Video recorder and vehicle information processor

Abstract

To provide a video recorder capable of preventing an increase in cumulative time during which recording is not performed even in the case of repeating frequent start and stop of power supply to an electric system of a vehicle.SOLUTION: A video recorder is mounted on a vehicle for use. The video recorder detects a first state where a vehicle's electrical system has not been powered or the vehicle has stopped operating, and continues to be powered on even after detecting the first state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a recording device, a vehicle information processing device, and the like. [Background technology]

[0002] Recording devices such as driver recorders are known that are mounted on vehicles and record the surroundings of the vehicle while it is moving. These recording devices generally receive power from the vehicle and record while a switch (hereinafter referred to as a "main switch") for starting and stopping the power supply to the vehicle's electrical system is on. When the main switch is turned off, the power supply from the vehicle to the recording device is stopped, and recording also stops. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-132298 Summary of the Invention [Problem to be solved by the invention]

[0004] In work vehicles such as forklifts, the main switch may be frequently switched on and off as the driver gets in and out of the vehicle. In general recording devices, there is a delay between when the vehicle's main switch is turned on and power supply starts, and when recording actually starts. Therefore, recording is not performed for the period from when the main switch is turned on until this delay time has elapsed. If the main switch is frequently turned on and off, the cumulative time during which recording is not performed becomes long.

[0005] For example, when using a forklift to handle cargo, after loading the cargo into the loading area, the driver must get out of the driver's seat to check that the cargo has been loaded properly. For safety reasons, it is recommended to turn off the forklift's main switch before getting out of the seat. With conventional video recording devices, recording stops when the forklift's main switch is turned off and the power supply to the recording device is stopped. For example, if the delay time between when the power supply is turned on and when recording starts is about 10 seconds, if the driver repeatedly turns the main switch on for about 30 seconds, with the main switch off in between, only about 20 seconds of the 30 seconds the main switch is on will be recorded.

[0006] A vehicle may be equipped with multiple cameras, which may record multiple video data. While it is possible to synchronize and play back multiple video data on a playback device, it is cumbersome to associate and handle multiple video files containing video data captured by multiple cameras.

[0007] The present invention aims to provide a recording device or the like that can prevent the cumulative time during which no recording is performed from increasing even when the power supply to the vehicle's electrical system is frequently turned on and off. Another object of the present invention is to provide a vehicle information processing device or the like that can easily handle video files that store video data captured by multiple cameras.

[0008] The purpose of the present invention is not limited to this, and the applicant intends to obtain rights for configurations that aim to achieve the effects achieved by the components disclosed in the specification and drawings, etc., through divisional applications, amendments, etc. For example, the specification discloses problems in which the phrase "can be" is read as "the problem is...." Each problem is described as an independent entity, and the applicant intends to obtain rights for the configurations that solve this problem separately through divisional applications, amendments, etc. Even if the problem is implicitly understood from the description in the specification, the applicant intends to include part of the configuration described in the specification in the scope of the patent claim through amendments or divisional applications. Problems that combine these independent problems are also disclosed. [Means for solving the problem]

[0009] (1) The recording device may be mounted on a vehicle, detect a first state in which power is not supplied to the vehicle's electrical system or the vehicle is stopped, and remain powered on even after detecting the first state.

[0010] If the recording device is turned on when power supply to the vehicle's electrical system starts or when the vehicle starts operating, it takes a long time to start recording because various preparatory processes must be performed before recording can begin, such as charging the capacitor and initializing data, etc. In contrast, with this recording device, the power remains on even after the vehicle enters state 1, so if a recording request is made while the power remains on, recording can begin in a short time.

[0011] An example of a vehicle equipped with a recording device is a forklift, which is a cargo handling vehicle equipped with liftable and tiltable forks on its body. Examples of forklifts equipped with a recording device include electric forklifts (battery forklifts), internal combustion engine forklifts, and internal combustion / electric forklifts. In an internal combustion engine forklift, the power required for vehicle travel, mast tilting, and fork lifting and lowering is provided by the output from the internal combustion engine. The power of the battery installed in an internal combustion engine forklift is used for a starter motor for starting the internal combustion engine, sensors, an electronic control unit for the internal combustion engine, lighting, etc. In contrast, in an electric forklift, the power required for vehicle travel, mast tilting, and fork lifting and lowering is provided by the output power from the battery installed in the forklift. For this reason, the capacity of the battery installed in an electric forklift is sufficiently larger than that of the battery installed in an internal combustion engine forklift.

[0012] When the vehicle is an electric forklift, the vehicle's electrical system includes an electronic control unit, a travel motor, various sensors, lighting fixtures, etc. The state in which power is not supplied to the vehicle's electrical system may include, for example, a state in which the vehicle does not travel or raise or lower the forks even when the control lever is operated. The state in which power is supplied to the vehicle's electrical system may include a state in which the vehicle can travel and raise or lower the forks by operating the control lever.

[0013] When the vehicle is an internal combustion engine forklift, the vehicle's electrical system includes an electronic control unit, a starter motor, various sensors, lighting fixtures, etc. The state in which power is not supplied to the vehicle's electrical system may include, for example, a state in which the vehicle does not travel or raise or lower the forks even when the control lever is operated, and a state in which the engine does not start. The state in which power is supplied to the vehicle's electrical system may include a state in which the starter motor can be operated by operating the start key and the engine can be started. With the engine started, the vehicle can travel and raise or lower the forks by operating the control lever. The state in which power is supplied to the vehicle's electrical system corresponds, for example, to a state in which the accessory switch of a normal engine vehicle is turned on.

[0014] The state in which the vehicle is not operating may include, for example, a state in which neither the forks are being raised or lowered nor the vehicle is traveling.

[0015] The power-on state after the recording device detects that the vehicle has entered state 1 may be a state in which power is supplied from the vehicle battery and recording can be started immediately if necessary. The state in which recording can be started immediately may be, for example, a state in which a process of temporarily storing video data acquired by a camera in a ring buffer is being executed, but a process of writing the data from the ring buffer to a non-volatile memory such as a removable recording medium is not being executed. Another state in which recording can be started immediately may be, for example, a state in which a process of reading video data from a camera is being executed, but a process of writing the data to the ring buffer is not being executed.

[0016] It is preferable to continue recording while the power is on after the recording device detects that the vehicle has entered the first state. The driver can record the cargo inspection performed while the forklift is in the first state after getting off. If an accident occurs during this inspection, video captured during the inspection can provide useful information for identifying the cause of the accident. If the vehicle on which the recording device is installed is an electric forklift, the vehicle is equipped with a large-capacity battery. Therefore, even if the vehicle receives power directly from the vehicle's battery while in the first state, the impact on the power consumption of the vehicle's battery is small. Furthermore, in workplaces where electric forklifts are used, the battery can be charged on-site. Therefore, the process of continuing recording by receiving power from the vehicle's battery while in the first state can be easily implemented, particularly in electric forklifts. Therefore, it is particularly preferable to install the recording device on an electric forklift and receive power from the electric forklift's battery.

[0017] (2) The vehicle may be equipped with a switching means that supplies power to the electrical system when turned on and stops the supply of power to the electrical system when turned off, and the first state may be a recording device in which the switching means of the vehicle is turned off.

[0018] Even in the first state where the vehicle switching device is turned off, as long as the power remains on, the delay time from when a request to start recording is made to when recording starts can be made shorter than during the power-off state. This switching device corresponds to, for example, an accessory switch (ACC switch) on a typical engine vehicle.

[0019] The recording device may have a function to start recording when it detects that the vehicle's switching device is turned on. If the switching device is turned on while the power is on, recording can start with a short delay. This reduces the period of time during which video data is missing.

[0020] When it is detected that the switching means has been turned off, the power should remain on and recording should stop, thereby preventing the storage area for recording video data from being wasted on video data of low importance.

[0021] (3) It is preferable that the recording device is connected to a terminal that supplies power from the vehicle battery to the outside, regardless of whether the switching means is on or off.

[0022] This allows the recording device to receive power from the vehicle's battery without having to install a large-capacity battery. A power source that can draw power from the vehicle's battery regardless of whether the switching means is on or off is generally called a +B power source. In contrast, a power source that can draw power only when the switching means is on is called an accessory power source (ACC power source). The recording device can determine whether the switching means is on or off depending on whether or not power is being supplied from the ACC power source.

[0023] (4) Furthermore, the recording device may be provided with an acceleration sensor that detects acceleration occurring in the vehicle, and may determine whether the vehicle is in a stopped state based on the measurement results of the acceleration sensor.

[0024] It is advisable to determine that the vehicle is stopped when there is no acceleration of the vehicle, i.e., when only gravity and normal force are acting on the vehicle. Even in such a state, by keeping the recording device powered on, recording can be started immediately when an impact to the vehicle is detected. This video data provides useful information for identifying the cause of the impact.

[0025] (5) It is preferable that the recording device stores duration information specifying the time for which the power remains on after detecting that the first state has been reached, and that the power is turned off after the period specified by the duration information has elapsed from the time that the first state has been reached.

[0026] If a request to start recording is made before the period specified by the duration information has elapsed, recording can be started with a short delay. Also, after the period specified by the duration information has elapsed, power consumption can be reduced by turning off the power.

[0027] The duration information may be stored in a removable recording medium attached to the recording device, and the recording device may read the duration information from the removable recording medium.

[0028] After the recording device detects that the vehicle has entered the first state, the recording device should continue recording until the period specified in the duration information has elapsed. Continuing recording in this manner is particularly recommended when the medium for recording video data has sufficient storage capacity. This allows video information that is useful for analyzing the cause of an accident or abnormality that occurs after the vehicle has entered the first state to be preserved.

[0029] The duration information may be specified as the amount of time that has elapsed since the detection of the first state. A state in which recording can be started immediately or a state in which recording continues can be maintained until a specified period of time has elapsed since the driver turned off the main switch.

[0030] Alternatively, the duration information may be specified as the time when the power-on state ends. For example, the end time of working hours at the work site where the vehicle is operating (e.g., 7:00 PM) may be specified as the duration information. In this case, the recording device will be maintained in a state where it can immediately start recording or continue recording during working hours. The recording device should be equipped with a clock that displays the current time. The power for this clock should be supplied from the vehicle's +B power supply or an internal battery.

[0031] The recording device should have a function to specify the start time of the period during which it will remain powered on. The recording device should have a function to turn on its power at the specified start time. In this case, when the driver turns on the main switch after the specified start time, recording can begin immediately with a short delay. This start time should be set to the start time of working hours at the workplace where the vehicle is operated (e.g., 8:00 a.m.).

[0032] The recording device may have a function to continue recording for a period from the time when the first state is detected until a first duration has elapsed, and not record for a period until a second duration longer than the first duration has elapsed, while remaining powered on, and then turning off the power when the second duration has elapsed. This makes it possible to preserve video data that is likely to contain highly important information immediately after the vehicle enters the first state. By stopping recording when the second duration has elapsed, it is possible to conserve storage space for video data.

[0033] It is recommended that the recording device has a function to turn off the power from the end time specified in the duration information to the start time of the next day. In this case, it is also recommended that the current time clock be kept running.

[0034] (6) It is preferable that the power consumption during the period in which the power remains on after the first state is detected is less than the power consumption during recording.

[0035] It is possible to reduce power consumption during the period when the power is on. For example, power consumption can be reduced by having a function that reads video data from a camera but does not write the data to a ring buffer. Alternatively, power consumption can be reduced by having a function that reads video data from a camera and writes the data to a ring buffer but does not record the video data in non-volatile memory such as a removable recording medium.

[0036] (7) Furthermore, the recording device may have a function to detect whether or not the driver is seated in the driver's seat from the vehicle, record while the driver is seated in the driver's seat, stop recording when it detects that the driver is not seated, and continue to remain powered on.

[0037] The system stops recording when it detects that the driver is not seated, but because the power remains on, recording can be started with a short delay when a request to start recording is made.Whether the driver is seated or not can be determined by analyzing images captured by a camera that photographs the driver's seat.

[0038] When stopping recording when it is detected that the driver is not seated, the recording device should have a function of continuing recording for a certain period of time from the time it detects that the driver is not seated and stopping recording when the certain period has passed. In this way, the recorded images can be used to investigate the cause of accidents or abnormalities that occur between the time the driver leaves the driver's seat and the time the certain period has passed.

[0039] The recording device may have a function to continue recording until a certain time has elapsed since it was detected that the driver is not seated, and to stop recording at that time. Alternatively, the recording device may have a function to stop recording when the distance from the vehicle to the driver exceeds a determination threshold. The recording device may have a function to resume or continue recording when it detects that the driver is seated.

[0040] The recording device may include a camera that captures the area around the vehicle. This camera may be a downward-facing hemispherical camera. If the vehicle is a forklift, the angle of view of this camera may include the area where the work of checking whether the cargo has been loaded properly during loading and unloading operations is performed. Furthermore, a camera that captures the area behind the vehicle may be provided. This makes it possible to determine whether the driver or other people are present behind the vehicle.

[0041] The criteria for determining whether to continue the power-on state may include the distance from the vehicle to the driver. Alternatively, the criteria may include whether a person is detected near the vehicle. The recording device may have a function to continue recording if the driver or another person is detected near the vehicle. The video data acquired at this time may be useful information for investigating the cause of an accident if an accident occurs to a person near the vehicle. As a criterion for determining whether a person is near the vehicle, a determination threshold for the distance from the vehicle to a person may be stored in the recording device.

[0042] (8) The vehicle is used in a work area where multiple reference marks are installed; The recording device may further have a function of analyzing an image in which the reference mark is reflected to determine the speed of the vehicle.

[0043] Since the vehicle speed can be determined from the information acquired by the recording device, it can be determined without installing a dedicated sensor for detecting vehicle speed. To determine the vehicle speed, a reference mark is photographed with a stereo camera, the distance to the reference mark is measured from the obtained image, and the vehicle speed is determined from the change in distance over time. It is determined whether a common reference mark is captured in the images captured by two cameras mounted on the vehicle, and if a common reference mark is captured, the distance can be calculated from the two images captured by the two cameras. For example, the two cameras can be a hemispherical camera installed in front of the driver's seat and a wide-angle camera that captures the area behind the driver's seat.

[0044] The distance to the reference mark can be calculated from the size of the image of the reference mark, whose size is known. The vehicle speed can be calculated from the change in this distance over time. As the reference mark, it is recommended to use a shape whose reference length does not change regardless of the direction from which it is viewed, such as a circle or sphere, as long as the distance is constant. Lighting fixtures attached to the ceiling of a warehouse can be used as the reference mark. It is recommended to install multiple lighting fixtures at equal intervals and use the spacing between the lighting fixtures as the reference length.

[0045] Alternatively, the vehicle's position can be determined using a GPS receiver mounted on the vehicle, and the vehicle speed can be calculated from the change in this position over time. To determine the vehicle speed, a Doppler sensor can be mounted on the vehicle. Alternatively, a sensor that detects the rotational speed of the tires can be mounted. A distance measuring device that uses light called LIDAR can be mounted on the vehicle. When LIDAR is mounted on the vehicle, it is useful to scan the vehicle with a laser beam for distance measurement and create a map of the work area where the vehicle operates.

[0046] (9) Furthermore, the recording device may have a function of photographing the floor or ground around the vehicle, detecting the optical flow of the photographed floor or ground, and calculating the speed of the vehicle based on the detection results.

[0047] It is possible to determine the relative speed of a vehicle with respect to the floor or ground. Not only the translational movement of the vehicle, but also the rotational speed of rotational movement can be calculated. For example, if the distance from the camera to the floor is known and the optical flow (number of pixels moved in a certain time) of the feature points on the floor is known, the relative speed of the camera with respect to the floor can be determined. It is a good idea to arrange reference marks in a row and use the reference marks as feature points of the optical flow.

[0048] In particular, it is advisable to install a camera (for example, a wide-angle camera) that photographs the area below the ceiling of the forklift, capturing images of the forklift body, the driver, and the floor or ground around the body. When the forklift moves relative to the floor or ground, the direction and speed of movement can be determined from the optical flow of the texture of the floor or ground around the forklift (patterns of asphalt or concrete, pebbles, tape, cardboard placed nearby, etc.).

[0049] A forklift can only move in a rotational direction while remaining in the same place, without translational movement. For example, when a forklift rotates, an arc-shaped optical flow is obtained around the axis of rotation. The camera should be installed so that the center of rotation during this rotation coincides with the center of the camera image. If the center of the camera image does not coincide with the center of rotation, it is recommended to provide a function for calibrating the camera to essentially align the image center with the center of rotation. When a hemispherical camera is used as the camera, it is also recommended to install the camera in a similar manner. Installing the camera in this way makes it easy to detect the rotation of the forklift.

[0050] If the aspect ratio of the camera image is not 1:1, for example, when using a general camera with a rectangular shooting area, it is recommended to install the camera so that the front-to-back direction of the forklift corresponds to the longitudinal direction (long side direction) of the shooting area, and the left-to-right direction corresponds to the width direction (short side direction) of the shooting area.

[0051] For example, when a forklift makes a left turn while moving forward, the velocity vector on the right side of the forklift will be greater than the velocity vector on the left side. It would be good for the video data viewer to have a function that not only displays the optical flow itself with an arrow or the like, but also displays the speed of each part of the vehicle, such as the left or right side, as a numerical value.

[0052] The optical flow of feature points on the floor or ground, objects placed on the floor or ground, etc., is opposite to the direction of movement of the forklift. For example, the optical flow may be displayed using an arrow or the like that allows a distinction between the start point and the end point, and the start point and the end point may be in the opposite direction to the optical flow. When displayed in this manner, the direction of movement of the forklift can be intuitively grasped by looking at the arrow or the like displayed on the display screen. In particular, it is preferable to display the position where the edges of the outline of the forklift body in a planar view intersect as the start point of the arrow. For example, if the outline of the forklift body is displayed as an approximately rectangular shape, it is preferable to use the four vertices of the rectangle as the start points of the arrow.

[0053] Since people, steering wheels, operating levers, etc. are also captured in the area where the interior of the forklift is captured, the viewer should have a function to detect the optical flow of people's movements. The viewer should have a function to recognize the movement of people, etc., separately from the optical flow of the forklift itself. For example, it should be possible to distinguish and recognize arrows indicating the movement of people from arrows indicating the movement of the forklift. For example, it is possible to represent the movement of people with green arrows and the movement of the forklift with blue arrows. The optical flow of people's movements can be used to determine, for example, whether the person is operating normally, whether they are turning their head to point and take a roll call, etc.

[0054] It is advisable for the recording device to have a function that can synthesize the optical flow and calculate the average speed of the forklift.

[0055] If there are moving objects such as people or automated guided vehicles (AGVs) around the forklift, optical flow will occur partially in the video. It is desirable to have a function to exclude such partially occurring optical flow from the target for speed calculation. In other words, it is desirable to calculate the vehicle speed by assuming that optical flow occurring only in a part of the periphery of the forklift is not caused by the movement of the forklift.

[0056] When playing back a video in a viewer, it is preferable to distinguish optical flows that occur only in a certain area from optical flows due to the movement of the forklift. For example, it is preferable to display arrows indicating optical flows that occur only in a certain area and arrows indicating optical flows due to the movement of the forklift in different colors. This makes it easy to recognize the movement of a person moving near the forklift. For example, it is preferable to have a function that displays the movement of the forklift with a blue arrow and the optical flows that occur only in a part of the image around the forklift with a red arrow, indicating the movement of a person moving around the forklift.

[0057] The video viewer may be implemented as a PC application program (PC app), a smartphone application program (smartphone app), or the like. Alternatively, a display device may be provided on the recording device mounted on the forklift, and the recording device may have the viewer function. Furthermore, the forklift may be equipped with a function that uses optical flow to issue an alarm for abnormalities in the forklift's movement, abnormalities in operation or driver, or the presence of people around the forklift that pose a danger. Abnormalities in the forklift's movement may be detected by determining whether the magnitude of the translational speed or rotational speed calculated from the optical flow corresponding to the forklift's movement is abnormal. Abnormalities in operation or driver behavior may be detected by determining whether the driver is following driving rules, such as pointing and calling.

[0058] The area surrounding the forklift can be divided into a nearby area (first area) where people, etc. do not enter during normal operation, and a slightly more distant area where people, etc. may enter (an area of ​​the surrounding area farther than the first area), and the optical flow within the first area can be used as the optical flow that forms the basis for calculating the forklift's movement speed.

[0059] (10) The vehicle is a forklift equipped with a mast with a variable tilt angle and forks that move up and down along the mast, The recording device may preferably be equipped with a marker camera mounted to capture images of multiple markers on the mast, and further equipped with a function to analyze images capturing the multiple markers to determine the inclination angle of the mast.

[0060] If the forks are not level when transferring cargo, it can lead to accidents such as the cargo falling off. The position of the forks changes by changing the tilt angle of the mast to which the forks are attached so that they can be raised and lowered. This video recording device can determine whether the forks are in a normal position by calculating the tilt angle of the mast. By attaching multiple markers to the mast and detecting their positions in the image, information regarding the mast tilt angle can be easily obtained. The driver can safely transfer cargo by confirming that the mast tilt angle with respect to the horizontal plane is perpendicular, i.e., that the forks are level. Because the camera is attached to the vehicle body rather than to moving parts such as the mast or forks, damage to the camera during operation can be reduced.

[0061] It is advisable to attach markers to the forks and have the recording device equipped with a function to calculate the fork lifting speed from the optical flow of the markers attached to the forks. The marker camera should be installed in a position where it can capture images of the mast from the side. For example, the marker camera that captures the left mast should be installed on a support pillar on the right side of the vehicle body.

[0062] (11) A main unit including an electronic circuit board, a housing that houses the electronic circuit board, and a lid that closes an opening of the housing; A camera and a first cable that electrically connects the camera and the main unit; It is preferable that the recording device has the above.

[0063] The main unit can be attached in a location different from that of the camera, and conversely, the camera can be attached in a desired location depending on the range to be photographed, without being restricted by the location of the main unit.

[0064] (12) The housing is provided with an opening for a media, The main unit comprises: a media mounting section into which a removable recording medium is mounted through the media opening; a waterproof cover having a waterproof structure that closes the media opening; a security cover that covers the media opening on the outside of the waterproof cover and has a structure that can be opened and closed using a corresponding specific tool; It is preferable that the recording device has the above.

[0065] This provides the excellent effect of ensuring waterproofing of the media opening and making the removable storage medium less susceptible to theft. An SD card, for example, can be used as the removable storage medium. The "specific tool" refers to a tool other than a standard Phillips or flathead screwdriver. For example, the security cover can be secured with a Torx screwdriver, and the specific tool can be a Torx screwdriver.

[0066] The waterproof lid may be a packing made of an elastic material such as rubber. For example, a circumferential groove may be formed on the inner peripheral surface of the media opening, and the waterproof lid may be attached by fitting the outer peripheral portion of the waterproof lid into this groove.

[0067] The security cover may be secured to the housing by providing an elongated hole, passing a special screw such as a Torx screw through the hole, and sliding the security cover in the longitudinal direction of the hole to close the media opening and then tightening the screw. The security cover may be configured so that it can freely rotate around the special screw by loosening the special screw and sliding the security cover. By rotating the security cover and opening the media opening, removable storage media can be inserted and removed. Since the media opening can be opened simply by loosening the special screw, the security cover can be prevented from falling off.

[0068] Whether or not to attach the security cover should be an option that can be decided by the user. When using the recording device in an environment where security is not a concern, the user can choose not to use the security cover.

[0069] The security cover can be made by bending a flat plate into an L-shape. The flat plate portion on one side of the bend can cover the media opening, and the other flat plate portion can be screwed and fixed to a surface of the housing perpendicular to the surface on which the media opening is provided. Depending on where the main unit is attached to the forklift, it may be difficult to access the surface on which the media opening is provided. In such cases, the security cover can be easily secured by accessing the surface perpendicular to the surface on which the media opening is provided.

[0070] When the waterproof lid is attached to the media opening, it is preferable to provide a convex handle on the waterproof lid that protrudes outward from the opening surface of the media opening. It is preferable to provide an opening in the security lid, and have this handle protrude outward through the opening in the security lid. It is preferable to configure the waterproof lid and the security lid so that they do not easily separate due to the elasticity of the waterproof lid. Even when the screws securing the security lid are removed, the security lid is supported by the housing via the waterproof lid, preventing the security lid from falling off.

[0071] The removable recording medium should be inserted into the housing to a depth that allows it to be pushed in with the pad of your thumb. For example, when the removable recording medium is inserted into the media opening, it should protrude about 0.4 mm from the opening surface of the media opening, and the removable recording medium can be pushed in with the pad of your thumb to complete the installation.

[0072] (13) The recording device may be configured such that a driven part driven by the electronic circuit board is attached to the lid, a second cable electrically connects the electronic circuit board and the driven part, a string connects the housing and the lid, and the second cable is maintained in a slack state when the lid is moved away from the housing until the string becomes taut.

[0073] Even if the lid is removed and moved away from the housing, the second cable is not subjected to a large tension, which can prevent damage such as breakage of the second cable. The driven component is, for example, a speaker. When there is not enough space to attach a speaker to the housing, it is good to attach the speaker to the lid. In addition, the housing is generally attached to the vehicle body with the lid facing a large space so that the lid can be easily removed. Attaching the speaker to the lid means that the speaker faces a large space, ensuring good sound radiation characteristics.

[0074] A cable clamp can be attached to the lid, one end of a relatively thick cable can be secured to the clamp, and the other end can be connected to the housing, with a relatively thin cable connecting the speaker to the thick cable. If the thick cable has sufficient mechanical strength, the string can be omitted. In this case, the thick cable serves to electrically connect the speaker to the circuitry on the housing and also to prevent the lid from falling off.

[0075] (14) The main unit may include a partition member separating the space for accommodating the electronic circuit board from the space for accommodating a battery that serves as the power source for a clock provided on the electronic circuit board, and the electronic circuit board may be equipped with a battery connector that is connected to the battery. When the lid is open, the electronic circuit board may be positioned at the back side of the partition member, and the space for accommodating the battery may be positioned at the front side of the partition member.

[0076] The battery can be easily replaced while the electronic circuit board remains difficult to access. Typically, electronic circuit boards are maintained in a state where they are not easily accessible to users. For this reason, if the battery is fixed directly to the electronic circuit board, the user cannot replace the battery. When the battery runs out and needs to be replaced, the user must contact a maintenance person for the device or take the main unit to the device's maintenance department. In this recording device, the user can replace the battery themselves while the electronic circuit board remains difficult to access. This improves convenience for the user.

[0077] For example, even if a user opens a lid that covers the opening of the housing, the partition member may be configured to prevent the user from seeing any part of the electronic circuit board other than the battery connector.

[0078] A recess for accommodating the battery may be provided in the partition member, and the battery may be accommodated in the recess. A structure in which multiple electronic circuit boards are stacked may be employed, with relatively tall components mounted on the lower boards and only relatively short components mounted on the top board. This configuration allows for an arrangement that reduces the height difference between the bottom of the battery recess and the surface of the top board on which the battery connector is mounted. This arrangement provides the advantage of making the battery connector easier for users to access compared to an arrangement in which the battery connector is located deep inside.

[0079] It is also advisable to mount the fuse on the electronic circuit board and adopt a structure that allows the user to access the fuse mounting area, for example, by drilling a hole in the inner case of the fuse mounting area so that the fuse can be replaced using a tool with a fine tip, such as needle-nose pliers.

[0080] (15) The housing is provided with a cable opening and a waterproof auxiliary hole, A plurality of connectors for connecting to cables are provided in the housing, The tube is attached to the housing so that the inside and outside spaces of the housing are connected through the cable opening and the space inside the tube, the attachment point of the tube is made waterproof, and the cable connected to some of the connectors is preferably pulled out from inside the housing to the outside through the cable opening and the space inside the tube.

[0081] Cables can be inserted into the housing through the cable opening and the space inside the tube and connected to the connector. The number of cables to be connected varies depending on whether or not various optional functions of the recording device are used. If the number of cables to be connected increases, the cables can be pulled out through the spare hole. Pulling out the cables from two places on the housing has the effect of making it easier to route the cables inside the housing. Because the spare hole is waterproof, the housing remains waterproof even when no cables are pulled out through the spare hole.

[0082] The auxiliary hole may be a knock hole with a waterproof structure. Alternatively, the auxiliary hole may be an opening and a waterproof packing that closes the opening. When a high-strength housing material is used that makes it difficult to drill a knock hole, it is effective to use the auxiliary hole as a structure consisting of an opening and a packing.

[0083] The tube is preferably made of an elastic material such as silicone. By passing the cable through the tube and tightening it with a string, tie wrap, or the like, it is possible to prevent water from entering the housing. If the cross-sectional area of ​​the tube is large, it becomes more difficult to prevent water from entering. If the cable is pulled out from the housing in two locations and two tubes are used, the cross-section of each tube can be made smaller. Therefore, even if the number of cables is increased, it is not difficult to prevent water from entering.

[0084] If there are only a few cables, it is best to leave the spare holes closed and not open, which will ensure sufficient waterproofing.

[0085] It is best to separate the wireless LAN module from the main unit and connect the main unit and wireless LAN module with a cable. If the wireless LAN module is housed in the main unit, the main unit and wireless LAN antenna must be connected with an antenna cable. Using a thinner antenna cable increases attenuation, so an expensive antenna cable must be used to suppress attenuation. The main unit and LAN module can be connected with a cheaper USB cable than an antenna cable, which reduces costs.

[0086] It is a good idea to write the names of the cables to be connected to each of the multiple connectors inside the housing near them. For example, it is a good idea to attach labels with the names near the connectors. This allows the user to easily identify the connector to which the cable should be connected.

[0087] (16) The recording device may be such that the camera is provided with both a clamping mechanism for clamping the first cable and a hole for fixing the first cable with a tie wrap.

[0088] The thickness of the first cable connecting the camera and main unit varies depending on the model of forklift it is installed on. If a thin cable is used as the first cable, it is recommended to clamp the first cable with the clamp mechanism. If the first cable is too thick to be clamped with the clamp mechanism, it is recommended to secure the first cable with a tie wrap in the tie wrap hole.

[0089] The clamp mechanism may be formed of resin that is integrally molded with the housing, and may be configured to clamp the first cable by elastically deforming the resin. If the first cable is fixed using a tie wrap, the resin clamp mechanism may be cut out and removed from the housing.

[0090] (17) A function for acquiring multiple video files of videos taken by multiple cameras mounted on a vehicle; A function to specify the start and end points of the video to be cut out; A function to extract videos from multiple video files from a specified start point to an end point, synchronize the extracted videos on the timeline, and generate and save a single video file that can be viewed simultaneously. The vehicle information processing device may include the above.

[0091] By simply playing a single video file, users can view content that is essentially the same as if multiple video files were being played, without having to perform the complicated process of synchronizing the playback of multiple video files. It is preferable for the vehicle information processing device to have a function for specifying the start and end points of a video clip while playing one of the multiple video files. This makes it easy to set the start and end points of a single video file to be generated. For example, a single video file that combines multiple video files is convenient for use in educational settings.

[0092] The multiple video files and the combined video file may be, for example, an avi file. These video files may be compressed video-based files. The images in the combined video file may be arranged in a single screen, such as a picture-in-picture format, a side-by-side format, or a matrix format.

[0093] When recording, multiple video files are created, so you can freely decide how to combine them into a single video file. For example, you can display particularly important footage larger on the screen and less important footage smaller. You can decide which video files contain more important footage when creating a single video file.

[0094] (18) A function to specify a region within a video file consisting of a circular image taken with a 360-degree camera; It has the function of expanding a specified area and generating a video file consisting of a rectangular image. The vehicle information processing device may further include:

[0095] Video files consisting of rectangular images can be played using a general video playback program. It is recommended that the program have a function to specify the area to be displayed as a regular rectangular image while playing a video captured by a 360-degree camera using a program capable of playing the video. For example, it is recommended that the program have a function to specify the area currently displayed on the screen as the area to be displayed as a rectangular image while playing a video file captured by a 360-degree camera. It is also recommended that the program have a function to save video files consisting of rectangular images as AVI files.

[0096] If a vehicle is equipped with multiple cameras, one of which is a 360-degree camera, it is preferable to have a function to generate a single video file using the function (17) above based on a video file consisting of a rectangular image generated by expanding a portion of the image in the video file acquired by the 360-degree camera and video files acquired by other cameras.

[0097] (19) A function for creating a map of a work site where the vehicle is operating based on information acquired from the work site; A function of detecting that a situation equivalent to a near miss incident has occurred with respect to a vehicle operating in the workplace; A function of creating a near-miss map that associates the map with the location where the near-miss incident occurred; The vehicle information processing device may further include:

[0098] Near miss maps provide useful information for reducing accidents in the workplace. For example, LIDAR can be used to create the map. The occurrence of situations that correspond to near miss cases can be detected from the measurement results of acceleration sensors, gyro sensors, etc. mounted on vehicles. In addition, the occurrence of situations that correspond to near miss cases can be detected by image analysis of video information acquired by cameras mounted on vehicles.

[0099] Location information of the location where the near-miss incident occurred can be obtained, for example, from a GPS receiver installed in the vehicle. The location on the near-miss map can be associated with latitude and longitude information.

[0100] (20) A function of acquiring, from a vehicle equipped with a switching means that supplies power to an electrical system by turning on and stops the supply of power to the electrical system by turning off, information on the time during which the switching means is turned on; The vehicle information processing device may further include a function of issuing an alarm based on the accumulated time that the switching means is turned on.

[0101] If the vehicle is an electric forklift, the remaining life of the on-board battery can be predicted from the cumulative time that the switching means has been turned on. The user can predict when to replace the on-board battery from the alarm that is issued. In addition, the user can enjoy the excellent effect of being able to collectively manage multiple electric forklifts that are under management using a single vehicle information collection device.

[0102] The time information for which the switching means is turned on may be acquired from the in-vehicle device via a removable recording medium (e.g., an SD card). The in-vehicle device may have a function for recording the time the switching means is turned on and off, as well as vehicle identification information (vehicle ID), on the removable recording medium. In addition, the in-vehicle device and the vehicle information processing device may have a data communication function via a wireless LAN, so that the vehicle information processing device can acquire the time information for which the switching means is turned on from the in-vehicle device via the wireless LAN.

[0103] The alarm may be issued, for example, when the accumulated time exceeds a predetermined percentage (50%, 80%, 90%, etc.) of the vehicle battery's operating life. Alternatively, the alarm may be issued every time a certain period of time, for example, 1000 hours, has elapsed.

[0104] (21) A function for acquiring vehicle information from multiple types of vehicles; A function to display different vehicle information on the display device depending on the type of vehicle. The vehicle information processing device may further include:

[0105] Information can be collected from different types of vehicles, such as automobiles and forklifts, in a common vehicle information processing device, and information appropriate for the type of vehicle can be displayed. For example, for automobiles, GPS information (date and time information, location information, speed information, etc.), acceleration information acquired by an acceleration sensor, blinker operation information, speed pulse information, etc. can be displayed. For forklifts, GPS information, acceleration information acquired by an acceleration sensor, angular velocity information acquired by a gyro sensor, etc. can be displayed.

[0106] The vehicle type may be recorded on a removable recording medium by the in-vehicle device, and read out from the removable recording medium by the vehicle information processing device.

[0107] (22) The vehicle information processing device may further include a function to read the firmware version from a removable recording medium that is attached to an on-board device installed in a vehicle and records the firmware version of the on-board device, and if a newer version of firmware exists, to store the newer version of firmware on the removable recording medium.

[0108] A user can obtain a new version of firmware for an in-vehicle device without having to determine whether a new version of the firmware has been released. The in-vehicle device should have a function to read the version of firmware stored on an attached removable recording medium, and if a version of firmware newer than the current firmware version is stored on the removable recording medium, read the firmware from the removable recording medium and update the firmware. If the in-vehicle device has this function, it has the advantage of saving the user the trouble of updating firmware and allowing the in-vehicle device to always operate with the latest version of firmware. The in-vehicle device should have a function to erase the firmware from the removable recording medium after reading it.

[0109] The in-vehicle device should have a function that does not update the firmware when a removable recording medium containing firmware compatible with a different model is installed, and should also have a function that updates the firmware when a removable recording medium that was installed in an in-vehicle device of a different vehicle is newly installed, as long as the model of the in-vehicle device is the same.

[0110] It is preferable to provide a program that causes a computer to execute the functions of the vehicle information processing device described in (17) to (22) above.

[0111] The inventions described above in (1) to (22) are intended to be patented as individual components. In particular, the invention described in (11) should preferably be a component that does not include other components, such as (1). The inventions described in (1) to (22) can be arbitrarily combined. For example, all or part of the invention described in (1) may be combined with at least part of at least one of the inventions described in (2) to (16). In particular, the invention described in (1) may be combined with at least part of at least one of the inventions described in (2) to (16). Furthermore, for example, the configuration described in (11) may be combined with a component described in another item. Furthermore, for example, all or part of the invention described in (17) may be combined with at least part of at least one of the inventions described in (18) to (22). In particular, the invention described in (17) may be combined with at least part of at least one of the inventions described in (18) to (22). 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 acquire rights to inventions including these configurations. [Effects of the Invention]

[0112] Because the power remains on even after the vehicle enters state 1, if the recording device is turned on when power is supplied to the vehicle's electrical system or when the vehicle begins operating, it will take a long time to start recording because various preparatory processes, such as charging the capacitor and initializing data, must be performed before recording can begin. In contrast, with this recording device, if a recording request is made while the power remains on, recording can begin in a short time.

[0113] The effects of the present invention are not limited to these, and the effects achieved by the components disclosed in the specification and drawings, etc. are also disclosed, and the applicant intends to obtain rights to the components that achieve these effects through divisional applications, amendments, etc. For example, in this specification, a phrase such as "can..." clearly states the effect achieved, and there are parts that demonstrate the effect even without the phrase "can...". Furthermore, there are effects that can be understood from the configuration even without such a phrase. [Brief explanation of the drawings]

[0114] [Figure 1] FIG. 1A is a schematic side view of an electric forklift, which is an example of a vehicle equipped with a recording device according to a first embodiment, and FIG. 1B is a block diagram of the recording device according to the first embodiment. [Figure 2] 2A to 2C are a top view, a front view, and a bottom view, respectively, of the recording device according to the first embodiment, in which a relatively thick cable is connected to the camera. [Figure 3] 3A to 3D are respectively a left side view, a front view, a right side view, and a rear view of the recording device according to the first embodiment when a relatively thick cable is connected to the camera. [Figure 4] 4A to 4C are a top view, a front view, and a bottom view, respectively, of the recording device according to the first embodiment, in which a relatively thin cable is connected to the camera. [Figure 5] 5A to 5D are respectively a left side view, a front view, a right side view, and a rear view of the recording device according to the first embodiment when a relatively thin cable is connected to the camera. [Figure 6] 6A to 6F are a top view, a left side view, a front view, a right side view, a bottom view, and a rear view, respectively, of the GPS receiver of the recording device according to the first embodiment. [Figure 7] 7A to 7E are a top view, a left side view, a front view, a right side view, a bottom view, and a rear view, respectively, of the main unit of the recording device according to the first embodiment. [Figure 8]FIG. 8 is a front view of the main unit with the cover (FIG. 7C) removed. [Figure 9] FIG. 9A is a perspective view of the main unit with the lid (FIG. 7C) removed, and FIG. 9B is a perspective view of the main unit with a cable connected to the connector of the main unit and the lid (FIG. 7C) removed. [Figure 10] 10A and 10B are perspective views showing the media opening of the main unit in a closed state and an open state. [Figure 11] 11A and 11B are perspective views of a modified main unit with the media opening closed. [Figure 12] FIG. 12 is a perspective view of the main unit with the cover removed from the housing. [Figure 13] FIG. 13A is a perspective view of the connection portion between the housing and the string, and FIG. 13B is a perspective view of the connection portion between the lid and the string. [Figure 14] FIG. 14A is a front view of the reference mark installed in the work area, and FIG. 14B is a plan view of the work area. [Figure 15] FIG. 15 is a schematic diagram showing an example of an image captured by a camera. [Figure 16] FIG. 16A is a schematic side view of a forklift, and FIG. 16B is a diagram showing the relative positional relationship between the marker and the marker camera. [Figure 17] FIG. 17 is a block diagram of a vehicle information processing device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0115] [First Example] A recording apparatus according to a first embodiment will be described with reference to FIGS. 1A to 12. FIG. 1A is a schematic side view of an electric forklift, which is an example of a vehicle equipped with a recording device according to the first embodiment. A mast 21 is attached to the front of the body of the forklift 20, and forks 22 are raised and lowered along the mast 21 by operation of the driver. The mast 21 also tilts forward and backward by operation of the driver.

[0116] The forklift 20 is provided with a steering wheel 25, a main switch 26, an operating lever 27, and pedals 28. The recording device mounted on the forklift includes a main unit 41, a camera 42, a GPS receiver 43, an acceleration sensor 44, a gyro sensor 45, and a wireless LAN module 46. The main unit 41 and the camera 42 are attached to, for example, the head guard 23 of the forklift 20. The GPS receiver 43, the acceleration sensor 44, the gyro sensor 45, and the wireless LAN module 46 are attached to, for example, the support 24 of the head guard 23.

[0117] 1B is a block diagram of a recording device 40 according to the first embodiment. The main unit 41 includes a processing unit 61, a storage unit 62, an SD card reader 63, and a speaker 64. The storage unit 62 stores computer programs that enable the processing unit 61 to realize various functions. The processing unit 61 includes a microcomputer, and realizes various functions by executing the programs stored in the storage unit 62.

[0118] When the main switch 26 of the forklift 20 is turned on, power is supplied to the electrical system of the forklift 20, such as the electronic control unit, travel motor, various sensors, lighting fixtures, etc. With power supplied to the vehicle's electrical system, the driver can operate the control lever 27 and pedals 28 to travel and raise and lower the forks 22. Furthermore, DC power is supplied to the video recording device 40 from the switch-linked power terminal 30.

[0119] Conversely, when the main switch 26 is turned off, no power is supplied to the electrical system of the forklift 20, and for example, operating the control lever 27 or pedal 28 will not cause the forklift 20 to travel or raise or lower the forks 22. No DC power is supplied from the switch-linked power supply terminal 30 to the recording device 40. Note that DC power is constantly supplied to the recording device 40 from the battery of the forklift 20 via the +B terminal 29, regardless of whether the main switch 26 is on or off.

[0120] The processing unit 61 has a function of constantly recording the video captured by the camera 42 on an SD card attached to the SD card reader 63. Furthermore, when it is determined that an impact has been applied to the forklift 20 (an event has occurred) based on the measurement results of the acceleration sensor 44 and the gyro sensor 45, it has a function of recording video for a predetermined period including the time when the impact was applied, separately from the constant recording.

[0121] The processing unit 61 also has an internal real-time clock that corrects the time of the real-time clock based on the current time information obtained from the GPS receiver 43. It also has the function of recording the current location information obtained from the GPS receiver 43 together with the video onto an SD card. The wireless LAN module 46 communicates data with the server at the management center via wireless LAN.

[0122] The processing unit 61 detects that the main switch 26 has been turned off and that the power supply from the switch-interlocked power terminal 30 has stopped. Even after it is detected that the power supply from the switch-interlocked power terminal 30 has stopped, the recording device 40 continues to receive power from the +B terminal 29 and remains powered on until a predetermined time has elapsed. This predetermined time is specified by the duration information stored in the SD card.

[0123] When the power is on after main switch 26 is turned off, processing unit 61 reads image data from camera 42 and writes the read image data to a ring buffer in processing unit 61, but does not record it on the SD card (does not record). Therefore, the power consumption of recording device 40 while the power of recording device 40 continues to be on after main switch 26 is turned off is less than the power consumption during recording.

[0124] When the recording device 40 detects that the main switch 26 of the forklift 20 has been turned on by the start of power supply from the switch-interlocked power terminal 30, the recording device 40 starts recording image data onto the SD card.

[0125] Next, the excellent effects of the first embodiment will be described. If the power supply to the recording device 40 is turned off when the main switch 26 is turned off and then turned on when the main switch 26 is turned on, various preparatory processes, such as charging the capacitor and initializing the data, are performed before recording can begin, which increases the time that elapses before recording can begin. In contrast, in the first embodiment, the power supply to the recording device 40 remains on even after the main switch 26 of the forklift 20 is turned off, and image data is written to the ring buffer. Therefore, if a recording request is made during this period, for example, when the main switch 26 is turned on, recording to the SD card can begin immediately within a short time. This reduces the period during which video data is missing.

[0126] In the first embodiment, the vehicle on which the recording device 40 is mounted is an electric forklift, and therefore the forklift 20 is equipped with a large-capacity battery. Therefore, even if power is supplied directly from the battery of the forklift 20 via the +B terminal 29 while the main switch 26 is turned off, the impact on the power consumption of the battery mounted on the forklift 20 is small. Furthermore, in workplaces where electric forklifts are used, the battery can be charged on site. Therefore, the process of receiving power from the battery mounted on the forklift 20 and continuing recording while the main switch 26 is turned off can be easily implemented, particularly in electric forklifts.

[0127] In the first embodiment, the wireless LAN module 46 and the main unit 41 are connected by a USB cable. When the wireless LAN module is housed in the main unit, the main unit and the wireless LAN antenna must be connected by an antenna cable. If the antenna cable is made thinner, attenuation increases, and to suppress the attenuation, an expensive antenna cable must be used. In contrast, in the first embodiment, the wireless LAN module 46 is separate from the main unit 41, and the two are connected by a USB cable, which is less expensive than the antenna cable, thereby reducing costs.

[0128] Next, a modification of the first embodiment will be described with respect to the above-mentioned functions. In the first embodiment, after the main switch 26 of the forklift 20 is turned off, recording to the SD card is stopped while the power of the recording device 40 is on, but in this modified example, recording to the SD card continues. This makes it possible to record, for example, the operator turning off the main switch 26 and getting off the forklift 20 to check the load. If an accident occurs during this check, the video captured during the check can provide useful information for identifying the cause of the accident.

[0129] In contrast, in the first embodiment, recording stops when it is detected that the main switch 26 has been turned off, so it is possible to prevent the storage area of ​​the SD card from being consumed by video data of low importance when the main switch is off. Whether or not to stop recording should be determined based on the necessity of video after the main switch 26 is turned off and the recording capacity of the SD card.

[0130] The recording device 40 according to the first embodiment has a function of keeping the power on even when the main switch 26 is turned off. In addition, the processing unit 61 may have a function of detecting when the forklift 20 has stopped operating, and may have a function of keeping the recording device 40 in a powered-on state even when the forklift 20 has stopped operating. The state in which the forklift 20 has stopped operating may include, for example, a state in which neither the forks 22 are being raised or lowered nor the vehicle is traveling. The processing unit 61 may have a function of determining whether the forklift 20 has stopped operating based on the measurement results of the acceleration sensor 44.

[0131] The forklift 20 can be determined to be stopped when no acceleration is occurring in the forklift 20, i.e., when only gravity and normal force are acting on the vehicle. Even in this state, by keeping the power of the recording device 40 on, recording can be started immediately upon detecting that an impact has been applied to the forklift 20. This video data provides useful information for identifying the cause of the impact.

[0132] In the first embodiment, the recording device 40 is mounted on an electric forklift (battery forklift), but it may also be mounted on an internal combustion engine forklift, an internal combustion engine / electric forklift, etc. In an internal combustion engine forklift, the power required for vehicle travel, mast tilting, and fork lifting and lowering is provided by the output from the internal combustion engine.

[0133] If the forklift 20 is an internal combustion engine forklift, the electrical system of the forklift 20 includes an electronic control unit, a starter motor, various sensors, lighting fixtures, etc. When the main switch 26 of the forklift 20 is in the OFF state, for example, operating the control lever will not cause the forklift to travel, raise or lower the forks, or start the engine. When the main switch 26 is in the ON state, the starter motor can be operated by operating the start key, and the engine can be started. Once the engine has started, the forklift 20 can be driven and the fork can be raised or lowered by operating the control lever. The ON state of the main switch 26 corresponds, for example, to the ON state of an accessory switch on a normal engine vehicle.

[0134] The power of the battery installed in an internal combustion engine forklift is used for the starter motor for starting the internal combustion engine, sensors, an electronic control unit for the internal combustion engine, lighting, etc. When the recording device 40 is installed in an internal combustion engine forklift, the capacity of the battery of the forklift 20 is not sufficient to continue supplying power to the recording device 40 from the battery of the forklift 20 while the internal combustion engine is stopped. For this reason, it is recommended to install an auxiliary battery to supply power to the recording device 40.

[0135] In contrast, in an electric forklift, the power required for vehicle travel, tilting of the mast 21, and raising and lowering of the forks 22 is provided by the output power from a battery mounted on the forklift. Therefore, the capacity of the battery mounted on an electric forklift is sufficiently larger than that of a battery mounted on an internal combustion engine forklift. Therefore, when the video recording device according to the first embodiment is mounted on an electric forklift, there is no need to mount an auxiliary battery other than the battery of the forklift 20.

[0136] In the first embodiment, after the main switch 26 of the forklift 20 is turned off and the recording device 40 is powered on, the video data acquired by the camera 42 is temporarily stored in the ring buffer of the processing unit 61, but the data is not written from the ring buffer to the SD card. However, for example, the video data may be read from the camera 42 but not written to the ring buffer. This can further reduce power consumption.

[0137] It is preferable that recording device 40 has a function of continuing recording for a period from when main switch 26 is turned off until a first duration has elapsed, not recording for a period until a second duration longer than the first duration has elapsed, keeping the power on, and turning off the power when the second duration has elapsed. This makes it possible to preserve video data that is likely to contain highly important information immediately after main switch 26 is turned off. By stopping recording when the second duration has elapsed, it is possible to conserve storage space for video data.

[0138] In the first embodiment, the duration information is specified by the amount of time elapsed since the main switch 26 was turned off. Alternatively, the duration information may be specified by the time the power-on state ends. For example, the end time of work hours (e.g., 7:00 p.m.) at the work site where the forklift 20 is operating may be specified as the duration information. In this case, the recording device 40 is maintained in a state where it can immediately start recording or in a state where it continues recording during work hours. The recording device 40 may obtain current time information from a real-time clock. The power for this real-time clock may be supplied from the vehicle's +B power supply or an internal battery.

[0139] The recording device 40 may have a function for specifying the start time of the period during which the power-on state continues. The recording device 40 may have a function for entering a power-on state at the specified start time. In this case, when the driver turns on the main switch 26 after the specified start time, recording can begin immediately with a short delay. This start time may be set to the start time of working hours at the workplace where the vehicle is operated (e.g., 8:00 a.m.).

[0140] It is preferable that the recording device 40 has a function to turn off the power from the end time specified as the duration information to the start time of the next day. In this case, it is also preferable that the real-time clock for the current time is kept running.

[0141] In another variation, the processing unit 61 may have a function to detect whether or not the driver of the forklift 20 is seated in the driver's seat, record while the driver is seated in the driver's seat, stop recording when it detects that the driver is not seated, and keep the recording device 40 powered on.

[0142] When the system detects that the driver is not seated, the system stops recording, but because the power remains on, recording can be started with a short delay when a request to start recording is made.Whether the driver is seated or not can be determined by installing a camera that takes pictures of the driver's seat and analyzing the images captured by this camera.

[0143] The recording device 40 may have a function to continue recording until a certain time has elapsed since it was detected that the driver is not seated, and to stop recording at that time. Alternatively, the recording device 40 may have a function to stop recording when the distance from the forklift 20 to the driver exceeds a determination threshold. The recording device 40 may have a function to resume or continue recording when it detects that the driver is seated.

[0144] The recording device 40 may include a camera that captures the area around the vehicle. This camera may be a downward-facing hemispherical camera. The angle of view of this camera may include the area where the work of checking whether the cargo has been loaded properly during loading and unloading operations is performed. In addition, a camera may be provided that captures the area behind the vehicle. This makes it possible to determine whether the driver or other people are present behind the vehicle.

[0145] The criteria for determining whether to keep the recording device 40 powered on may include the distance from the forklift 20 to the driver. Alternatively, the criteria may include whether a person is detected near the forklift 20. The recording device 40 may have a function to continue recording if the driver or another person is detected near the forklift 20. The video data acquired at this time will be useful information for investigating the cause of an accident if an accident occurs to a person near the forklift 20. As a criterion for determining whether or not a person is near the forklift 20, a determination threshold for the distance from the forklift 20 to a person may be stored in the recording device.

[0146] [Recording device camera] Next, the camera 42 of the recording device according to the first embodiment will be described with reference to FIGS. 2A to 5D.

[0147] 2A to 2C are top, front, and bottom views of camera 42, respectively, and FIGS. 3A to 3D are left, front, right, and rear views of camera 42, respectively. FIGS. 2B and 3B are the same view. FIGS. 4A to 4C are top, front, and bottom views of camera 42, respectively, and FIGS. 5A to 5D are left, front, right, and rear views of camera 42, respectively. FIGS. 4B and 5B are the same view. Note that FIGS. 4A to 5D show a state in which a thinner cable is connected to camera 42 compared to the state shown in FIGS. 2A to 3D.

[0148] The camera 42 includes a camera case 70, a wide-angle lens 71, and an attachment member 72. The camera case 70 is provided with a clamp mechanism 73 (FIGS. 5A to 5C) and holes 74 for tie wraps.

[0149] The camera 42 is attached to the forklift 20 by screwing the mounting member 72 to a component of the forklift 20. The camera case 70 is rotatable within a certain angular range around one rotation axis relative to the mounting member 72, and can be fixed at any position within the rotatable angular range.

[0150] The thickness of cable 75 connecting camera 42 and main unit 41 varies depending on the model of forklift 20 on which it is mounted. When a relatively thin cable is used as cable 75 (FIGS. 4A to 5D), it is recommended that cable 75 be clamped with clamp mechanism 73. When cable 75 is too thick to be clamped with clamp mechanism 73 (FIGS. 2A to 3D), it is recommended that cable 75 be fixed to tie wrap hole 74 with a tie wrap.

[0151] The clamp mechanism 73 is preferably formed from resin that is molded integrally with the camera case 70, and is configured to clamp the cable 75 by elastically deforming the resin. When fixing the cable 75 using a tie wrap, the resin clamp mechanism 73 is preferably cut out and removed from the camera case 70.

[0152] Because the camera 42 and the main unit 41 are connected by the cable 75, the main unit 41 can be attached in a location different from that of the camera 42. Conversely, the camera 42 can be attached in a desired location depending on the range to be photographed, without being restricted by the location of the main unit 41.

[0153] [GPS receiver in recording device] Next, the GPS receiver 43 of the recording device according to the first embodiment will be described with reference to FIGS. 6A to 6F.

[0154] 6A to 6F are a top view, a left side view, a front view, a right side view, a bottom view, and a back view, respectively, of GPS receiver 43. GPS receiver 43 has a cable for connecting to main unit 41 drawn out from one surface of a thin rectangular parallelepiped housing.

[0155] [Main unit of recording device] Next, the main unit 41 according to the first embodiment will be described with reference to FIGS. 7A to 12. FIG.

[0156] 7A to 7F are a top view, left side view, front view, right side view, bottom view, and back view of the main unit 41, respectively. The main unit 41 includes a housing 79 and a lid 80. In the front view (FIG. 7C), the depth dimension of the housing 79 is smaller than the vertical and horizontal dimensions, and it is open toward the front. The depth direction of the housing 79 is referred to as the height direction. The surface facing the open portion is referred to as the bottom surface, and the surfaces rising from the bottom surface are referred to as the side surfaces. The lid 80 covers the open portion of the housing 79.

[0157] One side of the housing 79 (the side that appears in the top view of FIG. 7A) is provided with a media opening 81 for inserting an SD card. The other side of the housing 79 (the side that appears in the bottom view of FIG. 7E) is provided with two cable openings 84, 85 for pulling out cables. Tubes 82, 83 are attached to the cable openings 84, 85, respectively. The space inside the housing 79 is connected to the spaces inside the tubes 82, 83, respectively, via the cable openings 84, 85. The points where the tubes 82, 83 are attached to the housing 79 are waterproof.

[0158] Cables are pulled from inside the housing 79 to the outside through the cable openings 84, 85 and the inside of the tubes 82, 83. In the initial state, one of the cable openings 85 is a waterproof knock hole and is closed. If there are only a few cables and the cables can be pulled out from only one cable opening 84, the other cable opening 85, which is a knock hole, is not opened and remains closed in its waterproof structure. If there are many cables and it is difficult to pull all the cables out from only one cable opening 84, the knock hole is opened and the cables are pulled out from the other cable opening 85 as well.

[0159] A hole 99 for passing sound from the speaker is provided in the lid 80. This hole 99 is closed by a waterproof speaker, thereby maintaining waterproofness.

[0160] Next, the excellent effects obtained by adopting the structures shown in FIGS. 7A to 7F will be described.

[0161] Cables can be inserted into the housing 79 through the cable openings 84, 85 and the internal space of the tubes 82, 83 and connected to the connectors. The number of cables to be connected varies depending on whether or not various optional functions of the recording device 40 are used. If the number of cables to be connected increases, the knock holes can be opened and the cables can be pulled out. A configuration in which the cables are pulled out from two locations on the housing 79 has the effect of making it easier to route the cables within the housing 79. Because the knock holes are waterproof, the waterproofness of the housing can be maintained even if the knock holes are not opened.

[0162] The tubes 82, 83 are preferably made of an elastic material such as silicone. By tightening the tubes 82, 83 with cables passing through them using a tightening cord, tie wrap, or the like, water intrusion into the housing 79 can be prevented. If the cross-sectional area of ​​the tubes 82, 83 is large, it becomes difficult to prevent water intrusion. By providing two cable exit points from the housing 79 and arranging two tubes 82, 83, the cross-section of each of the tubes 82, 83 can be reduced. Therefore, even if the number of cables is increased, it is not difficult to prevent water intrusion. When the number of cables is small, it is preferable to leave the knock holes closed without opening them. This ensures sufficient waterproofing.

[0163] Instead of using a waterproof knock hole as the spare hole, it is preferable to use an opening and waterproof packing that closes the opening. When the housing 79 is made of a high-strength material that makes it difficult to drill a knock hole, it is effective to use a structure in which the spare hole is made of an opening and packing.

[0164] Fig. 8 is a front view of main unit 41 with lid 80 (Fig. 7C) removed. Fig. 9A is a perspective view of main unit 41 with lid 80 (Fig. 7C) removed, and Fig. 9B is a perspective view of main unit 41 with a cable connected to the connector of main unit 41 and with lid 80 (Fig. 7C) removed.

[0165] A partition member 86 is disposed within the housing 79. The partition member 86 separates the space within the main unit 41 into a space that houses an electronic circuit board and a space that houses a battery that serves as a power source for a clock provided on the electronic circuit board. With the lid 80 (FIG. 7C) open, the electronic circuit board is located at the back side of the partition member 86, and the space that houses the battery 88 is located at the front side of the partition member. A battery connector 87 is mounted on the electronic circuit board. With the lid 80 (FIG. 7C) covering the open portion of the housing 79 removed, the partition member 86 prevents the user from seeing any part of the electronic circuit board other than the battery connector 87.

[0166] A recess for accommodating the battery 88 is provided in the partition member 86, and the battery 88 is accommodated in this recess. The battery 88 is connected to a battery connector 87.

[0167] The partition member 86 further divides the space within the main unit 41 into a space 89 on the side where the tubes 82, 83 are attached, and a space 90 on the opposite side. An electronic circuit board is disposed within the space 90. The partition member 86 includes a partition wall that separates the one space 89 from the other space 90, and a plurality of connectors 91 are attached to this partition wall. A plurality of cables 92 are introduced into the space 89 through the spaces within the tubes 82, 83 and the cable openings 84, 85, and are connected to these connectors 91.

[0168] Next, the excellent effects obtained by adopting the structure of main unit 41 shown in FIGS. 8 to 9B will be described.

[0169] By adopting the structure of the main unit 41 shown in FIGS. 8 to 9B, the battery 88 can be easily replaced while the electronic circuit board remains difficult to access. Typically, the electronic circuit board is maintained in a state in which it is not easily accessible to the user. For this reason, if the battery is fixed directly to the electronic circuit board, the user cannot replace the battery. When the battery runs out and needs to be replaced, the user must contact a maintenance person for the device or take the main unit to a maintenance department for the device. In the recording device 40 according to the first embodiment, the user can replace the battery 88 by themselves while the electronic circuit board remains difficult to access. This improves convenience for the user.

[0170] Next, modified examples of the structure of main unit 41 shown in FIGS. 8 to 9B will be described. It is preferable to use a structure in which multiple electronic circuit boards are stacked, with relatively tall components mounted on the lower boards and only relatively short components mounted on the top board. This configuration makes it possible to adopt an arrangement that reduces the difference in height between the bottom of the battery recess and the surface of the top board on which the battery connector 87 is mounted. This arrangement has the advantage of making it easier for the user to access the battery connector 87 compared to an arrangement in which the battery connector 87 is located deep inside.

[0171] It is also advisable to mount the fuse on the electronic circuit board and adopt a structure that allows the user to access the fuse mounting area, for example, by drilling a hole in the inner case of the fuse mounting area so that the fuse can be replaced using a tool with a fine tip, such as needle-nose pliers.

[0172] The names of the cables 92 to be connected to each of the connectors 91 inside the housing 79 may be written near the connectors 91. For example, a sticker with the name written on it may be attached near the connector 91. This allows the user to easily identify the connector 91 to which the cable 92 should be connected.

[0173] [Media opening on the main unit of the recording device] Next, the media opening 81 of the main unit 41 according to the first embodiment will be described with reference to FIGS. 10A and 10B.

[0174] 10A and 10B are perspective views of the media opening 81 in its open and closed states. A media loading section for loading an SD card through the media opening 81 is provided on the electronic circuit board. The media opening 81 is doubly covered by a waterproof cover with a waterproof structure and a security cover 93 that covers the media opening on the outside of the waterproof cover. A Torx screw 94 is inserted into a screw hole in the housing 79 through an elongated hole provided in the security cover 93.

[0175] When the Torx screw 94 is loosened, the security cover 93 can be slid along the side of the housing 79 in the longitudinal direction of the elongated hole and rotated around the Torx screw 94. When the security cover 93 is fitted into a stopper 95 provided on the housing 79 and the Torx screw 94 is tightened, the security cover 93 is fixed to the housing 79. When the Torx screw 94 is loosened and the security cover 93 is slid and pulled away from the stopper 95, the security cover 93 can be rotated. When the security cover 93 is rotated, the media opening 81 is exposed.

[0176] The waterproof lid is a packing made of an elastic material such as rubber. A circumferential groove is formed on the inner surface of the media opening 81, and the waterproof lid is attached by fitting the outer periphery of the waterproof lid into this groove. The security cover 93 is rotated to open the media opening 81, and the waterproof lid is removed, allowing the SD card to be inserted and removed.

[0177] Next, the excellent effects obtained by adopting the structure shown in FIGS. 10A and 10B will be described.

[0178] A Torx screwdriver is required to open the security cover 93; it cannot be opened with a regular Phillips or flathead screwdriver. This has the excellent effect of making the SD card less susceptible to theft. The media opening 81 can be opened simply by loosening the Torx screw 94, preventing the security cover 93 from falling off. Furthermore, the waterproof cover ensures that the media opening 81 is waterproof.

[0179] It is preferable that the user have the option to decide whether or not to attach the security cover 93. When using the recording device 40 in an environment where security is not a concern, the user can choose not to use the security cover 93.

[0180] The SD card should be inserted deep enough into the housing 79 that it can be pushed in with the pad of your thumb. For example, when the SD card is inserted into the media opening 81, it should protrude about 0.4 mm from the opening of the media opening 81, and the installation should be completed by pushing the SD card in with the pad of your thumb.

[0181] Next, another configuration example of the media opening 81 of the main unit 41 according to the first embodiment will be described with reference to FIGS. 11A and 11B.

[0182] 11A and 11B are perspective views of the media opening 81 when it is closed. A flat plate bent into an L-shape is used as the security cover 93. The flat plate portion on one side of the bent part covers the media opening 81, and the other flat plate portion is fastened with a Torx screw 94 to the bottom surface perpendicular to the side surface on which the media opening 81 is provided.

[0183] When the waterproof lid is attached to the media opening 81, a convex handle 96 is provided on the waterproof lid, which protrudes outward from the opening surface of the media opening 81. An opening is provided in the security lid 93, and this handle 96 protrudes to the outside through the opening in the security lid 93. The elasticity of the waterproof lid prevents the waterproof lid and security lid 93 from easily separating.

[0184] Next, the excellent effects obtained by adopting the structures of FIGS. 11A and 11B will be described.

[0185] Depending on the location where the main unit 41 is attached to the forklift 20, it may be difficult to access the surface where the media opening 81 is provided. In such cases, the security cover 93 can be easily secured by accessing the bottom surface that is perpendicular to the side surface where the media opening 81 is provided. Note that the side surface where the media opening 81 is provided and the bottom surface where the security cover 93 is secured with the Torx screws 94 do not need to be perpendicular to each other; similar excellent effects can be obtained even if the two are positioned in an intersecting relationship.

[0186] Even when the Torx screw 94 that secures the security cover 93 is removed, the security cover 93 is supported by the housing 79 via the waterproof cover, so that the security cover 93 can be prevented from falling off.

[0187] [Recording device main unit housing and cover] Next, a configuration relating to the housing 79 and the cover 80 of the main unit 41 of the recording device 40 according to the first embodiment will be described with reference to FIGS.

[0188] 12 is a perspective view of the main unit 41 with the lid 80 removed from the housing 79. A speaker 64 is attached to the lid 80. The speaker 64 is electrically connected to an electronic circuit board inside the housing 79 via a cable 98. The housing 79 and the lid 80 are mechanically connected by a string 97. The lengths of the string 97 and the cable 98 are adjusted so that the cable 98 is in a slack state when the lid 80 is moved away from the housing 79 until the string 97 is taut. For example, the string 97 is shorter than the cable 98.

[0189] Next, the excellent effects obtained by adopting the structure of FIG. 12 will be described. Even when the lid 80 is removed from the housing 79 and moved away from the housing 79, a large tension is not applied to the cable 98, and therefore damage such as breakage of the cable 98 can be suppressed. When there is not enough space to attach the speaker 64 to the housing 79, it is preferable to attach the speaker 64 to the lid 80. Furthermore, in general, the housing 79 is attached to the vehicle body with the lid 80 facing a large space so that the lid 80 can be easily removed. When the speaker 64 is attached to the lid 80, the speaker 64 faces a large space, ensuring good sound radiation characteristics.

[0190] As another configuration example, a clamp for cable 98 may be provided on lid 80, one end of a relatively thick cable may be fixed with this clamp, the other end may be connected to the housing, and the speaker 64 and the thick cable may be connected with a relatively thin cable. If the thick cable has sufficient mechanical strength, string 97 may be omitted. In this case, the thick cable electrically connects speaker 64 to the circuitry on the housing 79 side and also functions to prevent lid 80 from falling.

[0191] 13A is a perspective view of the connection between the housing 79 and the string 97. A gate-shaped binding part 110 is provided on the inner surface of the housing 79. A hollow silicone rubber string is used as the string 97. By combining the binding part 110 and the string 97 and binding them together with a binding band 111, one end of the string 97 is fixed to the housing 79.

[0192] When the gate-shaped binding unit 110 is viewed from the front, a step 112 of approximately the same height as the binding unit 110 is provided on the rear side of the binding unit 110. A setback portion 113 is provided on the step 112 at a position corresponding to the binding unit 111, where the step portion is set back in a direction away from the binding unit 110. If the setback portion 113 were not provided, the tip of the binding band 111 would abut against the step 112 when passing the binding band 111 through the binding unit 110, making the binding operation cumbersome. In this embodiment, the setback portion 113 is provided on the step 112, so that the tip of the binding band 111 enters the setback portion 113 when passing the binding band 111 through the binding unit 110. If the binding band 111 is pushed further in, the tip will lift up due to the flexibility of the binding band 111. This makes it easy to perform the binding operation using the binding band 111.

[0193] FIG. 13B is a perspective view of the connection between the lid 80 and the string 97. A plate-like protrusion 120 is provided on the inner surface of the lid 80. The plate-like protrusion 120 has an opening 121. A portion of the opening 121 is large enough for the string 97 to pass through with ease, and another portion of the opening 121 is narrower than the width of the string 97. When attaching the string 97 to the lid 80, the string 97 is first passed through a relatively large portion of the opening 121. Then, the string 97 is moved to the narrower portion. At this time, the string 97 is compressed in the thickness direction to fit the width of the opening 121. The restoring force of the hollow silicone rubber string 97 generates a frictional force between the string 97 and the edge of the opening 121. This frictional force secures the end of the string 97 to the lid 80. This allows the end of the string 97 to be easily secured to the lid 80 without any work such as tying.

[0194] As the string 97, a string made of a material with sufficient elasticity, other than a hollow silicone rubber string, may be used. Also, the connection structure between the housing 79 and the string 97 (FIG. 13A) may be used to connect the lid 80 and the string 97. Conversely, the connection structure between the lid 80 and the string 97 (FIG. 13B) may be used to connect the housing 79 and the string 97.

[0195] [Vehicle speed measurement function of the recording device] 14A and 14B, the vehicle speed measurement function of the recording device according to the first embodiment will be described. This vehicle speed measurement function is effective when the forklift 20 equipped with the recording device 40 according to the first embodiment is used in a work area where a reference mark is installed.

[0196] 14A is a front view of a reference mark 50 installed in a workplace. The reference mark 50 has a circular outer shape and is divided into four equal sectors with right angles at the center. Adjacent sectors are colored differently.

[0197] 14B is a plan view of the work site. A plurality of aisles 51 along which forklifts 20 travel are defined in the work site. At least one reference mark 50 is set in front of forklifts 20 traveling along aisle 51. The plurality of reference marks 50 are all the same size, and the sizes of the reference marks 50 are stored in advance in memory unit 62 (FIG. 1B) of recording device 40.

[0198] The processing unit 61 of the recording device 40 has a function of analyzing an image in which the reference mark 50 is captured and determining the speed of the forklift 20. For example, the processing unit 61 determines the distance to the reference mark 50 from the size of the reference mark 50 captured in the image. The speed of the forklift 20 is determined from the change in this distance over time.

[0199] Next, the excellent effects achieved by the functions described with reference to FIGS. 14A and 14B will be described. Since the vehicle speed is determined from the information acquired by the recording device 40, it is possible to determine the vehicle speed without installing a dedicated sensor for detecting the vehicle speed. Since the reference mark 50 has a circular outer shape, the diameter (reference length) of the reference mark 50 can be accurately determined even when the reference mark 50 is photographed from an oblique direction.

[0200] Next, another example of the configuration of the vehicle speed measurement function will be described. To calculate vehicle speed, a reference mark 50 is photographed with a stereo camera, the distance to the reference mark 50 is measured from the obtained image, and the vehicle speed is calculated from the change in distance over time. It is determined whether a common reference mark 50 appears in images photographed by two cameras mounted on the vehicle, and if a common reference mark 50 appears, the distance is calculated from the two images captured by the two cameras. For example, the two cameras may be a hemispherical camera installed in front of the driver's seat and a wide-angle camera that photographs the area behind the driver's seat. In this case, the reference mark 50 may have any shape.

[0201] It is recommended to use lighting fixtures attached to the ceiling of a warehouse as reference marks. Install multiple lighting fixtures at equal intervals and use the intervals between the lighting fixtures as a reference length for calculating vehicle speed.

[0202] Alternatively, the position of the forklift 20 can be determined using a GPS receiver 43 mounted on the forklift 20, and the vehicle speed can be determined from the change in this position over time. To determine the vehicle speed, the forklift 20 can be equipped with a Doppler sensor. Alternatively, a sensor that detects the rotational speed of the tires can be mounted. The forklift 20 can be equipped with a distance measuring device that uses light, known as LIDAR. When LIDAR is mounted on a vehicle, a map of the work area where the forklift 20 operates can be created by scanning with a laser beam for distance measurement.

[0203] [Function to calculate vehicle speed using optical flow] Next, with reference to FIG. 15, a function for determining the vehicle speed using optical flow will be described.

[0204] The recording device 40 has a camera that captures images of the floor or ground around the forklift 20, and a function that detects the optical flow of the captured image of the floor or ground and calculates the speed of the forklift 20 based on the detection results.

[0205] 15 is a schematic diagram showing an example of an image 55 captured by a camera. The body and forks 22 of the forklift 20 are visible in the center of the image 55. The floor or ground 56 is visible around them.

[0206] This function makes it possible to determine the relative speed of the forklift 20 with respect to the floor or ground 56. Not only the translational movement of the forklift 20 but also the rotational speed of its rotational movement can be calculated. For example, if the distance from the camera to the floor or ground 56 is known and the optical flow (the number of pixels moved in a certain period of time) of the feature points on the floor or ground 56 is known, the relative speed of the camera with respect to the floor or ground 56 can be determined. It is advisable to arrange reference marks in a row and use the reference marks as feature points of the optical flow.

[0207] In particular, it is advisable to provide a camera (for example, a wide-angle camera) that photographs the area below the head guard 23 of the forklift 20 and photograph the body of the forklift 20, the driver, and the floor or ground 56 around the body. When the forklift 20 moves relative to the floor or ground 56, the direction and speed of movement can be determined from the optical flow of the texture of the floor or ground 56 around the forklift 20 (patterns of asphalt or concrete, pebbles, tape, cardboard placed in the vicinity, etc.).

[0208] The forklift 20 can only rotate while remaining in the same location, without translational movement. For example, when the forklift 20 rotates, an arc-shaped optical flow is obtained around the axis of rotation. The camera should be installed so that the center of rotation during this rotation coincides with the center of the camera image. If the center of the camera image does not coincide with the center of rotation, it is recommended to provide a function for calibrating the camera to essentially align the image center with the center of rotation. When a hemispherical camera is used as the camera, it is also recommended to install the camera in a similar manner. Installing the camera in this manner makes it easy to detect the rotation of the forklift 20.

[0209] If the aspect ratio of the camera image is not 1:1, for example, when using a general camera with a rectangular shooting area, it is advisable to install the camera so that the front-to-back direction of the forklift 20 corresponds to the longitudinal direction (long side direction) of the shooting area, and the left-to-right direction corresponds to the width direction (short side direction) of the shooting area.

[0210] For example, when turning left while moving forward, the velocity vector on the right side of the forklift 20 is larger than the velocity vector on the left side. The video data viewer should have a function to display the optical flow itself using arrows or the like, as well as to display the speed of each part of the vehicle body, such as the left side or right side, as a numerical value.

[0211] The optical flow of feature points on the floor or ground 56, objects placed on the floor or ground 56, etc., is opposite to the direction of movement of the forklift 20. For example, the optical flow may be displayed using an arrow or the like that allows a distinction between the start point and the end point, with the start point and the end point being in the opposite direction to the optical flow. Displayed in this manner, the direction of movement of the forklift 20 can be intuitively grasped by looking at the arrow or the like displayed on the display screen. In particular, it is preferable to display the positions where the edges of the outline of the body of the forklift 20 intersect in a planar view as the start points of the arrows. For example, if the outline of the body of the forklift 20 is displayed as an approximately rectangular shape, it is preferable to set the four vertices of the rectangle as the start points of the arrows.

[0212] Since people, steering wheels, operating levers, etc. are also captured in the area where the interior of the forklift 20 is captured, the viewer should have a function to detect the optical flow of people's movements. The viewer should have a function to recognize the movement of people, etc., separately from the optical flow of the forklift 20 itself. For example, it should be possible to distinguish and recognize arrows indicating people's movements from arrows indicating the movement of the forklift 20. For example, it is possible to represent people's movements with green arrows and forklift 20's movements with blue arrows. The optical flow of people's movements can be used to determine, for example, whether operations are normal, whether people are turning their heads to point and take roll call, etc.

[0213] The recording device 40 may be provided with a function for calculating the average speed of the forklift 20 by synthesizing the optical flow.

[0214] If there are moving objects such as people or automated guided vehicles (AGVs) around the forklift 20, optical flow will occur partially in the video. It is preferable to have a function to exclude such partially occurring optical flow from the target for speed calculation. In other words, it is preferable to calculate the vehicle speed by assuming that optical flow occurring only in a part of the periphery of the forklift 20 is not generated by the movement of the forklift 20.

[0215] When playing back the video on a viewer, it is preferable to distinguish optical flows that occur only in a certain area from optical flows due to the movement of the forklift 20. For example, it is preferable to display arrows indicating optical flows that occur only in a certain area and arrows indicating optical flows due to the movement of the forklift 20 in different colors. This makes it easy to recognize the movement of a person moving near the forklift 20. For example, it is preferable to have a function that displays the movement of the forklift 20 with a blue arrow and displays optical flows that occur only in a part of the image around the forklift 20 with a red arrow, indicating the movement of a person moving around the forklift 20.

[0216] The video viewer may be implemented as a personal computer application program (PC app), a smartphone application program (smartphone app), or the like. Alternatively, the recording device 40 mounted on the forklift 20 may be provided with a display device, and the recording device 40 may have the viewer function. Furthermore, the forklift 20 may be provided with a function that uses optical flow to issue an alarm for abnormalities in the movement of the forklift 20, abnormalities in operation or the driver, or the presence of a person around the forklift 20 that poses a danger. Abnormalities in the movement of the forklift 20 may be detected by, for example, determining whether the magnitude of the translational speed or rotational speed calculated from the optical flow corresponding to the movement of the forklift 20 is abnormal. Abnormalities in operation or the driver may be detected by determining whether the driver is following driving rules, such as pointing and calling.

[0217] The area surrounding the forklift 20 can be divided into a nearby area (first area) where people, etc. do not enter during normal operation, and a slightly more distant area (an area of ​​the surrounding area farther than the first area) where people, etc. may enter, and the optical flow within the first area can be used as the optical flow that serves as the basis for calculating the movement speed of the forklift 20.

[0218] [Mast tilt angle detection function] Next, the function of detecting the tilt angle of the mast of the recording device according to the first embodiment will be described with reference to FIGS. 16A and 16B.

[0219] 16A is a schematic side view of a forklift 20. Forks 22 move up and down along a mast 21 whose tilt angle is variable. A plurality of markers 31 are provided on the mast 21. A marker camera 47 is attached to a support 32 of the head guard 23. The marker camera 47 is attached to the support 32 so that the plurality of markers 31 fit within the viewing angle. A processing unit 61 (FIG. 1B) of the recording device 40 has a function of analyzing an image showing the plurality of markers 31 to determine the tilt angle of the mast 21.

[0220] 16B is a diagram showing the relative positional relationship between the markers 31 and the marker camera 47. Multiple markers 31 are provided on the left mast 21 of the forklift 20, and the marker camera 47 is attached to the right support column 32. The marker camera 47 is attached to the support column 32 in an orientation facing the left side of the forklift 20, and can capture images of the multiple markers 31.

[0221] Next, the excellent effects obtained by adopting the configurations shown in FIGS. 16A and 16B will be described.

[0222] If the forks 22 are not horizontal when transferring or receiving a load, it can lead to accidents such as the load falling off. The posture of the forks 22 changes by changing the tilt angle of the mast 21 to which the forks 22 are attached so that they can be raised and lowered. The video recording device 40 according to the first embodiment can determine whether the posture of the forks 22 is normal by determining the tilt angle of the mast 21. Information regarding the tilt angle of the mast 21 can be easily obtained by detecting the relative positions of the multiple markers 31 attached to the mast 21 within the image. The driver can safely transfer or receive a load by confirming that the tilt angle of the mast 21 is perpendicular to the horizontal plane, i.e., that the forks 22 are horizontal. Because the marker camera 47 is attached to the support 32 of the vehicle body rather than to movable parts such as the mast 21 or the forks 22, damage to the marker camera 47 during operation can be reduced.

[0223] It is preferable that markers 31 are also attached to the forks 22, and the recording device 40 has a function of determining the ascending and descending speed of the forks 22 from the optical flow of the markers attached to the forks 22.

[0224] [Second Example] Next, a vehicle information processing device according to a second embodiment will be described with reference to FIG. 17 is a block diagram of a vehicle information processing device 100 according to Example 2. The vehicle information processing device 100 processes vehicle information such as video data acquired by a recording device 40 (FIGS. 1A and 1B) mounted on a forklift 20 and recording devices mounted on other vehicles.

[0225] The vehicle information processing device 100 includes a processing device 101, a display 102, a storage device 103, a communication device 104, an SD card reader 105, a pointing device 106, and a keyboard 107. The processing device 101 includes, for example, a microcomputer, and realizes various functions by executing computer programs stored in the storage device 103.

[0226] Furthermore, the processing device 101 displays the processing results on the display 102. It also displays information on the display 102 that prompts the user to input commands and data. The communication device 104 performs data communication with the recording device 40 and the like installed in the vehicle. An SD card on which vehicle information is recorded by the recording device 40 (FIGS. 1A and 1B) is inserted into the SD card reader 105, and provides the functions of reading vehicle information from the SD card and writing various data to the SD card. The pointing device 106 is operated by the user to move the position of a pointer displayed on the display 102 and to select buttons displayed on the display 102. The keyboard 107 is operated by the user to provide the function of inputting commands and data to the processing device 101.

[0227] [Video file generation function] The processing device 101 has the functions of acquiring multiple video files of videos shot by multiple cameras mounted on a vehicle, specifying the start and end points from which the video should be cut out, cutting out the video from the specified start to end points from the multiple video files, and synchronizing the cut-out multiple videos on the time axis to generate and save a single video file that can be viewed simultaneously.

[0228] This function allows you to view content that is essentially the same as if you were playing multiple video files, simply by playing a single video file generated by this function, without having to go through the complicated process of playing multiple video files in chronological synchronization.

[0229] The processing device 101 has a function for specifying the start and end points of a video clip while playing one of the multiple video files. This makes it easy to set the start and end points of a single video file to be generated. For example, a single video file made up of multiple video files is convenient for use in education settings.

[0230] The multiple video files and the combined video file are, for example, avi files. These video files are also video-based compressed files. The images in the combined video file are images from multiple video files arranged on a single screen. For example, the images may be in a picture-in-picture format, a side-by-side format, or a matrix format.

[0231] When recording, multiple video files are created, so you can freely decide how to combine them into a single video file. For example, in a combined video file, you can display particularly important footage larger on the screen and less important footage smaller. You can decide which video files contain more important footage when creating a video file.

[0232] [Function to generate a rectangular video file from a circular image] The processing device 101 has the functions of reading a video file consisting of a circular image captured by a 360-degree camera, allowing the user to specify a region within the image, and expanding the specified region to generate a video file consisting of a rectangular image.

[0233] Video files consisting of rectangular images can be played using a general video playback program. The processing device 101 has a function for specifying an area to be rendered into a normal rectangular image while playing a video captured by a 360-degree camera using a program capable of playing the video. For example, it may have a function for specifying the area currently displayed on the screen as the area to be rendered into a rectangular image while playing a video file captured by a 360-degree camera. It may also have a function for saving video files consisting of rectangular images as AVI files.

[0234] If a vehicle is equipped with multiple cameras, one of which is a 360-degree camera, it is desirable to have a function that uses a video file generation function to generate a single video file based on a video file consisting of a rectangular image generated by expanding a portion of the image in the video file acquired by the 360-degree camera and video files acquired by other cameras.

[0235] [Near miss map creation function] The processing device 101 has the function of creating a map of the workplace based on information obtained at the workplace where the vehicle is operating, the function of detecting the occurrence of a situation equivalent to a near-miss incident regarding a vehicle operating at the workplace, and the function of creating a near-miss map that associates the map with the location where the near-miss incident occurred.

[0236] The near-miss map provides useful information for reducing accidents in the workplace. The map is created using, for example, LIDAR. The occurrence of situations that correspond to near-miss cases is detected by the processing device 101 based on the measurement results of an acceleration sensor, a gyro sensor, etc., mounted on the vehicle. In addition, it is desirable to have a function to detect the occurrence of situations that correspond to near-miss cases by performing image analysis on video information acquired by a camera mounted on the vehicle.

[0237] The location information of the location where the near-miss incident occurred is acquired via an SD card, for example, by associating the location information acquired by a GPS receiver 43 mounted on the vehicle with video data and acceleration data and recording it on the SD card. The location on the near-miss incident map is associated with latitude and longitude information. The processing device 101 identifies the location where the near-miss incident occurred on the near-miss incident map based on the location information acquired from the GPS receiver 43 and the location information on the near-miss incident map.

[0238] [Battery remaining life prediction function] The vehicle information acquired from the vehicle includes information on the time that the switching means is turned on for a vehicle equipped with a switching means that supplies power to the electrical system when turned on and stops the supply of power to the electrical system when turned off. The processing device 101 has a function of issuing an alarm based on the accumulated time that the switching means is turned on.

[0239] If the vehicle is an electric forklift, the remaining life of the on-board battery can be predicted from the cumulative time that the switching means has been turned on. The user can predict when to replace the on-board battery from the alarm that is issued. In addition, the user can enjoy the excellent effect of being able to collectively manage multiple electric forklifts that are under management using a single vehicle information collection device.

[0240] The information about the time when the switching means is turned on may be acquired via an SD card from an in-vehicle device such as the recording device 40. The in-vehicle device may have a function for recording the time when the switching means is turned on and off, and vehicle identification information (vehicle ID) on an SD card. In addition, the in-vehicle device and the vehicle information processing device may have a data communication function via a wireless LAN, so that the vehicle information processing device can acquire the information about the time when the switching means is turned on from the in-vehicle device via the wireless LAN.

[0241] The alarm may be issued, for example, when the accumulated time exceeds a predetermined percentage (50%, 80%, 90%, etc.) of the vehicle battery's operating life. Alternatively, the alarm may be issued every time a certain period of time, for example, 1000 hours, has elapsed.

[0242] [Vehicle information display function] The vehicle information processing device 100 has a function of acquiring vehicle information from a plurality of types of vehicles, and a function of displaying different vehicle information on a display device depending on the type of vehicle.

[0243] This function allows information to be collected from different types of vehicles, such as automobiles and forklifts, in a common vehicle information processing device, and information appropriate for the type of vehicle can be displayed. For example, for automobiles, it is recommended to display GPS information (date and time information, location information, speed information, etc.), acceleration information obtained by an acceleration sensor, blinker operation information, speed pulse information, etc. For forklifts, it is recommended to display GPS information, acceleration information obtained by an acceleration sensor, angular velocity information obtained by a gyro sensor, etc.

[0244] The vehicle type may be recorded on a removable recording medium by the in-vehicle device, and read out from the removable recording medium by the vehicle information processing device.

[0245] [Firmware update function for in-vehicle devices] The on-board devices installed in the vehicle record their firmware versions on an SD card. The vehicle information processing device 100 has a function of reading the firmware version from the SD card and, if a newer version of firmware is available, storing the newer version of firmware in the SD card.

[0246] Users can obtain new versions of firmware for their in-vehicle devices without having to determine whether a new version has been released. It is desirable for in-vehicle devices to have a function that reads the version of firmware stored on an installed SD card, and if a newer version of firmware than the current version is stored on the SD card, reads the firmware from the SD card and updates the firmware. Having this function in an in-vehicle device saves users the trouble of updating firmware, and allows them to always operate the in-vehicle device with the latest version of firmware. It is desirable for in-vehicle devices to have a function that erases the firmware from the SD card after reading it.

[0247] It is recommended that the in-vehicle device have a function that does not update the firmware when an SD card containing firmware compatible with a different model is installed, and also have a function that updates the firmware when an SD card that was installed in an in-vehicle device of a different vehicle is newly installed, as long as the model of the in-vehicle device is the same.

[0248] The scope of the present invention is not limited to the structures expressly described in the specification, but also includes combinations of various aspects of the invention disclosed herein. While the structures of the invention sought to be patented are specified in the accompanying claims, it is the intention to claim structures disclosed herein in the future, even if they are not currently specified in the claims.

[0249] The present invention is not limited to the configurations described in the above-described embodiments. The components of each of the above-described embodiments and variations may be arbitrarily selected and combined. Furthermore, any component of each embodiment or variation may be arbitrarily combined with any component described in the Summary of the Invention or any component embodying any component described in the Summary of the Invention. The present application also intends to obtain rights to these by filing an amendment or divisional application of the present application.

[0250] Furthermore, by filing a conversion application to a design application, the applicant intends to obtain rights to the overall design or partial design. The drawings depict the entire device in solid lines, but they also include partial designs claimed for parts of the device. For example, it is possible to include some components of the device as partial designs, and it is also possible to include some parts of the device as partial designs regardless of the components. A part of the device may be a part of the device, or it may be part of that component. The applicant intends to obtain rights not only to the overall design, but also to partial designs in which any part of the solid line portion of the drawings is shown as a broken line. [Explanation of symbols]

[0251] 20 forklift 21 Mast 22 Fork 23 Head Guard 24 Posts 25 Steering Wheel 26 Main switch 27 Operating lever 28 pedals 29 +B terminal 30 Switch-linked power terminal 31 Marker 32 Pillar 40 Recording Device 41 Main unit 42 Camera 43 GPS receiver 44 Accelerometer 45 Gyro sensor 46 Wireless LAN Module 47 Marker camera 50 Reference Mark 51 Passage 55 images 56 Floor or ground 61 Processing section 62 Memory section 63 SD card reader 64 speakers 70 Camera Case 71 Lens 72 Mounting material 73 Clamping mechanism 74 Tie wrap holes 75 Cable 79 Case 80 Lid 81 Media opening 82, 83 Tube 84, 85 Cable openings 86 Partition member 87 Battery connector 88 Batteries 89, 90 space 91 Connector 92 Cable 93 Security Cover 94 Torx screws 95 Stopper 96 Waterproof lid handle 97 String 98 Cable 99 holes 100 Vehicle information processing device 101 Processing equipment 102 Display 103 Storage device 104 Communication equipment 105 SD card reader 106 Pointing Device 107 keyboard 110 Binding section 111 Cable ties 112 steps 113 Retreat 120 Plate-like protrusion 121 Opening

Claims

1. creating a map of the work site where the vehicle is operating based on information acquired at the work site; A function of detecting that a situation equivalent to a near miss incident has occurred with respect to a vehicle operating in the workplace; A function of creating a near-miss map that associates the map with the location where the near-miss incident occurred; A vehicle information processing device comprising:

2. The vehicle information processing device according to claim 1 , further comprising a function of detecting the occurrence of a situation corresponding to the near miss incident based on measurement results of an acceleration sensor, a gyro sensor, or the like mounted on the vehicle.

3. The vehicle information processing device according to claim 1 or 2, further comprising a function of detecting the occurrence of a situation corresponding to the near miss incident by performing image analysis on video information acquired by a camera mounted on the vehicle.

4. The vehicle information processing device according to claim 3 , wherein the video information acquired by the camera mounted on the vehicle includes video information recorded after the vehicle is turned off.

5. 5. The vehicle information processing device according to claim 3, wherein the video information acquired by the camera mounted on the vehicle includes video information from a marker camera.

6. a function of acquiring information from a plurality of types of vehicles as the vehicle; The function of displaying different information on the display device depending on the type of vehicle acquired. The vehicle information processing device according to claim 1 , comprising:

7. 7. A program for causing a computer to realize the functions of the vehicle information processing device according to any one of claims 1 to 6.

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