to the processor.

[0068] The audio output unit 113 outputs audio. Examples of the audio include notification sounds, background music, audio messages, etc. The audio output unit 113 includes, for example, an audio processing circuit and a speaker.

[0069] The reader / writer 114 is an example of a medium holding unit that holds the storage medium 500 inserted into the system 100 from a storage medium insertion port (not shown). The reader / writer 114 writes data to the held storage medium 500 and reads data from the storage medium 500. The reader / writer 114 may hold only one storage medium 500, but may be configured to hold two or more storage media 500 at the same time. The storage medium 500 is a storage medium in which images captured by the system 100 are recorded, and is, for example, an SD card. The SD card may have any shape, such as an SD memory card, a miniSD card, or a microSD card. The storage medium 500 may further store a viewer (for example, a dedicated viewer) program for playing back the stored images on an information display terminal such as a personal computer.

[0070] The first photographing device 12 captures an image and generates image data obtained by the capture. The first photographing device 12 has, for example, an imaging lens, which is an example of an optical member, and an imaging element that captures light collected by the imaging lens. The imaging element is, for example, a CMOS (Complementary MOS) or a CCD (Charge Coupled Device). The imaging element captures an image and outputs an image signal representing the captured image. The first photographing device 12 generates a color (multi-color) image consisting of, for example, red (R), green (G), and blue (B) color components. The first photographing device 12 may also include an A / D conversion circuit that converts the signal from the imaging element from analog to digital.

[0071] The GNSS receiver 13 receives signals from a Global Navigation Satellite System (GNSS). In this embodiment, the GNSS receiver 13 receives signals from a Global Positioning System (GPS) satellite, which is one of the GNSS. The GNSS receiver 13 has an antenna for receiving signals from the GNSS and a circuit for processing the signals received by the antenna. The control device 11 acquires position information (e.g., latitude information and longitude information) of the system 100 based on the signals received by the GNSS receiver 13. The position of the GNSS receiver 13 may be regarded as being the same as at least one of the position of the system 100, the position of the control device 11, and the position of the vehicle 400 or the driver riding in the vehicle 400.

[0072] The sensor device 14 has various sensors. The sensor device 14 has, for example, an acceleration sensor and a gyro sensor. The acceleration sensor detects acceleration acting on the vehicle 400. The acceleration sensor is, for example, a three-axis acceleration sensor that detects acceleration in the front-rear, left-right, and up-down directions of the vehicle 400. The gyro sensor is a sensor that detects the inclination of the vehicle 400. The acceleration sensor and the gyro sensor may be used to estimate the position of the vehicle 400 by autonomous navigation, for example, when a signal from a GNSS satellite cannot be received. Note that the acceleration sensor and the gyro sensor may be used to estimate the position by autonomous navigation, for example, when the GNSS receiver 13 cannot receive a GNSS signal.

[0073] The first communication device 15 communicates with an external device and the second communication device 18. The first communication device 15 has, for example, a communication circuit and an antenna as a configuration for performing wireless communication. In this embodiment, the first communication device 15 performs wireless communication in compliance with the LTE (Long Term Evolution) standard or the like. In this case, the first communication device 15 may be called, for example, an LTE unit. The communication standard is not limited to this, and the first communication device 15 may perform communication in compliance with the mobile communication system standard such as 4G and 5G. The first communication device 15 is configured to be able to attach and detach a SIM, and performs wireless communication based on information recorded in the attached SIM. When the SIM is not attached, the first communication device 15 cannot perform wireless communication or wireless communication is limited. The SIM is, for example, a nanoSIM. The SIM is also called a subscriber identity module, and is a storage medium that stores subscriber information related to a contract with a communication carrier that manages and operates a mobile communication system, authentication information used for authentication for performing communication in compliance with the mobile communication system standard, and the like. The authentication information is information required to authenticate a user (eg, a subscriber) and may be referred to as subscriber identification information.

[0074] The first communication device 15 may have a function of performing wireless communication via a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark), or may have a function of performing short-range wireless communication such as Bluetooth (registered trademark).

[0075] The first communication device 15 is physically and electrically connected to the control device 11 via a cable. The cable is a cable that has a power line and a signal line and conforms to a predetermined standard. In this embodiment, the cable is a USB cable that conforms to the USB (Universal Serial Bus) standard, and more specifically, conforms to the USB Type-C standard. The first communication device 15 operates by receiving power from the control device 11 via the power line of the cable, and outputs a signal to the outside via the signal line and receives a signal from the outside.

[0076] The one-touch SW device 16 is an operating device operated by the driver in an emergency such as when an accident or other trouble occurs. This operation may be performed by one touch, for example, by a single pressing operation. When the control device 11 determines that an operation has been performed on the one-touch SW device 16, the control device 11 may use the first communication device 15 to notify a predetermined notification destination, or may use the audio output unit 113 to output a warning sound or alarm sound. Alternatively, when the control device 11 determines that an operation has been performed on the one-touch SW device 16, the control device 111 may record an image in the storage medium 500 based on an image captured by the first photographing device 12. This image recording may be performed by an event recording function described later. The one-touch SW device 16 may be attached to a position that is within reach of the driver in an emergency and is not or is unlikely to be hit by hands, feet, etc. under normal circumstances, for example, to a pillar on the right front side of the vehicle 400.

[0077] The display device 20 is a monitor that displays images captured by the first photographing device 12 and the second photographing device 17. The control device 11 acquires images captured by the first photographing device 12 and displays the acquired images on the display device 20. The control device 11 also acquires images captured by the second photographing device 17 and displays the acquired images on the display device 20. The display switching control performed by the control device 11 will be described later.

[0078] [2. Image recording function of System 100] The system 100 has one or more of the following functions as an image recording function. The image recording function is a function for recording images captured by the first camera 12 and / or the second camera 17 in the system 100 as image data in a predetermined file format. The recording function for images captured by the first camera 12 will be described below, but by replacing the description of the first camera 12 with the second camera 17, the function becomes one for recording images captured by the second camera 17. The image data may be in a still image format, but it is particularly preferable for the image data to be in a video format. Examples of video formats include the MPEG (Moving Picture Experts Group) format (e.g., MPEG2, MPEG4), but also AVI, MOV, WMV, etc.

[0079] <2-1. Continuous recording function> The continuous recording function (also referred to as a continuous video recording function) is a function that continuously (that is, constantly) records images captured by the first photographing device 12 while the system 100 is in operation. When the control device 11 is executing the continuous recording function, it records image data captured from the start to the stop of the vehicle 400. The start of the vehicle 400 may be detected, for example, by the main switch 405 being turned on, and the stop of the vehicle 400 may be detected by the main switch 405 being turned off.

[0080] In the power-on state after the main switch 405 is turned off, the control device 11 acquires image data from the first photographing device 12 and writes the acquired image data to a memory in the control device 11, but it is preferable not to record the image data in the storage medium 500. In this way, the power consumption of the system 100 during the period in which the power of the system 100 continues to be on even after the main switch 405 is turned off is less than the power consumption during continuous recording.

[0081] <2-2. Event recording function> The event recording function is a function for recording an image captured by the system 100 in response to the occurrence of a specific event. The event is an occurrence for which an image captured by the system 100 should be recorded, such as when the user performs an operation such as sudden steering or sudden braking while the vehicle 400 is traveling, or when the vehicle 400 approaches or collides with another object (e.g., an object or a person). The control device 11 determines that an event has occurred based on the measurement values ​​obtained by the acceleration sensor and the gyro sensor. The conditions for determining the occurrence of an event are not limited to the above. The control device 11 may analyze an image captured by the first photographing device 12 and determine that an event has occurred when the vehicle 400 approaches or collides with another object. The control device 11 may determine that an event has occurred when a predetermined event recording button (not shown) or the one-touch switch device 16 is operated.

[0082] When the control device 11 determines that an event has occurred, it records images captured during a predetermined period (hereinafter referred to as an "event recording period") before and after the occurrence of the event in the storage medium 500. The control device 11 may temporarily record images captured by the first image capture device 12 in the storage unit 112 (for example, RAM), and when it determines that an event has occurred, record images during the event recording period read from the storage unit 112 in the storage medium 500. The control device 11 may store images for a total of 40 seconds, for example, 20 seconds before the occurrence of the event and 20 seconds after the occurrence of the event, as one file. The event recording period is an example, and may be different depending on the type of event, or may be changeable by the user. The control device 11 may record images consisting of multiple files for each occurrence of one event in the storage medium 500. The control device 11 may record the time when the event occurred, values ​​measured by an acceleration sensor and a gyro sensor (for example, acceleration in each direction of three axes), and position information obtained using the GNSS receiver 13 in association with the images in the storage medium 500.

[0083] [3. External Configuration of First Imaging Device 12] FIG. 3 is a six-sided view showing an example of the external configuration of the first image capturing device 12. FIG. 3(A) is a front view, FIG. 3(B) is a left side view, FIG. 3(C) is a right side view, FIG. 3(D) is a top view (plan view), and FIG. 3(E) is a bottom view. The first image capturing device 12 includes a housing 3 and a mounting member 4 for mounting the housing 3 at a predetermined mounting position of the vehicle 400. The housing 3 constitutes the housing of the main body of the first image capturing device 12 having the imaging lens 2. In FIG. 3(D), the imaging range of the system 100 is shown by using a two-dot chain line. Note that an imaging element and other components are housed inside the housing 3. Note that the numerical values ​​"50", "40", and "50.3" in FIG. 3(A) indicate dimensions.

[0084] In this embodiment, the imaging lens 2 is a hemispherical lens. The imaging lens 2 has a configuration in which a lens is housed in a lens barrel made of aluminum die casting. The lens barrel of the imaging lens 2 is supported by an edge 3A of a lens protruding hole in the housing 3 and a lens holding part (not shown) arranged inside the housing 3. In this way, the imaging lens 2 is held in a state in which it protrudes somewhat from the front of the housing 3. The connector part 3C has a connector to which the connector 7A of the cable 7 is connected. The cable 7 is a cable for outputting image data showing an image photographed by the first photographing device 12 to the control device 11. The housing 3 has mounting parts 3D provided on its upper surface with a gap between them on the left and right. The mounting parts 3D have screw holes that penetrate from left to right.

[0085] The mounting member 4 is a bracket provided on the rear side of the housing 3 for mounting the housing 3 at a predetermined mounting position of the vehicle 400. The mounting position is the head guard 408 described in FIG. 1. The portion of the mounting member 4 that is attached to the mounting position is the mounting plate 4A. The mounting plate 4A is inclined at a predetermined angle with respect to the rear side of the housing 3, and this angle is configured to be changeable. An adhesive member such as double-sided tape is attached to the mounting plate 4A, and the mounting member 4 is attached to the mounting position of the vehicle 400 via the adhesive member. The mounting member 4 is preferably configured to be able to change the inclination of the mounting plate 4A in this attached state. The cable holding portion 4B holds the cable 7 connected to the connector portion 3C.

[0086] The mounting member 4 has a mounting portion 4C having a screw hole penetrating therein from left to right. The mounting portion 4C is a portion that is mounted to the mounting portion 3D of the housing 3. The screw 5 is arranged so as to pass through the mounting portion 3D and the screw hole of the mounting member 4. In a first state in which the screw 5 is fastened, the angle of the mounting plate 4A with respect to the rear surface of the housing 3 is fixed. In a second state in which the screw 5 is loosened, the angle of the mounting plate 4A with respect to the rear surface of the housing 3 can be changed. With the mounting plate 4A attached to a predetermined mounting position of the vehicle 400, the user can adjust the shooting direction of the first imaging device 12 (in other words, the direction in which the imaging lens 2 faces) by changing the attitude of the housing 3.

[0087] The first photographing device 12 can set various photographing ranges for the cabin of the vehicle 400 and the periphery of the vehicle 400 by setting the mounting position and photographing direction, and by combining with other cameras. This is described in Figs. 10 to 12 of JP 2017-132298 A, and therefore will not be described in this embodiment. As the first photographing device 12, a photographing device having a display unit that displays various information may be used. In addition, the housing of the first photographing device 12 does not have to be rectangular parallelepiped, and may be, for example, cylindrical or other shapes.

[0088] FIG. 4 is a diagram showing an example of an image captured by the first image capturing device 12. For example, when the first image capturing device 12 generates an image including at least a hemispherical region, the captured image generated by the first image capturing device 12 becomes, for example, a captured image 121 shown in FIG. 4. The captured image 121 has a circular image region. The captured image 121 has a smaller distortion (also called image distortion) caused by the imaging lens near the center, and the degree of distortion increases as it approaches the circumferential direction in the radial direction. The subject is captured in a relatively large size near the center of the captured image 121, and the subject is captured in a relatively small size as it approaches the circumferential direction in the radial direction. In this example, the driver sitting in the driver's seat 403 and the steering wheel 404 are captured in a relatively large size, and the side and front of the vehicle 400 are captured in a relatively small size.

[0089] FIG. 5 is a diagram showing an example of the relationship between the installation of the first photographing device 12 and the imaging range of the first photographing device 12. FIG. 5(A) shows an installation suitable for recording the situation of the driver and the forklift since the first photographing device 12, a single camera, can take pictures of the front, back, left and right. In addition to grasping the situation of an accident, guidance and education on accident prevention can be effectively performed because an objective viewpoint can be adopted. The photographed image 121 shown in FIG. 4 is an example of an image taken when the first photographing device 12 is installed as shown in FIG. 5(A). The installation is not limited to this, and it is also possible to install the device in such a way that the front of the vehicle 400 is the imaging area as shown in FIG. 5(B). In this case, the imaging range can be the top, bottom, left and right, including the movable range of the arm of the vehicle 400. Such an installation location is suitable, for example, for handling luggage in a high place, entering and exiting a warehouse with a low entrance, and loading and unloading using an elevator.

[0090] [4. System configuration including the second imaging device] As shown in FIG. 8, when a load 32 is placed on a pallet 31, the two forks 402 enter the two insertion openings 33 on the left and right of the pallet 31, respectively, and lift the load 32 together with the pallet 31. Also, as shown in FIG. 9, the pallet 31 and the load 32 to be loaded on the forks 402 are placed, for example, on an item shelf 30. Before lifting the load 32 with the forks 402, the operator moves the forklift to a predetermined position in front of the item shelf 30 and inserts the toes 4021 into the insertion opening 33 of the pallet 31 carrying the load 32. Although not shown, the load 32 may be placed on the pallet 31 placed on the floor or ground, or may be placed on another load 32 via the pallet 31. The system including the second image capturing device 17 captures an image of the work situation when, for example, the forks 402 load and unload the pallet 31 and the load 32, and performs a predetermined process.

[0091] As shown in FIG. 2, the second photographing device 17, the second communication device 18, and the battery 19 are mounted on the working unit 422. The second photographing device 17 is a camera that captures images and generates image data obtained by the capture. The second photographing device 17 has, for example, an imaging lens, which is an example of an optical member, and an imaging element that captures light collected by the imaging lens. The imaging element is, for example, a CMOS (Complementary MOS) or a CCD (Charge Coupled Device). The imaging element captures images and outputs image signals representing the captured images. The first photographing device 12 generates color (multi-color) images consisting of, for example, red (R), green (G), and blue (B) color components. The second photographing device 17 may also include an A / D conversion circuit that converts the signal from the imaging element from analog to digital.

[0092] The second photographing device 17 may be attached to the working section 422 so as to be able to photograph the cargo 32 and pallet 31 to be loaded on the forks 402 when the forklift is positioned in front of the pallet 31 and cargo 32. The second photographing device 17 may also be able to photograph the surrounding area including the insertion opening 33 of the pallet 31 into which the forks 402 enter. The photographing area of ​​the second photographing device 17 may be set to include at least the tips 4021 on the tip side of the forks 402. In this way, the second photographing device 17 can photograph the state in which the tips 4021 of the forks 402 enter the insertion opening 33 of the pallet 31 or the state in which the tips 4021 of the forks 402 approach the pallet 31 while being misaligned with the insertion opening 33. The specific mounting position and other configurations of the second photographing device 17 will be described later.

[0093] The second communication device 18 performs wireless communication with the first communication device 15, for example, and transmits images captured by the second photographing device 17. The control device 11 stores the images captured by the second photographing device 17, acquired via the first communication device 15, in the storage medium 500, and also controls display of the images on the display device 20.

[0094] The second photographing device 17 moves up and down together with the forks 402 and the backrest 412 as they move up and down. Therefore, the second photographing device 17 photographs the forks 402 and the area in front of them regardless of the height at which the forks 402 are located. The control device 11 acquires the image photographed by the second photographing device 17 and displays it on the display device 20. Therefore, for example, when picking up a load 32 located at a high place, the forks 402 move to the height position of the load 32 located at the high place in response to the driver's operation. Accordingly, the second photographing device 17 photographs the load 32 located at the high place and the pallet 31 on which the load 32 is placed. Therefore, even if the driver cannot see the tips 4021 of the forks 402 while sitting in the driver's seat, the driver can check the positional relationship between the tips 4021, the load 32, and the pallet 31 by looking at the display device 20, and can safely insert the tips 4021 of the forks 402 into the insertion opening 33 of the pallet 31. This system 100 can solve the problem of wanting to see images when picking up luggage 32 that is in a high place, such as in a warehouse.

[0095] <4-1. Power supply to the second imaging device 17 and the second communication device 18 and communication with the devices and equipment on the vehicle body 421 side> As the work is performed, the backrest 412 and the forks 402 move up and down relative to the mast 401. The second photographing device 17 and the second communication device 18 are driven by power supplied from the battery 19 mounted on the working unit 422. The second photographing device 17, the second communication device 18, and the battery 19 are attached to predetermined positions on the forks 402 or the backrest 412. As a result, the relative positional relationship between the second photographing device 17, the second communication device 18, and the battery 19 does not change even if they move up and down as described above. Therefore, the wiring electrically connecting the second photographing device 17, the second communication device 18, and the battery 19 to each other does not expand or contract due to the movement up and down, and does not break due to the movement up and down. In addition, the image captured by the second photographing device 17 is transmitted from the second communication device 18 to the control device 11 via the first communication device 15 by wireless communication.

[0096] In this way, the second image capturing device 17 and the second communication device 18 mounted on the working unit 422 are supplied with power from the battery 19 mounted on the same working unit 422, and data is sent and received between the control device 11 and the like installed on the vehicle body 421 side by wireless communication. Therefore, the second image capturing device 17 and the like are not connected to the vehicle battery 415, the control device 11, the display device 20 and the like mounted on the vehicle body 421 by cable. If the second image capturing device 17 and the like and the device mounted on the vehicle body 421 side are connected by cable, the distance between the second image capturing device 17 and the display device 20 and the like changes greatly due to the up and down movement of the fork 402 and the backrest 412. Since the distance changes too much, when connecting the two with a cable, something like a reel for winding (sometimes called a "cable reel") is required, which makes the device larger. In contrast, in this embodiment, a cable is not required and a device such as a reel is not required, resulting in a compact configuration.

[0097] <4-2. Second photographing device 17, second communication device 18, and battery 19 integrated into one device> 6, 7, 10 to 12, the second photographing device 17, the second communication device 18, and the battery 19 are integrated into a photographing unit 430. The photographing unit 440 may be attached to a predetermined position of the backrest 412 that constitutes the working section 422. Since the photographing unit 430 is integrated, it is compact and can be easily attached to the working section 422.

[0098] The photographing unit 430 stores the second photographing device 17, the second communication device 18, and the battery 19 in one case 431, and electrically and physically connects them to each other through internal wiring. The battery 19 is a rechargeable secondary battery, and a charging circuit for the battery 19 is provided inside the case 431. The battery 19 is detachably attached to the case 431, although not shown. This allows the battery 19 to be replaced when it deteriorates, for example. The integration is not limited to storing them in one case 431, but may be performed by storing some or all of them in separate small cases, and electrically and physically connecting the small cases to each other. The wiring connecting the second photographing device 17, the second communication device 18, and the battery 19 is configured not to be exposed to the outside. This prevents the wiring from coming into contact with the luggage 32 loaded on the fork 402, surrounding installations, etc., and breaking.

[0099] As shown in Figures 7, 10, etc., the photographing unit 430 should be attached to the middle position in the left-right direction of the backrest 412, and positioned so that it can take pictures facing forward. In this way, the left and right forks 402 are symmetrically within the photographing range. Furthermore, the photographing unit 430 is not limited to being positioned in the middle position in the left-right direction of the backrest 412, and may be positioned shifted to either the left or right. Furthermore, when shifted to the left or right, the photographing unit 430 may be positioned in a section outside one of the forks 402, and is preferably provided in the section between the two forks 402.

[0100] As shown in an enlarged view in FIG. 12(a), the photographing unit 430 is preferably attached to the back side of the backrest 412 (the vehicle body 421 side) at a location that does not come into contact with the mast 401 or the fork 402. The back side of the backrest 412 is easy to attach because it has a large attachment area and is not touched by the luggage 32. The backrest 412 has a high degree of freedom in terms of the attachment position, but the attachment position is limited in order to avoid interference with other parts. The photographing unit 430 is stored together in one case 431 and is compact, so it is easy to attach to the backrest 412 and easy to use. In addition, since the cable is not arranged on the fork 402 side on which the luggage 32 is placed, the luggage 32 will not get caught on the cable. In addition, the case 431 is preferably attached to the backrest 412 using an adhesive member such as an adhesive tape or a magnet.

[0101] 10 and other figures, the mast 401 is disposed near both left and right edges of the backrest 412, and is not present in the left and right central portion of the backrest 412 to which the photographing unit 430 is attached. Therefore, the photographing unit 430 attached to the middle position in the left and right direction of the backrest 412 does not face the mast 401. As a result, the photographing unit 430 does not come into contact with the mast 401 even when the backrest 412 moves up and down. In addition, since the photographing unit 430 is attached to the backside of the backrest 412, the photographing unit 430 is prevented from coming into contact with the luggage 32, etc., during work, etc.

[0102] FIG. 13 shows an example of an image captured by the second photographing device 17 displayed in the display area 21 of the display device 20. The second photographing device 17 is mounted on a photographing unit 430 installed in the center of the backrest 412 in the left-right direction as in the above-mentioned embodiment. The photographing unit 430 is attached so that the photographing area of ​​the second photographing device 17 includes the left and right forks 402 and their tips 4021 and the area in front of them. In the illustrated example, the image captured by the second photographing device 17 displays the fork 402 together with the pallet 31 carrying the baggage 32 arranged on the goods shelf 30 located in front of the fork 402. The driver or the like who sees the image displayed in the display area 21 can confirm that the tips 4021 on the tip side of the fork 402 face the insertion opening 33 of the pallet 31. Therefore, when the toe 4021 faces the insertion port 33, the driver can drive the vehicle 400 to move forward as is, thereby causing the forks 402 to enter the insertion port 33. In this inserted state, the driver operates the operating lever 406 to raise the forks 402 and place the cargo 32 together with the pallet 31 on the forks 402. When performing this series of operations, the driver can check the forks 402 and the view ahead thereof photographed by the second photographing device 17 on the screen displayed in the display area 21.

[0103] Furthermore, when the photographing unit 430 is attached to the back side of the backrest 412, it is preferable that at least the camera lens portion of the second photographing device 17 protrudes above or below the attachment position to the backrest 412 so as to be able to photograph the front. The attachment position of the photographing unit 430 to the backrest 412 is slightly higher than the first portion 4022 of the fork 402 on which the load 32 is placed, so that the positional relationship in height between the tip 4021 of the fork 402 and the insertion opening 33 of the pallet 31 located in front can be easily seen as shown in FIG.

[0104] <4-2-1. Modifications of the mounting position of the photographing unit 430> The mounting position of the photographing unit 430 on the backrest 412 is the back side of the bottom plate 4123 of the outer frame 4121 among the elements constituting the backrest 412, but it may be mounted at various positions without being limited thereto. For example, the mounting position may be various positions such as the mounting member 4122 of the backrest 412 (see FIG. 14(a)) or the top plate 4124 of the outer frame 4121. The mounting position on the backrest 412 is not limited to the back side, but may be the upper or lower surface of each part or other positions, and in that case, it is preferable that the mounting position is a position that does not contact the components of the vehicle 400, the luggage 32, surrounding obstacles, etc. Furthermore, the photographing unit 430 is not limited to being directly mounted on the backrest 412, but may be indirectly mounted using a metal fitting 35 such as an arm (see FIG. 14(b)). The second photographing device 17 is disposed at a position where it can simultaneously photograph the fork 402 and the luggage 32 from above the backrest 412 using the metal fitting 35. The driver can get a bird's-eye view of the state in which the baggage 32 is loaded onto the forks 402. The photographing unit 430 can be attached to the mounting member 4122 of the backrest 412 or to the top plate 4124, or further disposed above the backrest 412 using the metal fittings 35, so that the camera can take pictures from above the forks.

[0105] The metal fitting 35 may have, for example, a multi-joint arm mechanism, so that the position of the photographing unit 430 can be changed. The metal fitting 35 may have, for example, two arms connected at their ends using a predetermined joint member (also called a joint) so that the ends can rotate forward and backward within a predetermined angle range, and the vertical section viewed from the side is configured to be approximately L-shaped. The lower end side of the lower arm is attached to a predetermined position of the backrest 412. The upper end side of the upper arm is attached to the photographing unit 430. As a result, when the angle formed by the two arms is changed, the position of the photographing unit 430 moves up and down. In addition, the connecting portion between the upper arm and the photographing unit 430 may be configured to be, for example, a predetermined joint member, so that the relative angle between the arm and the photographing unit 430 can be adjusted. In this way, the photographing range of the second photographing device 17 mounted on the photographing unit 430 can be adjusted. Furthermore, the connecting portion between the lower arm and the photographing unit 430 may be configured to be, for example, a predetermined joint member, so that the relative angle between the arm and the photographing unit 430 can be adjusted. In this way, the position of the photographing unit 430 can be adjusted over a wide range.

[0106] Furthermore, the camera unit 430, which is indirectly attached to the backrest 412 by the metal fittings 35, may be in a state where it protrudes laterally from the backrest 412 so as to take pictures from the side. When taking pictures from the side, the positional relationship in the height direction between the forks 402 and the pallet 31 and luggage 32 before loading can be easily seen. Also, the position in the front-rear direction of the luggage 32 placed on the first portion 4022 of the forks 402 can be easily seen. By looking at the image taken by the second camera device 17, the driver can check whether the tips 4021 are protruding or protruding too far from the back side of the luggage 32 and pallet 31, and can insert the forks 402 into an appropriate position.

[0107] <4-3. Configuration for attaching the second photographing device 17 to the toe 4021 (part 1)> As shown in FIG. 15 and other figures, the second photographing device 17 is preferably provided on the tip 4021 side of the fork 402. In this way, the second photographing device 17 can photograph the state of the baggage 32 and the pallet 31 on which the baggage 32 is placed with greater accuracy. When the tip 4021 enters the insertion opening 33 of the pallet 31, the second photographing device 17 photographs the inside of the insertion opening 33. When the tip 4021 protrudes outward from the rear of the pallet 31, the second photographing device 17 photographs the view behind the pallet 31. Therefore, the driver can check the position of the tip 4021 by looking at the image photographed by the second photographing device 17 and displayed by the control device 11 on the display device 20, stop the forward movement of the vehicle 400 at an appropriate position, and safely handle the load.

[0108] When the second photographing device 17 is mounted on the prongs 4021 of the forks 402, the forks (prongs) 402 have a groove 4026 on the back side through which the cable 441 passes, and have a hole 4025 penetrating the front and rear at the tip of the forks 402 (see FIG. 15). The front of the hole 4025 opens to the front end of the prongs 4021, and the rear of the hole 4025 opens to the groove 4026. The second photographing device 17 is mounted in the hole 4025. The second photographing device 17 is attached to the tip of the cable 441. The rear end of the cable 441 is connected to the second communication device 18 and the battery 19 (not shown). As a result, the battery 19 supplies power to the second photographing device 17. The second communication device 18 transmits images captured by the second photographing device 17. In addition, the tip of the second imaging device 17 is preferably configured to be recessed inside the hole 4025 so as not to be damaged even if the tip 4021 hits the luggage 32 or other surrounding objects. As a result, even if the fork 402 hits the luggage 32 or the pallet 31, the force applied to the second imaging device 17 is small, and breakage can be minimized.

[0109] The second photographing device 17 attached to the tip 4021 side is preferably provided on one of the two left and right forks 402, and more preferably on both. Also, the second photographing device 17 attached to the tip 4021 side may be referred to as a claw camera in this specification.

[0110] When the claw camera is installed on only one side, it is preferable to control the fork 402 with the claw camera attached to be inserted into the insertion opening 33 of the pallet 31 under the baggage 32 based on the claw camera on that side. In this way, if the fork 402 can be inserted, the other fork 402 can also be inserted at an appropriate position into the insertion opening 33. It is also preferable to set the angle of view so that the tip 4021 of the other fork 402 is included on the edge side of the image captured by one claw camera.

[0111] <4-4. Configuration for attaching the second photographing device 17 to the toe 4021 (part 2)> As shown in Figs. 16 and 17, the present system includes a sheet member 460 that is attached to the upper surface of the horizontal first portion 4022 of the fork 402. The sheet member 460 may be formed, for example, using a high-strength resin plate. An adhesive is applied to the lower surface of the sheet member 460, and the sheet member 460 is attached to the upper surface of the first portion 4022 of the fork 402 using the adhesive. The thickness of the sheet member 460 may be, for example, about 2 mm. The adhesive strength of the adhesive may be such that the sheet member 460 will not peel off even if it is moved with luggage 32 or pallet 31 placed on it when the sheet member 460 is attached.

[0112] One end of the sheet member 460 is disposed at a position a predetermined distance back from the tips 4021 of the forks 402. One end of the sheet member 460 has a tapered surface 461 that is thin at the tip and gradually thickens toward the rear. By forming one end side as the tapered surface 461, when a load 32 or a pallet 31 hits that one end side, it can be guided upward along the tapered surface 461, and the sheet member 460 is prevented from being urged in a direction in which it will peel off.

[0113] The tapered surface 461 has a hole 462 extending in the front-rear direction at the center in the width direction and near the middle in the up-down direction. The rear end side of this hole 462 opens to the lower surface side of the sheet member 460. The second imaging device 17 is attached to the hole 462. The second imaging device 17 is arranged inside the hole 462 and configured not to protrude to the outside. In addition, a cable 463 connected to the second imaging device 17 is drawn out from the back side of the hole 462 to the lower side of the sheet member 460, and is arranged between the lower surface side of the sheet member 460 and the upper surface of the fork 402, and is drawn to the back side.

[0114] As described above, the sheet member 460 is attached to the upper surface of the fork 402 using an adhesive. Therefore, by attaching the sheet member 460 in a state where the cable 463 is placed at a predetermined position on the upper surface of the fork 402, the cable 463 can also be fixed. The cable 463 has a power line for supplying power to the second imaging device 17 and a signal line for transmitting and receiving data between the second communication device 18. If a flat cable is used as the cable 463, the sheet member 460 with a flat lower surface can be attached as it is. The sheet member 460 may have a groove extending in the longitudinal direction on the lower surface. The cable 463 may be wired in the groove.

[0115] The other end of the sheet member 460 is configured to be located further back than the innermost part of the luggage 32 or pallet 31 to be placed on the fork 402. The cable 463 may be pulled rearward from the other end side of the sheet member 460 and connected to a case in which the second communication device 18 and the battery 19 (not shown) are mounted.

[0116] The second photographing device 17 (camera) can be placed near the tip of the fork 402. The second photographing device 17 is located further back than the surface of the tapered surface 461, which can prevent the second photographing device 17 from being damaged by a load. In addition, the other end of the sheet member 460 is located further back than the innermost part of the load, which can minimize the risk of the cable 463 coming into contact with the load 32 or the like placed on the fork 402. This prevents the cable 463 from being broken.

[0117] The sheet member 460 may be configured as a single piece extending in the front-rear direction, or may be configured as a front-rear split. When split into front and rear parts, for example, the tip portion 465 may be configured of a metal such as stainless steel (see the two-dot chain line in FIG. 16). A metal tip portion has increased strength.

[0118] Also in this embodiment, it is preferable that the second image capturing device 17 is provided on each of the two forks 402.

[0119] In addition, various attachments are attached to the forklift from the tip side of the fork 402. Therefore, it is preferable to provide a mounting area such as a hole at a predetermined position of the attachment, and to mount the second imaging device 17 within the mounting area.

[0120] <4-5. Charging system for battery 19> In the above-described embodiments, power is supplied to the devices and equipment mounted on the working unit 422, such as the second photographing device 17 and the second communication device 18, from the battery 19 mounted on the working unit 422. This eliminates the need to connect a power cable or the like to the vehicle body 421. On the other hand, the battery 19 needs to be charged at appropriate times, and the second photographing device 17 and the like will not operate if it is not charged. The battery 19 may be charged, for example, by removing the battery 19 when getting off the vehicle, charging it using a specific charger, and setting the battery 19 when getting on the vehicle next time. However, it is cumbersome to remove and attach the battery 19 each time charging is performed. Therefore, a new problem arises of wanting to charge the battery simply and reliably. Therefore, in this embodiment, the charging system for the battery 19 is configured as follows.

[0121] First, the working unit 422 moves relative to the vehicle body unit 421. The charging system is configured so that when the working unit 422 is in a first state in which it is in a predetermined first positional relationship with respect to the vehicle body unit 421, the power supply path to the battery 19 is connected and charging is possible. The predetermined first positional relationship may be, for example, a predetermined positional relationship adopted when no work is performed using the working unit 422. In particular, the first state may be a state of work based on a predetermined operation that the driver should perform when work using the working unit is completed. The working unit 422 also has a second state that is a second positional relationship with respect to the vehicle body unit 421 adopted when work is performed using the working unit 422 that is different from the first state. The forklift moves the forks 402 up and down during work, and when parking, the forks 402 are positioned downward, for example, with the forks 402 on the ground.

[0122] Therefore, the charging system for the battery 19 is configured so that the power supply path from the vehicle battery 415 (an example of a power supply means) to the battery 19 is connected when the working unit 422 is in a first state (an example of a first state in a predetermined first positional relationship) in which the working unit 422 is not performing work. When the power supply path is connected, the battery 19 can be charged. The first state in which the power supply path is connected is a state in which no work is being performed, and the charging system can charge the battery 19 by utilizing a period in which the vehicle 400 is parked, for example, after the end of work. In addition, the period in which the charging system charges the battery 19 is a period in which the vehicle 400 is not performing work, and time for charging can be secured. The vehicle battery 415 has a larger capacity than the battery 19 and has a sufficient capacity to charge the battery 19. Even if the vehicle battery 415 performs a charging process for the battery 19, the vehicle battery 415 is prevented from running out due to overdischarging.

[0123] The first state (see FIG. 18(b) etc.) may be changed from the second state (see FIG. 18(a) etc.) by a predetermined operation that should be performed by the driver when work using the working unit 422 is completed. In this way, the working unit 422 goes into the first state based on a natural operation of the driver, and the charging system naturally goes into a state where it can charge the battery 19 after the work is completed.

[0124] Also, it is preferable to configure the system so that the power supply path from vehicle battery 415 to battery 19 is cut off when working unit 422 is in the second state performing work. In this way, the charging system can be set to a state in which charging to battery 19 is not possible when in the second state. The driver or the like will become accustomed to performing an operation to set working unit 422 to the first state after finishing work in order to charge battery 19.

[0125] The first state and the second state may be based on the positions of the fork 402 and the backrest 412 of the working unit 422 relative to the vehicle body 421. During loading and unloading work, transportation, and other work, the fork 402 and the backrest 412 move up and down along the mast 401 and are located at a predetermined height (an example of a second positional relationship) (an example of the second state). On the other hand, when the driver leaves the vehicle 400 and parks it (an example of a time when no work is performed using the working unit 422), the loading and unloading device (the fork 402, etc.) is stopped at a fixed position (an example of the first state) below in the height direction. Therefore, the charging path is connected when the fork 402 and the backrest 412 are in the fixed position below, and the charging path is cut off when the fork 402, etc. are in a position other than the fixed position below where they are located when parking (an example of the second state). The fixed position below may be, for example, a position that is not located during work, and may be a position that is only located when the vehicle is parked. When the vehicle is parked, the forks 402 are positioned so as to touch the ground. On the other hand, when the vehicle is working, the forks 402 are positioned at a predetermined high position when lifting or lowering the load 32, and when the vehicle is traveling, the forks 402 are positioned at a relatively low position, but higher than when the vehicle is parked. The fixed positions may be determined based on the difference in the positions of the forks 402 when the vehicle is working and when it is not working.

[0126] 19 and other drawings, vehicle battery 415 includes a first charging cable 416 that constitutes a part of the charging path. The tip side of first charging cable 416 includes a power supply unit 417. Power supply unit 417 is attached to mast 401 at a predetermined position.

[0127] On the other hand, as shown in FIG. 10 and the like, the charging circuit for the battery 19 mounted on the case 431 of the photographing unit 430 includes a second charging cable 432 drawn out of the case 431. The tip side of the drawn out second charging cable 432 includes a power receiving unit 433. The power receiving unit 433 is a separate type separated from the case 431. The power receiving unit 433 is attached to a predetermined position of the backrest 412. The power receiving unit 433 is provided on the tip side of the second charging cable 432 drawn out of the case 431, and can be attached to a different position separated from the attachment position of the case 431. The case 431 is attached to a position where the photographing area of ​​the second photographing device 17 is within a desired range, for example, a central position in the left-right direction of the backrest 412, and the power receiving unit 433 can be attached to a position where power can be supplied from the power supply unit 417 when the fork 402 is at a predetermined height position. The power supply unit 417 is attached to the mast 401. The mast 401 is located on both the left and right sides of the backrest 412, and the case 431 of the second imaging device 17 does not face the mast 401. Even in this situation, by making the power receiving unit 433 a separate type that is separated from the case 431, the case 431, the second imaging device 17, and the power receiving unit 433 can be attached in appropriate positions.

[0128] The power supply unit 417 and the power receiving unit 433 are attached so as to face each other when the fork 402 and the backrest 412 are in the fixed lower position when parked. The power supply unit 417 and the power receiving unit 433 are made of contact-type electrical contacts (also called power contact terminals), and the power supply path is connected or disconnected by the contact and separation of both contacts. The power supply unit 417 and the power receiving unit 433 are attached to the mast 401 and the backrest 412 so as to come into contact when facing each other. Therefore, when the fork 402 is lowered and in the fixed position when parked, the power supply unit 417 and the power receiving unit 433 come into contact and are electrically energized, and are in a state where they can be charged. Note that this charging system is capable of charging when the fork 402 is lowered in the specified position, regardless of whether the vehicle is actually parked or not.

[0129] In this embodiment, the electrical connection between power supply unit 417 and power receiving unit 433 is configured to be connected or disconnected by physical contact / non-contact using electrical contacts (power contact terminals). In this way, power loss at the connection between power supply unit 417 and power receiving unit 433 is small, allowing efficient charging.

[0130] The battery 19 may be configured to be charged as soon as the power supply path is connected. In this way, charging starts automatically when the driver leaves the vehicle 400 or lowers the forks 402 to a predetermined fixed position at the end of work. This prevents the battery 19 from being forgotten to be charged in the battery-powered second photographing device 17, and the second photographing device 17 from becoming inoperable.

[0131] Furthermore, when the fork 402 moves from its designated position, the power supply unit 417 and the power receiving unit 433 separate and become out of contact, and the power supply path is interrupted. For example, in the charging system of this embodiment, if the driver gets off the vehicle without moving the fork 402 to its designated position, the battery 19 is not charged. Therefore, if the driver is unable to charge the battery while parked, the driver can recognize that the driver got off the vehicle without returning the fork 402 to its correct position. It is expected that the driver will recognize this fact and be careful to move the fork 402 to its correct designated position before getting off the vehicle next time.

[0132] <4-5-1. Wireless power supply> Power may be fed between power feeding unit 417 and power receiving unit 433 by, for example, using a non-contact power feeding method (also referred to as a "wireless power feeding method") and virtually connecting power feeding unit 417 and power receiving unit 433 by moving them closer to each other and away from each other. Power feeding unit 417 and power receiving unit 433 are power feeding heads and power receiving heads using coils or the like. Then, with fork 402 in a fixed position, the coils are configured to approach each other and face each other within a predetermined distance range where wireless power feeding is possible.

[0133] In this way, even if the surfaces of power supply unit 417 or power receiving unit 433 become dirty with dust, oil, or other attachments, the power supply path remains connected and battery 19 can be charged. Furthermore, since power can be supplied contactlessly, it is possible to prevent power supply unit 417 and power receiving unit 433 from becoming unable to supply power due to damage or poor contact caused by aging. Furthermore, daily maintenance such as cleaning and replacement of power supply unit 417 and power receiving unit 433 is not required.

[0134] <4-5-2. Example 1 of the installation position of the power supply unit 417 and the power receiving unit 433> The Industrial Safety and Health Regulations stipulate that "when the driver leaves the driving position, the load-receiving device of the fork shovel, etc. must be placed in the lowest lowered position." Therefore, in order to comply with the law, fork 402 should be in the lowest lowered position when parked. The lowest lowered position is said to be the lowest position that the structure allows for the device to be lowered. Therefore, it is recommended that the lowest lowered position be set as the fixed position. Power supply unit 417 and power receiving unit 433 should be installed in respective locations so that they face each other when fork 402 is in the lowest lowered position.

[0135] Mast 401 can take a vertically standing position or a forward or backward tilted position, and the backrest 412 and fork 402 also change their positions accordingly, but their relative positions to mast 401 do not change. Therefore, even if mast 401 tilts forward or backward with fork 402 stopped at a fixed position, the relative positions of power supply unit 417 and power receiving unit 433 do not change, and the power supply path can be maintained in a connected state.

[0136] The first state may be the state of the working part 422, for example, the fork 402, based on a predetermined operation that the user should perform when the work is completed according to the above-mentioned laws and regulations, or may be a state based on an operation performed according to industry standards or customs. For example, when parking a forklift, it is considered good to have the toes 4021 of the forks 402 in a position where they are in contact with the ground or floor. This is because the underside of the toes 4021 of the forks 402 is a tapered surface that rises toward the tip. Therefore, when the forks 402 are positioned at the lowest position while remaining horizontal, a gap is generated between the underside of the toes 4021 and the ground or floor. In this case, a person walking around the forks 402 may get their toes caught in the gap. Therefore, it is considered good to have the forks 402 in a lower position and the mast 401 tilted forward to have the toes 4021 in contact with the ground (as close as possible) so that people walking around do not get caught in the forks 402 and fall or get injured.

[0137] The fork 402 may be set in a fixed position when parked (downward, forward-leaning posture with the toe touching the ground). For example, even if the fork 402 at the lowest lowered position has the toe 4021 touching the ground or the like due to the mast 401 leaning forward, the power supply unit 417 and the power receiving unit 433 maintain a state of facing each other in a predetermined positional relationship. That is, when the fork 402 is in a fixed position when parked with respect to the mast 401 in a vertically erected posture, the power receiving unit 433 and the power supply unit 417 face each other, and a power supply path from the vehicle battery 415 to the battery 19 is connected. In addition, as the erected mast 401 leans forward, the backrest 412 and the fork 402 tilt, but the relative positional relationship between the mast 401 and the backrest 412 does not change. Therefore, for example, if power supply unit 417 and power receiving unit 433 face each other when fork 402 is in a horizontal position at a predetermined height, even if mast 401 and therefore fork 402 tilt from that position, the state in which power receiving unit 433 and power supply unit 417 face each other remains unchanged, and the power supply path remains connected. As a result, when fork 402 is in a fixed position, battery 19 can be charged during parking.

[0138] Also, if the mast 401 is tilted forward when the fork 402 is located at the lowest possible position relative to the mast 401, a predetermined position on the underside of the fork 402 may come into contact with the ground or the like first, and the toes 4021 of the fork 402 may not lower and may not come into contact with the ground or the like. In such a case, the driver may tilt the mast 401 forward by a predetermined angle while raising the fork 402 slightly (for example, 2 to 3 cm) from the lowest end of the mast 401, so that the underside of the toes 4021 of the fork 402 comes into approximate surface contact with the ground or floor. On the other hand, parking the vehicle with the fork 402 stopped at an intermediate height is dangerous because people walking nearby may collide with the fork 402 and be injured. Therefore, when parking, it is necessary to avoid such a situation and make the fork 402 and the ground as one unit as possible. In this way, when the vehicle 400 is parked with the forks 402 stopped at a position slightly elevated from the lowest end and the mast 401 tilted forward, the slightly elevated position may be set as a fixed position.

[0139] In the section where forks 402 are located above the normal position, power supply unit 417 and power receiving unit 433 are configured not to face each other. If the parking and driver disembarking process of vehicle 400 is not completed correctly, such as when the driver disembarks while forks 402 are in a position for loading and unloading, charging is not possible. Therefore, in the latter case, the driver can be made aware of lowering forks 402 and tilting toes 4021 downward.

[0140] In addition, at the time of filing, the law recommends that the forks be in the lowest lowered position when parking, and the industry standard recommends that the tips 4021 of the forks 402 be lowered, so the above-mentioned configuration is made accordingly. If the law is changed after filing, and if the industry standard or practice for the operation performed when parking is changed, the first state may be changed to correspond to the change, and the configuration for connecting the power supply path may be changed. In addition, the first state based on the operation during parking is set as an example in which no work is performed using the working unit 422, but it may be configured so that the power supply path is connected when the first state is based on a predetermined operation that the user should perform when work using the working unit other than parking is completed, for example.

[0141] <4-5-3. Example 2 of the mounting position of the power supply unit 417 and the power receiving unit 433: Configuration in which charging is performed only when the tip 4021 of the fork 402 is tilted downward> The power supply system may be configured so that the battery 19 is charged when the forks 402 are located at a predetermined height and the tips 4021 of the forks 402 are tilted downward, and the battery 19 is not charged when the tips 4021 of the forks 402 are not tilted downward. In this manner, the battery 19 can be charged when the forks 402 are parked in a recommended position. Also, the battery 19 is not charged when the position of the forks 402 is higher than the fixed position or when the forks 402 are in a horizontal position even if they are in a low fixed position. This makes it possible to make the driver aware of parking the forks 402 in the correct position.

[0142] The control for charging the battery 19 on the condition that the fork 402 is in a predetermined posture may be, for example, a configuration in which the power supply path is connected only when the condition is satisfied, or a configuration in which a determination function is provided for determining the posture of the fork 402 and power supply from the vehicle battery 415 is started when the fork 402 is in the predetermined posture. The configuration in which the power supply path is connected when the fork 402 is in the predetermined posture may be, for example, a configuration in which the power supply unit 417 is attached to a predetermined position on the vehicle body 421 side, and is not electrically connected to the power receiving unit 433 attached to the backrest 412 when the mast 401 is in a vertically standing posture, and power is supplied from the power supply unit 417 to the power receiving unit 433 when the mast 401 is tilted forward. The posture of the fork 402 may be determined, for example, based on whether an inclination sensor is attached to the mast 401 and its output exceeds a threshold value, or on the basis of obtaining information on the posture of the mast 401 from the vehicle 400 side. Furthermore, it is preferable to provide an open / close switch at a predetermined position on first charging cable 416 or second charging cable 432, separate from power supply unit 417 and power receiving unit 433, and configure the open / close switch to be opened or closed based on the position of fork 402. It is preferable to provide the open / close switch on second charging cable 432 in particular.

[0143] <4-5-4. Another example of the mounting position of the power supply unit 417> As described above, the attachment position of power supply unit 417 is not limited to mast 401, and power supply unit 417 may be attached to a predetermined position on the vehicle body 421 side. In the example where power supply unit 417 is provided on the vehicle body 421 side, it is preferable to configure power supply unit 417 and power receiving unit 433 to be electrically connected only when mast 401 is tilted forward, taking into consideration that the distance between backrest 412 and vehicle body 421 changes when mast 401 is tilted forward / backward.

[0144] In response to this, it is preferable that power supply unit 417 attached to vehicle body unit 421 and power receiving unit 433 attached to backrest 412 are configured to be electrically connected when fork 402 is in a fixed position, regardless of the posture of mast 401. The electrically connected configuration may be such that, for example, power supply unit 417 and / or power receiving unit 433 are made large in size and shape, and they face each other in the section from when mast 401 is upright to when it is displaced to a forward-leaning posture with fork 402 in a fixed position.

[0145] In this case, it is preferable that the power supply unit 417 and the power receiving unit 433 are attached to the lower side. The mast 401 tilts forward / backward with the lower end side as the center of rotation. The amount of displacement of the distance between the backrest 412 and the vehicle body 421 caused by the displacement of the mast 401 becomes shorter the further downward, so that electrical connection can be made with a simple configuration. The same applies when non-contact wireless power supply is used.

[0146] <4-6. Charging timing> <4-6-1. Operation in the first mode> The charging circuit for battery 19 is configured to charge when power is received via power receiving unit 333, and cannot charge when power is not being received. Power supply unit 417 is configured to constantly generate the output voltage of vehicle battery 415. In this manner, when fork 402 reaches a predetermined fixed position, power supply unit 417 and power receiving unit 433 face each other, and charge is supplied from power supply unit 417 to power receiving unit 433. Therefore, the charging system charges battery 19 regardless of the state of vehicle 400, for example, whether ACC is ON or OFF. On the other hand, when fork 402 is not in the fixed position, power supply unit 417 and power receiving unit 433 do not face each other. Therefore, the charging system does not charge battery 19.

[0147] In this way, the battery 19 is charged every time the driver finishes work and parks the vehicle 400. This prevents the battery-powered second imaging device 17 from forgetting to charge and becoming inoperable. The charging control is the same as in the above-mentioned embodiment.

[0148] Furthermore, when the fork 402 is not in the fixed position, no charge is received by the power receiving unit 433. Therefore, the charging system does not charge the battery 19.

[0149] <4-6-2. Operation in the second mode> If the vehicle 400 is a battery-powered forklift, the vehicle body 421 is equipped with a large-capacity vehicle battery 415 (an example of a second battery) that supplies power to the vehicle 400. In this type of vehicle, the vehicle battery 415 may be charged periodically. Periodic charging may occur, for example, during a break such as a lunch break or at the end of a day's work, and may also be performed when the capacity of the vehicle battery 415 is low. The actual charging operation is performed by moving the vehicle 400 to a charging station and feeding power from the charging station to a charging circuit to the vehicle battery 415 by contact / non-contact.

[0150] The charging system for the battery 19 may be configured to charge the battery 19 when the forks 402 are in a fixed position, the working unit 422 is in a first state, and the vehicle battery 415 is being charged, and not to supply power to the battery 19 when the vehicle battery 415 is not being charged.

[0151] In this way, the battery 19 is charged only when the vehicle battery 415 is being charged. This makes it possible to prevent the vehicle battery 415 from running out of power. For example, if the vehicle battery 415 is not charged and power is supplied from the vehicle battery 415 to the battery 19 every time the fork 402 reaches a fixed position, the capacity of the vehicle battery 415 will gradually decrease. As a result, there is a risk that the vehicle battery 415 will run out of power. In contrast, if the charging system is configured to charge the battery 19 only when the vehicle battery 415 is being charged, it is possible to prevent the capacity of the vehicle battery 415 from gradually decreasing as much as possible.

[0152] In addition, the power supply source when charging the battery 19 while charging the vehicle battery 415 may be from the vehicle battery 415 as in the first mode, or from a charging station (an example of a power supply means) of AC 100V / 200V that charges the vehicle battery 415 (see FIG. 19). When charging from a charging station, the charging system may adopt a method of connecting the other end of the first charging cable 416 to a second power receiving unit 435 that receives power from the charging station, or a method of providing a DCDC charging circuit 420 on the first charging cable 416. When the battery voltages of the vehicle battery 415 and the battery 19 are the same, the former method should be adopted, and when they are different, the latter method should be adopted.

[0153] As a control for not charging battery 19 when vehicle battery 415 is not being charged even when fork 402 is in a fixed position, for example, first charging cable 416 may not be connected to vehicle battery 415, and second power receiving unit 435 that can be connected to a charging station may be provided. When first charging cable 416 is connected to vehicle battery 415, a charging / discharging circuit of vehicle battery 415 may output to first charging cable 416 when receiving power from the charging station. The charging / discharging circuit may be configured so that the power supply path to first charging cable 416 is not from vehicle battery 415, but the power supply line from the charging station is directly connected to first charging cable 416.

[0154] With this configuration, even if the fork 402 is in a fixed position, when the vehicle battery 415 is not being charged, no charge is supplied to the power supply unit 417, and therefore charging is not performed. This embodiment effectively functions as a measure to prevent the vehicle battery 415 from running out of power when the power consumption of the second photographing device 17 and the second communication device 18 is large.

[0155] <4-6-3. Charging system with mode switching function> The charging system may have the above-mentioned first mode and second mode, and the control device 11 (an example of a setting means) may have a function of setting which mode the charging system will operate in. In this way, the control device 11 operates in the mode set, and the battery 19 can be charged. The user can charge the battery 19 at an appropriate timing, for example, depending on the usage status of the vehicle 400. For example, when the remaining capacity of the vehicle battery 415 is high, the charging system may operate in the first mode. The charging system operates in the first mode, and charges the battery 19, for example, every time the vehicle is parked, thereby preventing the battery 19 from running out and the second imaging device 17 and the like from becoming inoperable. For example, when the remaining capacity of the vehicle battery 415 is low, the charging system may operate in the second mode. The charging system can prevent the vehicle battery 415 from running out. In addition, the driver can be made aware of charging the vehicle battery 415 and charging the battery 19.

[0156] The control device 11 operates in a mode set according to a user's input. For example, the control device 11 displays a soft button on the display device 20 for selecting either a first mode or a second mode. When the control device 11 receives an operation input via a predetermined input unit (for example, a touch sensor or an operation switch), it supplies power to the power supply unit 417 in the received mode. The charging circuit for the battery 19 charges the battery 19 when power is supplied from the power supply unit 417 to the power receiving unit 433, and does not charge the battery 19 unless power is supplied to the power receiving unit 433. Therefore, the working unit 422 side of the charging system simply charges the battery 19 when power is supplied to the power receiving unit 433, and does not charge the battery 19 unless power is supplied, and the mode can be switched by switching control by the control device 11 provided in the vehicle body unit 421.

[0157] Also, the mode may be set by a switch for setting the mode, not necessarily by the control device 11, and the mode may be set based on the switch operation of the user. The switch may be a manual or electrical switch.

[0158] <4-7. Operation of the second imaging device 17, etc. during charging> The photographing unit 430 may be configured to be operable regardless of whether it is being charged or not. The second photographing device 17 and the second communication device 18 may be configured to be driven by receiving power supply from the battery 19 even during charging. In addition, the second photographing device 17 and the second communication device 18 may be configured to operate by using the charge supplied by the battery 19 while the battery 19 is being charged.

[0159] The second photographing device 17 and the second communication device 18 are configured to be operable even during charging, so that they can photograph the surroundings even during parking, for example. At this time, the vehicle battery 415 may supply power to the control device 11, the reader / writer 114, the first communication device 15, and the like provided in the vehicle body 421, and the image photographed by the second photographing device 17 may be recorded in the storage medium 500. In this way, the system 100 can photograph the situation of work being performed in front of the forks 402 during parking, etc., and monitor the surroundings. The second photographing device 17 can photograph while the battery 19 is charging, and the surroundings of the forks 402 when the forklift is not being operated can be monitored.

[0160] For example, in the case of a truck, unloading is performed at the rear of the vehicle. Therefore, a drive recorder mounted on the truck to record images of the front may be turned off while the vehicle is parked. In contrast, in the case of a forklift, work is performed at the front of the forks 402. The second image capturing device 17 captures images of the situation near the tips 4021 of the forks 402, and can record any accidents that occur during work. Therefore, it is preferable to operate the second image capturing device 17 even while the vehicle is parked or while the battery 19 is being charged. Accidents can occur when unloading a forklift, and this is a beneficial effect for users who wish to record and monitor the vehicle even while the vehicle is parked.

[0161] It is also preferable to configure the second photographing device 17 and the second communication device 18 to be turned off / power supply stopped when charging of the battery 19 is started. In this way, the charging system only charges the battery 19 while the vehicle is parked, and charging can be performed efficiently in a short time.

[0162] <4-8. Function to notify when charging is not possible> The control device 11 may perform control to notify the user that the battery 19 cannot be charged if the fork 402 is not in a predetermined fixed position when parking. The user can know that charging will not occur if the user gets off the vehicle in this state. This allows the user to return the fork 402 to a predetermined fixed position, thereby preventing the occurrence of a situation in which the battery 19 is not charged while parking. In addition, the user who recognizes the notification can know that charging is not possible, that is, that the position and posture of the fork 402 are not appropriate. Accordingly, the user can return the fork 402 to a position or posture specified by law or recommended by law. The notification may be made using a visual notification using the display device 20, an auditory notification using the audio output unit 113, or the like.

[0163] The detection of parking may be determined, for example, by the control device 11 detecting that the vehicle is in a state where it cannot be driven, such as ACC OFF. The detection of the absence of the fork 402 in a predetermined fixed position may be determined, for example, by whether the battery 19 is being charged. The presence or absence of charging the battery 19 may be determined, for example, by the control device 11 determining whether the battery 19 is being charged based on the terminal voltage of the power supply unit 417 or the like, in the case where the power supply unit 417 and the power receiving unit 433 are contact-type electrical contacts (power contact terminals). The photographing unit 430 has a charging detection function for detecting the charging state of the battery 19, for example, whether it is being charged or not. The charging detection function is configured to notify the first communication device 15 of the charging state using the second communication device 18. Then, the control device 11 can determine whether the battery 19 is being charged based on the presence or absence of such notification.

[0164] <4-9. Configuration using wireless power supply to vehicle battery (an example of a second battery)> When charging vehicle battery 415 by wireless power supply, it is preferable to configure so that battery 19 is also charged using power supply to vehicle battery 415. As shown in Fig. 20, vehicle body unit 421 includes second power receiving unit 435 that supports wireless power supply for charging vehicle battery 415, and third power receiving unit 436 that supports wireless power supply and is adjacent to second power receiving unit 435. Third power receiving unit 436 is connected to first charging cable 416. Third power receiving unit 436 is configured to receive power from power supply pad 437 for second power receiving unit 435.

[0165] When charging vehicle battery 415, vehicle 400 is moved to a predetermined position in the charging station, and second power receiving unit 435 faces power supply pad 437 provided in the charging station. When charging is started in this state at the charging station, a predetermined magnetic field is generated from the surface of power supply pad 437, and second power receiving unit 435 receives power by the magnetic field and charges vehicle battery 415 via a charging circuit provided in vehicle body unit 421.

[0166] At this time, the magnetic field generated around power feeding pad 437 may spread over a range wider than the surface of second power receiving unit 435 so that second power receiving unit 435 can reliably receive power, and third power receiving unit 436 is disposed within the range of the leakage magnetic field. Thus, third power receiving unit 436 receives the leakage magnetic field generated when wirelessly feeding power to vehicle battery 415. Then, the received power reaches power feeding unit 417 via first charging cable 416, and can charge battery 19.

[0167] In this embodiment, third power receiving unit 436 is provided on a side surface or the like of body unit 421 and configured to be able to feed power from power feeding unit 417 using first charging cable 416, but third power receiving unit 436 may be power receiving unit 433 provided in working unit 422, for example, in backrest 412. In this case, third power receiving unit 436, which also serves as power receiving unit 433, may be provided on either the left or right outer surface of backrest 412.

[0168] It is preferable to provide power receiving units (one for vehicle battery 415 and one for battery 19) for receiving wireless power on both vehicle body 421, which is the main body side of the forklift, and working unit 422 (sometimes referred to as "movable unit") such as fork 402 (also referred to as "claws"). In this case, it is preferable to provide two power receiving units (second power receiving unit 435 and third power receiving unit 436) at positions adjacent to vehicle body 421, which is the main body side, and working unit 422, which is the movable unit. It is particularly preferable that second power receiving unit 435 and third power receiving unit 436 are arranged at the same height. If they are at the same height, third power receiving unit 436 is more likely to be within the range of a leakage magnetic field from a power supply pad for supplying power to second power receiving unit 435.

[0169] In accordance with the SDGs, forklifts, especially small ones, will become electric forklifts, and wireless charging will be adopted in many cases for charging vehicle battery 415. Since vehicle battery 415 has a large capacity of 24V, power supply pad 437 for supplying power to second power receiving unit 435 will become larger. Accordingly, the leakage magnetic field of power supply pad 437 for supplying power will also become larger, making it easier to use for charging battery 19.

[0170] In addition, a small power supply facility may be provided in a charging space or charging booth where a charging station for the vehicle battery 415 is installed. This small power supply facility is for charging the battery 19. When the vehicle 400, which is a forklift, is moved to the charging booth and the second power receiving unit 435 for the vehicle battery faces the power supply pad 437, the power receiving unit 433 when the fork 402 is in a fixed position may face the power supply pad of the power supply facility (not shown). In this way, the driver can charge the vehicle battery 415 and the battery 19 at the same time by simply moving the vehicle 400 to a specified position in the charging booth.

[0171] Also in this example, the power receiving unit 433 and the third power receiving unit 436 are provided near the left and right side surfaces of the working unit 422 and the body unit 421. Since the second photographing device 17 is preferably provided in the center of the backrest 412 or at the toe 4021, it is preferable that at least the power receiving unit 433 is a separate type separated from the second photographing device 17.

[0172] <4-10. Configuration in which charging of vehicle battery 415 is performed using a charging connector> Vehicle 400 is provided with a power supply port (not shown) for charging vehicle battery 415 at a predetermined position of vehicle body 421. The driver or the like attaches a charging connector of a charging station to the power supply port to charge the vehicle. In this way, charging efficiency is improved and charging is completed in a short time.

[0173] In this case, charging of battery 19 is not limited to being performed from vehicle battery 415, but may be performed by receiving power directly from the charging station. That is, like the above-mentioned power supply equipment, the charging station is provided with a second charging connector dedicated to charging battery 19. Then, the driver or the like may charge battery 19 by attaching the second charging connector to a power supply port for charging battery 19 provided at a predetermined position on the vehicle.

[0174] Furthermore, when charging the vehicle battery 415, the control device 11 may notify a message encouraging charging of the battery 19. The message encouraging charging may be, for example, "Please also charge the camera" or the like displayed on the display screen or announced by voice.

[0175] <4-11. Example of system configuration using the second imaging device 17> 21 shows an example of a system configuration related to the above-mentioned second image capturing device 17. In addition, a plurality of configuration examples that can be adopted in this embodiment are collectively described. The second image capturing device 17 (camera), the second communication device 18, and the battery 19 are attached to the working unit 422 side.

[0176] In the illustrated example, the battery / wireless transmission unit 450, which integrates the second communication device 18 and the battery 19, and the second photographing device 17 (claw camera) provided on the tip 4021 side of the fork 402 are connected by wire using a cable 463. This cable 463 includes a power line and a signal line. Two second photographing devices 17 are provided, and each is preferably attached to the tip 4021 of the fork 402. Also, it is preferable to take an image from above the claw, that is, to take an image from the upper side of the fork 402 so that the fork 402, the tip 4021, and the baggage 32 placed on the fork 402 are shown in the same screen. For example, the second photographing device 17 and the photographing unit 430 are fixed to a predetermined position on the backrest 412, and photographed diagonally downward. For another configuration for photographing from above, it is preferable to take an image from a position higher than the backrest 412 using a predetermined metal fitting 35 such as an arm member.

[0177] In the figure, the second communication device 18 and the battery 19 are integrated, and the second photographing device 17 is separated from the second communication device 18. In this case, for example, the battery / wireless transmission unit 450 has a power receiving unit 433 on the surface of the case. The battery / wireless transmission unit 450 is attached to a predetermined position such as the backrest 412, that is, to a position where the power receiving unit 433 faces the power supply unit 417 provided on the mast 401 when the fork 402 is in a fixed position. The power receiving unit 433 may be provided on the tip side of the second charging cable 432 drawn out from the case as in the photographing unit 430, instead of being attached to the case of the battery / wireless transmission unit 450. In this way, the power receiving unit 433 may be provided at a position facing the power supply unit 417, and the battery / wireless transmission unit 450 may be attached at an appropriate position where it does not get in the way of the surroundings.

[0178] In addition, the second photographing device 17, the second communication device 18, and the battery 19 have been described as being integrated together, and the second communication device 18 and the battery 19 as being integrated together, but the combination of integration is arbitrary. For example, the second photographing device 17 and the battery 19 may be integrated together, or the second photographing device 17 and the second communication device 18 may be integrated together. Alternatively, the three may be configured separately. In either case, when integrating the battery 19, it is preferable to store them in a single case, but make the battery 19 removable from the case.

[0179] In addition, it is advisable to use a single case when integrating devices so that no wiring is exposed to the outside. A single large case may be used in which the devices to be integrated are mounted, or the sides of the smaller cases housing each device may be electrically and mechanically connected to integrate them into a single case.

[0180] Also, the blocks "Monitor", "Monitor / Record", "Record" and "Server" shown in FIG. 21 do not indicate the unit, but indicate the operating state. Also, it is not limited to implementing all devices having each function. The monitors and the like mounted on the vehicle body 421 can be installed in any position and in any combination. For example, the embodiment shown in FIG. 2 is equipped with a display device 20 (an example of a monitor), a reader / writer 114 and a storage medium 500 (an example of recording), but it is also possible to have only one of them.

[0181] The "monitor" block shown in FIG. 21 is configured so that the control device 11 outputs the image captured by the second imaging device 17 to the display device 20, but does not record the image data. The driver looks at the display device 20 to check in real time. The "monitor / record" block is configured so that the control device 11 outputs the image captured by the second imaging device 17 to the display device 20, and performs processing to record it in the storage medium 500. The driver looks at the display device 20 to check in real time, and also reads out the storage medium 500 for post-event checking, etc. The "record" block is configured so that the control device 11 performs processing to record the image data captured by the second imaging device 17 in the storage medium 500. The control device 11 does not display on the display device 20.

[0182] The "server" block is configured so that the first communication device 15 or the second communication device 18 performs a process of sending image data captured by the second photographing device 17 to the server. When transmitting to the server, the first communication device 15 or the second communication device 18 may transmit all captured image data, but it is preferable to transmit image data that satisfies certain conditions. The control device 11 reads out the image data that satisfies the certain conditions from the storage medium 500, and transmits it to the server using the first communication device 15.

[0183] In addition, when all images captured by the second image capturing device 17 are transmitted to the server in real time, for example, the battery / wireless transmission unit 450 may directly transmit the images to the server. In this case, the process of recording the images captured by the second image capturing device 17 in the storage medium 500 may not be performed.

[0184] In addition, the four blocks are not limited to implementing one of them, but may be configured to implement multiple blocks. For example, by implementing a "monitor" and a "server", a "monitor / server" configuration (not shown) may be adopted, and various other patterns may also be adopted.

[0185] <4-12. Configuration for recording on the working unit 422 side> A recording device for recording image data captured by the second photographing device 17 may be provided on the working unit 422 side. In this case, the recording device may be operated by receiving power from the battery 19. In this way, the image data captured by the camera is recorded on the spot.

[0186] As shown in FIG. 22, the battery / wireless transmission unit 450 includes a reader / writer 451 for recording on an SD memory card as an external device. In this way, image data captured by the second photographing device 17 is constantly recorded on the SD memory card. The image data recorded on the SD memory card may be read out at an appropriate timing using the reader / writer 451 in accordance with an instruction from the control device 11, and may be displayed on the display device 20 or sent to a server. The SD memory card is an example of a storage medium 500, and various storage media 500 may be used. In FIG. 22, the battery / wireless transmission unit 450 transmits image data by wireless transmission. The transmitted image may be acquired by the control device 11 and output to the display device 20, and may be used by the driver for monitoring. The reader / writer 451 may be configured to operate by receiving power supply from the battery 19. In addition, if the reader / writer 451 has a built-in battery, the built-in battery may also be charged using this charging system.

[0187] Although the reader / writer 451 is depicted in FIG. 22 as being external to the battery / wireless transmission unit 450, it may be built into the unit, or may be attached to the second image capturing device 17, or other combinations are free. Also, a configuration in which the second image capturing device 17 and other devices are appropriately combined and integrated may be adopted. For example, it is preferable to integrate the display device 20 (monitor) with the recording device. For example, it is preferable to configure the monitor to be built into the recording device. For example, integrating the recording device and monitor makes it easier to install using a forklift.

[0188] <4-13. Example of monitor display using two nail cameras> FIG. 23 is an example of the monitor display when the second photographing device 17 is attached to each of the prongs 4021 of the two forks 402. In the case of cameras attached to the forks (prongs) 402 on both sides, the control device 11 controls the image captured by the left prong camera to be displayed on the left side of the display screen of the display device 20, and the image captured by the camera attached to the right fork (prong) 4022 to be displayed on the right side. In this way, the left and right can be seen naturally. It is easy to see by imagining looking at the prong from the center of the prong. As the prongs 4021 of the forks 402 have two locations, one on the left and one on the right, if a camera is attached to each, it is easy to understand if both are displayed at the same time.

[0189] <4-14. Configuration for shooting in the second state: Energy saving> The control device 11 may control the second camera 17 to stop photographing when the fork 402 is in the first state, and when it detects that the fork 402 has risen, may control the second camera 17 to photograph for a predetermined period of time.

[0190] In the first state, the system 100 stops the second photographing device 17 from photographing, and can reduce the consumption of the battery 19. The battery 19 has a smaller capacity than the vehicle battery 415. In addition, the battery 19 mounted on the working unit 422 is a mobile battery, and since the capacity cannot be increased, there is a demand for reducing the power consumption. Therefore, the power consumption can be reduced by photographing for a predetermined time when the working unit 422 (also called a movable unit) moves. In addition, after detecting the upward movement of the fork 402, the control device 11 may control the second photographing device 17 to operate for a predetermined time and then stop photographing. This lengthens the time during which the second photographing device 17 does not photograph, and can reduce the battery consumption. The predetermined time may be set based on the time required for the fork 402 to rise to a predetermined position, insert the fork 402 under the luggage 32, and place the luggage 32 on the fork 402.

[0191] The detection of the rise of the fork 402 may be based on the start of the rise from a stopped state, or the rise of the fork 402 to a position higher than a reference height. In particular, the detection may be based on the rise to a position higher than the latter reference height. For example, when the parked fork 402 moves to a location of the luggage 32 to be loaded when the vehicle starts to drive, the fork 402 is driven with the fork 402 slightly raised from the first state, and the fork 402 is raised to a predetermined height just before the luggage 32. If the latter reference height is used, the fork 402 is not photographed while driving, and the consumption of the battery 19 can be further reduced. On the other hand, if it is desired to photograph and monitor while driving, the fork 402 may be photographed based on the start of the rise of the former. In this case, the predetermined time is longer than the latter, taking into account the driving time.

[0192] When information can be obtained from the vehicle 400, the start of the upward movement of the fork 402 or the rise above the reference height can be detected by using the information. When the information cannot be obtained, a vibration sensor can be installed on the fork 402 or the backrest 412, for example, and the vibration sensor can detect the vibration at the start of the upward movement. An acceleration sensor that detects acceleration in the vertical direction can be attached to the fork 402 or the backrest 412, and an image can be taken for a predetermined period of time when the acceleration sensor detects acceleration in the vertical direction. Furthermore, the second image taking device 17 can take an image for a predetermined period of time based on the output of a switch that turns on and off with the vertical movement. A proximity sensor or a switch can be provided at a predetermined position on the mast 401, and the proximity sensor or the switch can be configured to turn on when the fork 402 exceeds the reference height, and the detection signal of the proximity sensor or the switch can be used.

[0193] The detection of the rise may have the above two modes and may be switched by settings. As with the switching between the first and second modes described above, the switching by settings may be performed by displaying a soft button on the setting screen on the display device 20 or by operating various switches.

[0194] The control device 11 may end the image capture if the luggage 32 is placed before the lapse of a predetermined time. Whether the luggage 32 is placed or not may be determined by the control device 11, for example, based on an image captured by the second imaging device 17. In this way, consumption of the battery 19 can be further reduced.

[0195] <4-15. Powered by solar panels> The second imaging device 17 and the second communication device 18 may be supplied with power by a solar panel installed in the working unit 422 instead of or in combination with the battery 19. The solar panel may be attached to the upper surface of the fork (claw) 402, for example. In this case, the surface of the solar panel may be protected with a strong, transparent resin. The solar panel may be, for example, a perovskite solar cell (a bendable solar cell).

[0196] <4-16. Combination with laser irradiation device (part 1)> As shown in FIG. 22, a laser irradiation device 600 that emits laser light indicating the height position of the toes 4021 of the forks 402 and a case (e.g., a photographing unit 430) that has a second photographing device 17 are connected together and attached to a predetermined position of the backrest 412.

[0197] The laser irradiation device 600 includes a light emitting unit 602 on the front side of a predetermined case 601. The laser light 605 emitted from the light emitting unit 602 travels forward on the plane on which the two forks 402 are present. Therefore, the laser light 605 passes through the line connecting the two prongs 4021 and travels further forward, and is irradiated onto the surface of, for example, the pallet 31 or the baggage 32 located in front. FIG. 23 shows an example of an image captured by the second photographing device 17, which is displayed by the control device 11 in the display area 21 of the display device 20. The laser light 605 is displayed in accordance with the forks 402, the pallet 31, and the insertion port 33. This allows the driver to check whether the position of the forks 402 is correct or not by looking at the image displayed on the display device 20 and checking the relative positional relationship between the prongs 4021 of the captured forks 402 and the insertion port 33, as well as the positional relationship between the irradiated laser light 605 and the insertion port 33.

[0198] The case 601 of the laser irradiation device 600 and the photographing unit 430 are connected and integrated. At this time, the photographing range of the photographing unit 430 is set to face the straight direction of the laser light 605 emitted from the laser irradiation device 600. This allows the laser irradiation device 600 and the photographing unit 430 to be easily attached to the working part 422. Then, for example, when the laser irradiation device 600 is attached to a predetermined position of the backrest 412 so that it faces horizontally forward, the angle of view of the second photographing device 17 is also set so that an appropriate area is captured. The predetermined position is a position where the laser light 605 hits an appropriate position.

[0199] In addition, in the illustrated example, the laser irradiation device 600 and the photographing unit 430 are connected side by side, but they may be stacked one on top of the other.

[0200] When a rechargeable battery is used as the power source for the laser irradiation device 600, it is preferable to charge the rechargeable battery together with charging the battery 19. In this case, it is preferable to have one power receiving unit 433. When there is only one power receiving unit 433, for example, it is preferable to adopt a configuration in which the laser irradiation device 600 is charged via the photographing unit 430, and power is also branched from the single power receiving unit 433 to supply power to each of them.

[0201] <4-17. Combination with laser irradiation device (part 2)> The relative position of the laser irradiation device 600 that emits the laser light 605 indicating the height position of the toe 4021 of the fork 402 and the case including the second image capturing device 17 may be adjustable. In this way, the relative positional relationship between the irradiation position of the laser light and the image capturing area of ​​the second image capturing device 17 can be adjusted. In this way, the laser irradiation device 600 and the second image capturing device 17 can be directed to appropriate positions and can be easily attached to the working unit 422. After the relative position of the laser irradiation device 600 and the case including the second image capturing device 17 is adjusted, the positional relationship between the two may be fixed. By adjusting the relative position between the two, for example, the laser light 605 can be irradiated at a position that matches the height of the toe 4021, and the second image capturing device 17 can capture an appropriate area.

[0202] In each of the above-mentioned examples, the case for housing the second image capturing device 17 may be attached using a magnet. In this case, the attachment position may be the backrest 412 or the like, and may be performed together with the laser irradiation device 600.

[0203] <4-18. Warning regarding mishandling of pallets or packages> The control device 11 may have a function of recognizing information on the QR code (registered trademark) attached to the pallet 31 from the image captured by the second photographing device 17, and issuing a warning based on the results of this processing. In this way, mistakes in handling the pallet 31 or the luggage 32, such as mistaking the pallet 31 or the luggage 32, can be prevented in advance.

[0204] The QR code may include information on the owner, manager, and person handling the cargo 32 (e.g., sender, delivery destination) of the pallet 31 or the cargo 32 placed on the pallet 31. When the control device 11 recognizes information indicating that the pallet 31 is genuine from the QR code on the pallet 31, for example, information that identifies that the pallet 31 to be lifted by the forks 402 or the cargo 32 to be placed on the pallet 31 is genuine, the control device 11 may not issue a warning or may notify that the cargo is being handled correctly (for example, by voice, display, or a combination of these). On the other hand, when the control device 11 does not recognize the information of the QR code because no QR code is attached to the pallet 31, or when the control device 11 recognizes information that identifies that the pallet 31 or the cargo 32 belongs to another person, the control device 11 may issue a warning. The warning may be a warning to make a user such as a driver recognize that the pallet 31 is not genuine, for example, that the pallet 31 should not be lifted by the forks 402. The warning may be a message such as "This is a pallet of another company" issued by voice, display, or a combination of these. The QR code may be attached to the luggage 32 or the goods shelf 30 instead of or in combination with the pallet 31. Also, although a QR code has been described in this section, an encoded image that encodes information such as a barcode other than a QR code may be used, or an image with a specific appearance such as a company logo or a character string may be used.

[0205] The system in this section is a system used in a vehicle (e.g., a forklift) that has a body section and a working section that is movable relative to the body section, and can be understood as a system that is equipped with a camera in the working section, performs a process to recognize information such as a QR code attached to a pallet from images captured by the camera, and issues a warning depending on the results of that processing.

[0206] <4-19. Recording with Privacy in Mind> The control device 11 may perform a process of recognizing information on the QR code (registered trademark) affixed to the pallet 31 from the image captured by the second photographing device 17, and may control the recording performed in the vehicle 400 based on the result of this process. In controlling the recording, the control device 11 may control the recording to stop recording (i.e., recording) of images captured by at least one of the first photographing device 12 and the second photographing device 17. In this way, it is possible to prevent images of pallets or luggage handled by other businesses and their surroundings (for example, the work areas of other businesses) from being recorded, thereby realizing a recording function that takes privacy into consideration, such as preventing the photographing and recording of objects that should not be photographed.

[0207] The QR code may include information similar to that in <4-18. Warning regarding mishandling of pallets or luggage>. When the control device 11 recognizes information indicating that the pallet 31 is genuine from the QR code on the pallet 31, for example, information that identifies that the pallet 31 to be lifted by the forks 402 or the luggage 32 to be placed on the pallet 31 is genuine, the control device 11 may record (i.e., record) the image captured by at least one of the first photographing device 12 and the second photographing device 17. On the other hand, when the control device 11 recognizes that no QR code is attached to the pallet 31 and does not recognize the information of the QR code, or when the control device 11 recognizes information that identifies that the pallet 31 or luggage 32 belongs to someone else, the control device 11 may stop the recording. The recording here may be a continuous recording function recording, but may also be an event recording function or the like recording. The control device 11 may resume the stopped recording when a predetermined operation (for example, an operation of a dedicated button) is received from a user such as a driver, or may resume the recording the next time information indicating that the pallet 31 is genuine is recognized from the QR code. The QR code may be attached to the luggage 32 or the goods shelf 30 instead of or in combination with the pallet 31. Also, although a QR code has been described in this section, an encoded image that encodes information such as a barcode other than a QR code may be used, or an image with a specific appearance such as a company logo or a character string may be used.

[0208] The system in this section is a system used in a vehicle (e.g., a forklift) that has a body section and a working section that is movable relative to the body section, and can be understood as a system that is equipped with a camera in the working section, performs processing to recognize information such as QR codes attached to a pallet from images captured by the camera, and controls recording in the vehicle depending on the results of that processing.

[0209] <4-20. Devices powered by battery 19> The working unit 422 may be configured not to include the second image capturing device 17 as a predetermined device. In a system in which a battery and a device driven by the battery are mounted on the working unit, the battery may be charged using the charging system described above. For example, the battery that drives the laser irradiation device 600 mounted on the working unit 422 may be charged using the charging system described above, independent of the second image capturing device 17. In this case, this is applicable to a case in which the second image capturing device 17 is not provided and the laser irradiation device 600 is mounted alone. In addition, the mounted device is not limited to the laser irradiation device 600, and may be any device driven by a battery.

[0210] [5. Application to other vehicles] The vehicle 400 is not limited to a forklift, but can be applied to any vehicle having a movable part that moves relative to the vehicle body 421 and whose movable part is brought into a specific first state by natural movement or operation. For example, it may be used in heavy machinery and various work vehicles. For example, a ladder truck or a crane truck may be configured to be charged when the ladder or crane that moves up and down is lowered and the vehicle is in a parking position. In the case of a ladder truck, a camera is set in a basket at the end of the ladder, and the camera takes pictures when the ladder is extended and the worker is working. In such a case, it is preferable to configure the ladder to be lowered and charged in the fallen state.

[0211] [6. Explanation of matters related to SDGs] The introduction of the above power supply system is expected to contribute to several of the Sustainable Development Goals (SDGs) as follows:

[0212] SDG9: Industry, innovation and infrastructure A system that supplies power to batteries to drive cameras installed on the working parts (moving parts) of vehicles, such as batteries to drive cameras installed on the forks of a forklift, can contribute to improving industrial efficiency, which is expected to improve work processes and increase productivity.

[0213] [7. Notes] The scope of the present invention is not limited to the configurations expressly described in the specification, but includes combinations of various aspects of the present invention disclosed herein. The configurations of the present invention that are sought to be patented are specified in the appended claims, but it is the intention of the present inventors to claim configurations disclosed in this specification that are not currently specified in the claims.

[0214] The present invention is not limited to the configuration described in the above-mentioned embodiment. The components of each of the above-mentioned embodiments and modifications may be arbitrarily selected and combined. Any components of each of the embodiments and modifications may be arbitrarily combined with any components described in the means for solving the invention or any components that embody any components described in the means for solving the invention. We intend to acquire rights to these as well through amendments to this application or divisional applications. Even if there is a description such as "in the case of" or "when", this is not intended to describe a configuration that is limited to that case or time. We also disclose configurations that are not in these cases or times, and we intend to acquire rights. Furthermore, the parts described in order are not limited to this order. We also disclose configurations in which some parts are deleted or the order is changed, and we intend to acquire rights.

[0215] In addition, in the portion where it is explained that A may be, for example, a1, a2..., and an, A may be specified as including one or more of a1, a2..., and an, but A may also be specified as not including one or more of a1, a2..., and an. Therefore, we intend to obtain rights to inventions that exclude at least some of the enumerated elements, such as "A (excluding a1)" and "A (excluding a1 and a2)."

[0216] In a section that describes A having B and B having C, A may have C. In a section that describes processing as performing B after A and C after B, A may have C. In a section that describes processing as being performed after a conditional judgment, this also discloses the execution of the processing part in question, which does not require a conditional judgment, and we intend to obtain rights to these as well. In a section that describes P having Q, an intervening object or intervening processing may be provided between P and Q. We intend to obtain rights to these as well.

[0217] The computer that realizes the function based on the program described in the above embodiment is not limited to the computer of the device described in the above embodiment. The function may be realized by another computer depending on the purpose, use, nature, etc. of the function. For example, the function realized by the viewer program of the imaging device may be realized by a computer program of a personal computer that plays back images captured by the imaging device, a smartphone, a tablet computer, or other device, as appropriate. In addition, the function based on the program described in the above embodiment may be realized by diverting it to a device other than the device described in the above embodiment, for example, by a computer for more general purposes. The program described in the above embodiment may be executed, for example, by a program executed by a personal computer (for example, personal computer software), a program executed by a smartphone (for example, a smartphone app), or a computer of another information processing terminal. Alternatively, the computer that realizes the function based on the program may be a computer used for a device for a specific purpose such as a home device or a commercial device.

[0218] In addition, by converting to a design registration application, we intend to obtain rights for the overall design or partial design. The drawings depict the entire device in solid lines, but they include not only the overall design but also partial designs claimed for a part of the device. For example, a part of the device may be a partial design, and the drawings include a part of the device as a partial design regardless of the part. A part of the device may be a part of the device, or a part of that part. We intend to obtain rights for the overall design, as well as partial designs in which any part of the solid line part of the drawing is drawn as a broken line part. In addition, the modules, parts, components, images, etc. inside the device's casing, all of which are shown in the drawings, are subject to trade independently, and we intend to obtain rights for them by converting to a design registration application. [Explanation of symbols]

[0219] 11: Control device 17: Second imaging device 18: Second communication device 19: Battery 20:Display device 31: Palette 32: Luggage 33: Outlet 100: System 333: Power receiving unit 400: Vehicle 401: Mast 402: Fork 412: Backrest 415: Vehicle battery 416: 1st charging cable 417: Power supply unit 421: Body 422:Working department 430: Photo Unit 431: Case 432: Second charging cable 433: Power receiving unit 435: Second power receiving section 436: Third power receiving section 437: Power supply pad 440: Photo Unit 441: Cable 450: Wireless transmitting unit 451: Reader / writer 460: Sheet material 600: Laser irradiation device 601: Case 602: Light emitting part 605: Laser light 4021: Toe

Claims

1. A system for use in a vehicle having a vehicle body and a working unit movable relative to the vehicle body, The working unit includes a camera and a battery for supplying power to the camera. In a first state in which the working unit is in a predetermined first positional relationship with respect to the vehicle body unit, a power supply path is connected from the power supply means to the battery. system.

2. The first positional relationship is a predetermined positional relationship that is adopted when no work is being performed using the working unit. The system of claim 1 .

3. The first state is a state of the working unit based on a predetermined operation that should be performed by a user when a task using the working unit is completed. The system of claim 2.

4. the vehicle is a forklift; The first state is a state in which the forks constituting the working unit are positioned at a height at which the forks should stop when parking. The system of claim 3.

5. The first state is a state in which the forks, which are positioned at a height at which the vehicle should stop during parking, are inclined downward at their tips. The system of claim 4.

6. When the working unit is in the first state, a power receiving unit electrically connected to the battery and a power supply unit of the power supply means come into contact with each other or are close to each other, thereby connecting the power supply path. The system of claim 5.

7. In a second state in which the positional relationship of the working unit with respect to the vehicle body is a second positional relationship that is adopted while the working unit is working, the power supply path from the power supply means to the battery is cut off. The system of claim 6.

8. When the working unit is in the second state, a power receiving unit electrically connected to the battery and a power supply unit of the power supply means are separated from each other, and the power supply path is cut off. The system of claim 7.

9. The battery is attached integrally to a case in which the camera is housed, The power receiving unit is provided on a tip side of a cable that is pulled out to the outside of the case, The power receiving unit faces a power supply unit that is connected to the power supply means in the first state. The system of claim 6.

10. The system according to claim 9 , wherein the case is provided with a wireless communication unit for transmitting images captured by the camera.

11. The power receiving unit is attached to a backrest to which the fork is connected, a power supply unit that supplies power to the power receiving unit of the power supply means is attached to a predetermined position of a mast to which the backrest is attached so as to be capable of being raised and lowered; The predetermined position is a position where the fork faces the power receiving unit when the fork is in the first state. A system according to any one of claims 6 to 10.

12. the vehicle is a battery-powered forklift; a second battery provided in the vehicle body for supplying power to the vehicle; When the working unit is in the first state and the second battery is to be charged, power is supplied to the battery; When the second battery is not charged, the battery is not supplied with power. A system according to any one of claims 4 to 10.

13. a first mode for charging the battery in the first state; a second mode in which the battery is charged when the second battery is being charged in the first state; Equipped with a setting means for setting the operating mode The system of claim 12.

14. The camera is configured to operate while the battery is being charged. A system according to any one of claims 4 to 10.

15. The camera is provided on a backrest so as to be able to photograph the tip side of the fork and the luggage, The battery is provided at a predetermined position behind the backrest, The predetermined position is a position where the forks and the backrest do not come into contact with the mast to which they are attached so as to be capable of ascending and descending. A system according to any one of claims 4 to 10.

16. a control unit that performs control to notify the user that charging is not possible if the working unit is not in the first state when the vehicle is parked; A system according to any one of claims 4 to 10.

17. A sheet member is attached to the upper surface of the fork, One end of the seat member is set back a predetermined distance from the tip of the fork, The one end has a tapered surface that is thin at a tip and gradually thickens; The camera is attached to a hole provided in the tapered surface, the wiring of the camera is disposed between the lower surface side of the seat member and the upper surface of the fork, The other end of the sheet member is located on the innermost side of the cargo to be placed on the fork. A system according to any one of claims 4 to 10.

18. A laser irradiation device that emits a laser beam indicating the height position of the tip of the fork and a case equipped with the camera are integrally connected. A system according to any one of claims 4 to 10.

19. The relative position of a laser irradiation device that emits a laser beam indicating the height position of the tip of the fork and a case that includes the camera is provided so as to be adjustable. A system according to any one of claims 4 to 10.

20. When the fork is in the first state, the camera stops taking pictures, and when the fork is detected to be raised, the camera is operated to take pictures for a predetermined period of time. A system according to any one of claims 4 to 10.

21. the vehicle body includes a second power receiving unit that supports wireless power supply for charging the second battery, a third power receiving unit adjacent to the second power receiving unit and adapted for wireless power supply; The third power receiving unit receives power from a power supply pad for the second power receiving unit and charges the battery. The system of claim 12.

22. The working unit includes a recording device that records images captured by the camera, The recording device operates by receiving power from the battery. A system according to any one of claims 1 to 10.

Images