Industrial vehicle, notification system, and notification program

Abstract

To make it possible to verify the cooperation between a detection device and a notification device without making a driver leave a driver seat in an industrial vehicle.SOLUTION: An industrial vehicle has a first mode and a second mode. An industrial vehicle comprises a detection device 2 configured to detect people and / or things in the area surrounding the industrial vehicle, and a person in the driver seat as the detection target, a notification device 14 configured to output an alarm by light and / or sound, a notification control part 160 to make the notification device 14 output the alarm when the detection device 2 detects the detection target, and mode selection means 4 operated to make the industrial vehicle put into the first mode and the second mode. The detection device 2 comprises a range setting part 211 which does not set the driver seat within the detection range to detect the detection target and sets a peripheral region within the detection range at the first mode, on the other hand, which sets the driver seat within the detection range at the second mode.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present application relates to an industrial vehicle and a notification system, and also to a notification program used in the industrial vehicle or the notification system. [Background technology]

[0002] For example, some industrial vehicles such as forklifts are equipped with a detection device that detects people and objects. The detection device, as disclosed in Patent Document 1, includes an imaging device arranged to capture images of the area surrounding the industrial vehicle, and an image processing unit that detects the presence of people or objects in the area based on the image data acquired by the imaging device.

[0003] When the detection device of such an industrial vehicle detects the presence of a person or object in the surrounding area, the alarm device is activated to output a warning by sound and / or light to notify the driver of the industrial vehicle. The industrial vehicle may also control the traveling gear to perform deceleration control or stop control.

[0004] In a configuration like that described in Patent Document 1, the driver may check whether the detection device and the notification device are properly linked before operating the industrial vehicle. For example, the driver may remain seated in the driver's seat of the industrial vehicle while another person stands in the vicinity of the industrial vehicle, intentionally causing the detection device to detect them. If the notification device issues an alarm at this time, it can be confirmed that the linkage is working properly. However, this checking method requires two people.

[0005] Alternatively, the driver can perform the same check by getting out of the driver's seat and standing in the surrounding area to be detected by the detection device. However, this is inconvenient as the driver has to take the trouble of leaving the driver's seat. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2021-33403 Summary of the Invention [Problem to be solved by the invention]

[0007] The present application provides an industrial vehicle and a notification system that allows a driver to check the cooperation between a detection device and a notification device without leaving the driver's seat. The present application also provides a notification program used therefor. [Means for solving the problem]

[0008] The present application provides an industrial vehicle having a driver's seat, the industrial vehicle has a first mode and a second mode, The industrial vehicle is a detection device configured to detect people and / or objects in a surrounding area of ​​the industrial vehicle and a person in the driver's seat; an alarm device configured to output an alarm by light and / or sound; a notification control unit that causes the notification device to output the alarm when the detection device detects a detection target; a mode selection means that is operated to switch the industrial vehicle between the first mode and the second mode, The detection device is The vehicle is provided with a range setting unit that, in the first mode, does not set the driver's seat as a detection range for detecting the detection object, but sets the surrounding area as the detection range, while, in the second mode, sets the driver's seat as the detection range.

[0009] The detection device is an imaging device configured to capture images of the surrounding area and the driver's seat to acquire imaging data; an image processing unit that detects the detection target based on the imaging data, The range setting unit In the first mode, the area in the imaging data corresponding to the driver's seat may not be set as the area of ​​interest for image processing by the image processing unit, and in the second mode, the area in the imaging data corresponding to the driver's seat may be set as the area of ​​interest.

[0010] The industrial vehicle further comprises: The vehicle may further include a condition determination unit that transitions to the second mode when at least one additional condition is satisfied in addition to the mode selection means being operated to transition to the second mode.

[0011] The condition determination unit may set the at least one additional condition as being that a brake sensor detects that a parking brake of the industrial vehicle is in an applied state.

[0012] The condition determination unit may set the at least one additional condition as being that a seat sensor detects that a person is sitting in the driver's seat.

[0013] The industrial vehicle further comprises: a display device; The device may further include a display control unit that, when the condition determination unit determines that the mode selection means has been operated to transition to the second mode but that at least one additional condition is not satisfied, causes the display device to display the additional condition that is not satisfied.

[0014] the display device includes a touch panel display, The mode selection means may include a button displayed on the display.

[0015] The industrial vehicle further comprises: a seat sensor for detecting whether a person is sitting in the driver's seat; The notification control unit When the detection device detects a person in the second mode, Based on the seat sensor, When it is determined that a person is sitting in the seat, the alarm is output in a first manner; When it is determined that no one is sitting on the seat, the alarm may be output in a second manner different from the first manner.

[0016] The industrial vehicle further comprises: a directional lever for switching the direction of travel of the industrial vehicle; a lever sensor for detecting whether the directional lever is in a front position where the traveling direction is a forward direction and whether the directional lever is in a rear position where the traveling direction is a rearward direction, The imaging device is a front camera that captures an image of the surrounding area in front of the industrial vehicle and the driver's seat; a rear camera that captures images of the surrounding area behind the industrial vehicle and the driver's seat, The detection device further comprises: A camera selection unit is provided, The camera selection unit In the second mode, based on the lever sensor, When it is determined that the directional lever is in the front position, the image processing unit processes the image data from the front camera; When it is determined that the directional lever is in the rear position, the image processing unit may be caused to perform image processing on the image data from the rear camera.

[0017] The industrial vehicle further comprises: The industrial vehicle may further include a travel control unit that controls a travel device of the industrial vehicle to perform deceleration control or stop control when the detection device detects the detection target.

[0018] The notification device, for example, A light that emits light, and a horn for outputting sound.

[0019] The industrial vehicle is, for example, a forklift.

[0020] The present application further provides a notification system, The notification system has a first mode and a second mode, The notification system includes: an industrial vehicle having a driver's seat; a detection device provided on the industrial vehicle and configured to detect a person and / or object in a surrounding area of ​​the industrial vehicle and a person in the driver's seat; an alarm device provided in the industrial vehicle and configured to output an alarm by sound and / or light; a mode selection means provided in the industrial vehicle and operated to switch the notification system between the first mode and the second mode; a notification control unit that causes the notification device to output the alarm when the detection device detects the detection target, The detection device is The vehicle is provided with a range setting unit that, in the first mode, does not set the driver's seat as a detection range for detecting the detection object, but sets the surrounding area as the detection range, while, in the second mode, sets the driver's seat as the detection range.

[0021] The present application further provides a notification program for use in the above industrial vehicle or the above notification system, the program comprising: A notification program that causes the computer to function as the notification control unit and the range setting unit is provided. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a schematic side view of an exemplary industrial vehicle / announcement system. [Figure 2] FIG. 2 is a block diagram of an example of an industrial vehicle / announcement system for performing an annunciation operation. [Figure 3] FIG. 3 is a schematic diagram for explaining the imaging range of the imaging device. [Figure 4] FIG. 4 illustrates an example of a message displayed on the display device. [Figure 5] FIG. 5 is another exemplary block diagram of an industrial vehicle / announcement system for performing an annunciation operation. DETAILED DESCRIPTION OF THE INVENTION

[0023] Embodiments of the present invention will now be described with reference to the accompanying drawings, which are merely exemplary of the invention. The drawings are schematic only and may not be drawn to scale. It should also be understood that the same reference numerals are used throughout the figures to represent the same or similar elements.

[0024] FIG. 1 illustrates an industrial vehicle 1. In this example, the industrial vehicle 1 is a cargo handling vehicle, more specifically, a forklift. In the example of FIG. 1, the industrial vehicle 1 is a counterbalance type forklift, but it may also be a reach type forklift. Furthermore, the industrial vehicle 1 may be something other than a cargo handling vehicle.

[0025] The industrial vehicle 1 comprises a vehicle body 10 that is provided so as to be able to travel by running wheels 101, and a loading device 11 (forks, mast device, etc.) provided in front of the vehicle body 10. The vehicle body 10 comprises a driver's seat 12 that has a seat 120 where a driver sits while driving, and operating means 13 provided in the driver's seat 12. The operating means 13 includes a steering wheel, a loading lever, a brake pedal, a brake lever 130 for a parking brake (described later), a directional lever 131, etc.

[0026] The industrial vehicle 1 is equipped with at least one light 140. The light 140 here may be a headlight, a blinker, a combination light, a rotating light, a headlight, a spotlight, or the like.

[0027] The industrial vehicle 1 has a function to detect the presence of people or objects in the surrounding area of ​​the industrial vehicle 1 while working, output an alarm, and control the vehicle's travel. The configuration for this will be described below with reference to FIG. 2.

[0028] The industrial vehicle 1 is equipped with an alarm device 14. The alarm device 14 is configured to output an alarm by sound and / or light. In this example, the alarm device 14 is configured by one or more of the lights 140 in FIG. 1 that output light and are standard equipment on the industrial vehicle 1, and a horn 141 that outputs sound and is standard equipment on the industrial vehicle 1.

[0029] The industrial vehicle 1 is equipped with a traveling device 15. The traveling device 15 is made up of a drive system that drives and steers traveling wheels 101 (FIG. 1), and is used to make the vehicle body 10 travel.

[0030] The industrial vehicle 1 is equipped with a detection device 2. The detection device 2 is configured to detect people or objects in the surrounding area of ​​the industrial vehicle 1 and a person in the driver's seat 12. The detection device 2 is equipped with an imaging device 20 configured to capture images of at least the surrounding area and the driver's seat 12 and acquire imaging data. The imaging device 20 is equipped with at least one camera. In this example, the imaging device 20 is composed of multiple cameras, more specifically, a front camera 20a and a rear camera 20b.

[0031] In this example, the front camera 20a and the rear camera 20b are hemispherical cameras with a 360° field of view. The front camera 20a is attached to the front of the industrial vehicle 1 (in FIG. 1, at the top of the mast of the loading device 11) so that its imaging range covers at least the driver's seat 12 and the surrounding area in front of the industrial vehicle 1. The rear camera 20b is attached to the rear of the industrial vehicle 1 (in FIG. 1, behind the head guard of the driver's seat 12) so that its imaging range covers at least the driver's seat 12 and the surrounding area behind the industrial vehicle 1.

[0032] As a result, the detection device 2 can capture the entire periphery of the surrounding area as an imaging range, i.e., a detectable range, as shown in Figure 3. The camera is not limited to a hemispherical camera. The number of cameras may be one, three, or more. Furthermore, the mounting positions are naturally not limited to those shown in Figure 1. These can be determined appropriately depending on the type and structure of the industrial vehicle.

[0033] The detection device 2 includes a detection control device 21 connected to the imaging device 2. The detection control device 21 includes a computer having an arithmetic unit, a storage device, and a memory. The storage device stores a program for causing the computer to function as the following functional units 210 to 213 of the detection control device 21.

[0034] The detection control device 21 includes an image processing unit 210 , a range setting unit 211 , and a signal transmitting unit 212 .

[0035] The image processing unit 210 detects people and objects as detection targets based on imaging data acquired by the cameras 20a and 20b of the imaging device 20 capturing images.

[0036] As will be described later, the range setting unit 211 sets a detection range within the detectable range where detection is actually performed according to the mode. In other words, the range setting unit 211 sets a non-detection range within the detectable range where detection is not performed. In this example, the range setting unit 211 sets a region of interest (ROI) within the captured image data to which image processing by the image processing unit 210 is applied. This will be described later.

[0037] When the image processing unit 210 detects a detection target, the signal transmitting unit 212 transmits a detection signal to the vehicle control device 16 described below.

[0038] The industrial vehicle 1 is equipped with a vehicle control device 16 that controls the operation of the industrial vehicle 1. The vehicle control device 16 is provided inside the vehicle body 10 and is communicably connected to the detection device 2 and a display device 3, which will be described later. The vehicle control device 16 includes a computer having an arithmetic unit, a storage device, and a memory. The storage device stores programs that cause the computer to function as the following functional units 160 to 163 of the vehicle control device 16.

[0039] The vehicle control device 16 includes a notification control unit 160 and a driving control unit 161.

[0040] The notification control unit 160 controls the notification device 14 in response to a detection signal from the detection device 2, causing the notification device 14 to output a warning by sound and / or light. In this example, the notification control unit 160 activates the light 140 to output light and / or activates the horn 141 to output sound in response to receiving a detection signal from the detection device 2. In this example, the light 140 and the horn 141 are standard features, so the notification control unit 160 also turns the light 140 on / off and activates the horn 141 in response to an operation of the operating means 13 (FIG. 1) by the driver.

[0041] The traveling control unit 161 controls the traveling device 15 to perform deceleration control and / or stop control of the traveling of the industrial vehicle 1. Furthermore, the traveling control unit 161 controls the operation of the traveling device 15 in response to input from the operating means 13, thereby allowing the driver to travel the industrial vehicle 1.

[0042] This industrial vehicle 1 has a normal mode (first mode) and an inspection mode (second mode) as detection modes. The industrial vehicle 1 is equipped with a mode selection means 4 (FIG. 2) that is operated by the driver to switch the industrial vehicle 1 between the normal mode, the inspection mode, and a state in which the detection function is not used at all.

[0043] The industrial vehicle 1 further includes a display device 3. This display device 3 includes a touch panel display and also functions as a user interface. The mode selection means 4 may be configured, for example, as one or more buttons displayed on the display. Alternatively, the mode selection means 4 may be configured as one or more mechanical switches or buttons. The mode selection means 4 is provided in a position where it can be operated by the driver while seated in the seat 120. For example, the display device 3 having the mode selection means 4 is provided on the operating means 13 of the driver's seat 12 (see FIG. 1).

[0044] [Normal mode (first mode)] When the normal mode is selected by the mode selection means 4, the industrial vehicle 1 responds by transitioning to the normal mode and performs the following control: In the normal mode, similar to Patent Document 1 and the like, the industrial vehicle 1 detects people or objects in the area surrounding the industrial vehicle 1, and when detected, issues an alarm, performs driving control, and notifies the driver of the detection.

[0045] In the normal mode, the range setting unit 211 does not set the area corresponding to the driver's seat 12 in the image data captured by the imaging device 20 (cameras 20a, 20b) as the area of ​​interest for image processing by the image processing unit 210, but sets only the surrounding area excluding the industrial vehicle 1 as the area of ​​interest. That is, in the normal mode, the detection device 2 sets the driver's seat 12 as the non-detection range and only the surrounding area as the detection range.

[0046] The image processing unit 210 detects a detection target (a person and / or an object) when the detection target is in the surrounding area by performing known image processing on a region of interest of the captured image data. Note that the image processing unit 210 may apply a predetermined algorithm to perform image processing to exclusively detect people. Alternatively, the image processing unit 210 may detect people by inputting the captured image data into a person recognition model generated by machine learning.

[0047] The signal transmitting unit 212 transmits a detection signal to the vehicle control device 16 when a detection target is detected.

[0048] In response to receiving the detection signal, the notification control unit 160 outputs a warning by sound and / or light from the notification device 14 (light 140 and / or horn 141). At the same time, in response to receiving the detection signal, the travel control unit 161 performs deceleration control and / or stop control via the travel device 15. This makes it possible to notify the driver and people nearby of the danger, and to prevent the industrial vehicle 1 from coming into contact with people or objects.

[0049] In the normal mode, the image processor 210 may calculate the distance from the camera 20a / 20b to the target when the target is detected (hereinafter referred to as the detection distance). The notification controller 160 and the driving controller 161 may then change the control mode based on the detection distance. That is, the warning control and driving control may be differentiated depending on the degree of danger.

[0050] As an example, the signal transmission unit 212 may transmit a first detection signal when the detection distance is within the range between the two-dot chain line and the one-dot chain line in Fig. 3, and may transmit a second detection signal when the detection target is within the range of the two-dot chain line. Then, the notification control unit 160 performs different alarm control and the driving control unit 161 performs different driving control depending on whether the first detection signal (low risk) or the second detection signal (high risk) is received.

[0051] For example, the notification control unit 160 may vary the following between the first detection signal and the second detection signal: whether to light 140, whether to light or flash, the flashing cycle, or the lighting pattern; and / or whether to sound horn 141, the volume of the sound, or the pattern of the sound. As a more specific example, the notification control unit 160 may shorten the flashing cycle of light 140 in the case of the second detection signal compared to the flashing cycle of light 140 in the case of the first detection signal. In another example, in the example where light 140 is a combination lamp, the notification control unit 160 may light or flash light 140 in yellow in the case of the first detection signal, and light or flash light 140 in red in the case of the second detection signal.

[0052] For example, the traveling control unit 161 performs deceleration control in the case of the first detection signal, and performs stop control in the case of the second detection signal.

[0053] [Inspection mode (second mode)] When the inspection mode is selected by the mode selection means 4, the industrial vehicle 1 responds by transitioning to the inspection mode and carrying out the following control: The inspection mode is a mode for confirming whether communication between the detection device 2 and the vehicle control device 16 is properly performed and whether the detection device 2 and the alarm device 14 can cooperate as described in the normal mode.

[0054] Range setting unit 211 sets the region of imaging data corresponding to driver's seat 12 as the region of interest. That is, in the inspection mode, detection device 2 sets driver's seat 12 as the detection range, unlike in the normal mode. Note that in the inspection mode, it is sufficient that the region of interest includes the region of interest corresponding to driver's seat 12, so for example, the entire region of imaging data may be set as the region of interest.

[0055] The image processing unit 210 performs human detection by applying a known human recognition image processing technique to the region of interest set in the captured image data. Therefore, if a driver is present in the driver's seat 12, the driver is detected.

[0056] When the image processing unit 210 detects a person, the signal transmitting unit 212 transmits a detection signal to the vehicle control device 16 .

[0057] In response to receiving the detection signal, the notification control unit 160 causes the notification device 14 (light 140 and / or horn 141) to output a warning by light and / or sound.

[0058] The inspection mode is used by the driver as follows: First, the driver sits in the seat 120 of the driver's seat 12 and operates the mode selection means 4 to transition the industrial vehicle 1 to the inspection mode. Then, as described above, the detection device 2 detects the driver in the driver's seat 12, and the alarm device 14 outputs sound and / or light. By confirming this sound and / or light, the driver can confirm that the detection device 2 is operating correctly, that communication between the detection device 2 and the vehicle control device 16 is established, and that the detection device 2 and the alarm device 14 can be linked together.

[0059] After completing such an inspection, the driver operates the mode selection means 4 to select the normal mode, switches the industrial vehicle 1 from the inspection mode to the normal mode, and starts operating the industrial vehicle 1. By using the inspection mode to check safety, the driver can use the normal mode with peace of mind. In the normal mode, the detection device 2 does not set the driver's seat 12 in its detection range, so the driver in the driver's seat 12 will not be detected.

[0060] In this way, by adopting the inspection mode (second mode) in the industrial vehicle 1, the driver can perform inspection work alone without leaving the driver's seat 12. In other words, there is no longer any need for the driver to leave the driver's seat 12 and enter the detection range of the detection device 2 as in the conventional case. The driver can easily perform inspection work.

[0061] In the inspection mode, the driving control unit 161 may perform deceleration control or stop control in response to a detection signal, but the driver cannot check the output of the driving control because the inspection mode is used while the industrial vehicle 1 is stopped. However, if communication between the detection device 2 and the vehicle control device 16 can be confirmed and cooperation between the detection device 2 and the alarm device 14 can be confirmed, it can be assumed that cooperation between the detection device 2 and the driving device 15 is also possible.

[0062] Further features are described below.

[0063] [Transition to inspection mode (second mode)] In the above, when the mode selection means 4 (switch or button) is operated, a transition to the inspection mode is made. For example, in addition to this, at least one additional condition may be set for transition to the inspection mode. Therefore, when the mode selection means 4 is operated to transition to the inspection mode and the additional condition is satisfied, a transition to the inspection mode may be made.

[0064] For example, the additional condition may be that a parking brake (not shown) is in an applied state. For this purpose, the industrial vehicle 1 is provided with a brake sensor 17 (FIG. 2) for detecting the applied state of the parking brake. The brake sensor 17 may be a limit switch or the like that detects that a brake lever 130 (FIG. 1) of the parking brake is pulled to a position that applies the parking brake.

[0065] The industrial vehicle 1 includes a condition determination unit 162 in the vehicle control device 16 that determines whether a condition for transitioning to the inspection mode is satisfied. The condition determination unit 162 determines whether an additional condition is satisfied when the mode selection means 4 is operated to transition to the inspection mode. In this example, the condition determination unit 162 determines whether the parking brake is activated based on a signal from the brake sensor 17.

[0066] When the condition determination unit 162 determines that the parking brake is in an applied state, it transitions the industrial vehicle 1 to the inspection mode. On the other hand, when the condition determination unit 162 determines that the additional condition is not satisfied, it does not transition to the inspection mode.

[0067] Furthermore, in addition to or instead of the parking brake being in an applied state, an additional condition may be that a person (driver) is seated in the seat 120 of the driver's seat 12. For this purpose, the industrial vehicle 1 is provided with a seat sensor 18 ( FIG. 2 ) that detects whether a person is seated in the seat 120. The seat sensor 18 may be a switch that is turned on when a person sits in the seat 120, a load sensor, or the like. When the mode selection means 4 is operated to transition to the inspection mode, the condition determination unit 162 determines whether a person is seated in the seat 120 based on a signal from the seat sensor 18.

[0068] The above additional conditions are merely examples. Furthermore, if two or more additional conditions are set, the condition determination unit 162 will transition to the inspection mode if all of the additional conditions are met.

[0069] If the additional conditions are not satisfied when the mode selection means 4 is operated to transition to the inspection mode, the additional conditions that are not satisfied may be displayed on the display device 3. For this purpose, the industrial vehicle 1 includes a display control unit 163 in the vehicle control device 16.

[0070] As an example, when the condition determination unit 162 determines that the button 40 for transitioning to the inspection mode, which constitutes the mode selection means 4 displayed on the display device 3 as shown in Figure 4, has been operated by the driver, but the parking brake is not in an activated state (the additional condition is not satisfied), the display control unit 163 may cause the display device 3 to display a message 30 saying, "Please pull the parking brake lever" (meaning *Please activate the parking brake).

[0071] By checking this message 30, the driver realizes that the conditions for switching to the inspection mode have not been met and takes steps to meet those conditions, making this very user-friendly.

[0072] Thereafter, when the additional condition is satisfied and the transition to the inspection mode is executed, the display control unit 163 may erase the above-mentioned display (message 30) from the display of the display device 3. This allows the driver to confirm that the transition to the inspection mode has been made.

[0073] The display control unit 163 may cause the display device 3 to display which mode or state the industrial vehicle 1 is in, whether it is in normal mode, inspection mode, or neither mode and the detection device 2 is not being used.

[0074] [Inspection mode alarm status] It should be noted that the seat sensor 18 may be used for warning control in the inspection mode, rather than for transitioning to the inspection mode. For example, when a driver in the driver's seat 12 is detected (when a detection signal is received) in the inspection mode, the notification control unit 160 determines whether the driver is sitting in the seat 120 based on the signal from the seat sensor 18.

[0075] As a result of the determination, the notification control unit 160 causes the notification device 14 to output an alarm in a first manner when the driver is seated in the seat 120, and causes the notification device 14 to output an alarm in a second manner different from the first manner when the driver is not seated in the seat 120. By checking the alarm in the second manner, the driver realizes that the inspection work is not being performed while properly seated in the seat 120. The alarm in the first manner and the alarm in the second manner differ in the manner of sound and / or light output, but it is preferable that the alarm in the second manner has a stronger output that attracts the driver's attention more than the alarm in the first manner.

[0076] [Camera selection in inspection mode] In this example, two cameras, a front camera 20a and a rear camera 20b, are used. Both cameras 20a and 20b include the driver's seat 12 in their imaging range, and the detection device 2 in the above example processes the image data from both cameras in inspection mode and detects a person in the driver's seat 12 using both sets of image data. If there is a defect in one of the cameras, it may not be noticed. As shown in Figure 3, the imaging ranges of the front camera 20a and the rear camera 20b do not overlap for a large area in the area around the industrial vehicle 1, so a camera defect would hinder proper operation in normal mode.

[0077] Therefore, the industrial vehicle 1 may be configured to be able to check the front camera 20a and the rear camera 20b separately in the inspection mode.

[0078] For this purpose, a directional lever 131 (FIG. 1) is used to switch the traveling direction of the industrial vehicle 1 between forward and backward, and a lever sensor 19 (FIG. 2) is used to detect whether the directional lever 131 is in a forward position where the traveling direction is forward or in a backward position where the traveling direction is backward. The lever sensor 19 may be composed of, for example, a plurality of limit switches.

[0079] The detection device 2 includes a camera selection unit 213 in the detection control device 21. The detection device 2 acquires a signal from the lever sensor 19 via the vehicle control device 16. Then, in the second mode, the camera selection unit 213 determines whether the directional lever 131 is in the forward position or the rearward position based on the signal from the lever sensor 19.

[0080] As a result of the determination, when the directional lever 131 is in the front position, the camera selection unit 213 causes the image processing unit 210 to perform image processing on the image data from the front camera 20a and perform human detection (the image data from the rear camera 20b is not used for image processing).On the other hand, when the directional lever 131 is in the rear position, the camera selection unit 213 causes the image processing unit 210 to perform image processing on the image data from the rear camera 20b and perform human detection (the image data from the front camera 20a is not used for image processing).

[0081] According to this configuration, in the inspection mode, if the driver in the driver's seat 12 can confirm that there is no problem with the front camera 20a when he / she moves the directional lever 131 to the front position and can confirm an alarm from the notification device 14. On the other hand, if the driver can confirm that there is no problem with the rear camera 20b when he / she moves the directional lever 131 to the rear position and can confirm an alarm from the notification device 14.

[0082] In addition, the above embodiment may be considered as an alarm system S (Figure 1) that includes, in addition to the industrial vehicle 1, a detection device 2, a display device 3, a mode selection means 4, an alarm device 14, an alarm control unit 160, etc., mounted on the industrial vehicle 1.

[0083] The detection device 2 may use one or more area sensors to detect the detection target in the surrounding area and the driver's seat 12, instead of the cameras 20a and 20b and the image processing unit 210. In this case, the range setting unit 211 may control the area sensor to change the detection range of the area sensor between the normal mode (first mode) and the inspection mode (second mode) as in the above embodiment.

[0084] 5, in the industrial vehicle 1 / alarm system S, the detection device 2 may be configured with an imaging device 20 and a vehicle control device 16. That is, in this embodiment, the vehicle control device 16 also serves as the detection control device 21 of FIG. 2. In this case, the imaging device 20 is connected to the vehicle control device 16. In the vehicle control device 16, a storage device stores an alarm program that causes a computer to function as an image processing unit 210, a range setting unit 211, a camera selection unit 213, an alarm control unit 160, a driving control unit 161, a condition determination unit 162, and a display control unit 163.

[0085] In the embodiment of FIG. 5, similarly to the previous embodiment, the driver can check the cooperation between the detection device 2 and the notification device 14 without leaving the driver's seat 12 by himself.

[0086] Although the present invention has been exemplified above, it goes without saying that the present invention is not limited to the above-described embodiments. [Explanation of symbols]

[0087] 1. Industrial vehicles 12 Driver's seat 120 seats 130 brake lever 131 Directional Lever 14. Alarm device 140 Light 141 Horn 15 Running gear 16 Vehicle control device 160 Notification control unit 161 Travel control unit 162 Condition judgment section 163 Display control unit 17 Brake sensor 18 Sheet Sensor 19 Lever sensor 2. Detection device 20 Imaging device 20a Front camera 20b Rear camera 21 Detection control device 210 Image processing section 211 Range setting section 213 Camera Selection Section 3 Display device 30 Messages 4. Mode selection means 40 Button for transition to second mode S Notification System

Claims

1. An industrial vehicle having a driver's seat, the industrial vehicle has a first mode and a second mode, The industrial vehicle is a detection device configured to detect people and / or objects in the surrounding area of ​​the industrial vehicle and a person in the driver's seat; an alarm device configured to output an alarm by light and / or sound; a notification control unit that causes the notification device to output the alarm when the detection device detects a detection target; a mode selection means that is operated to switch the industrial vehicle between the first mode and the second mode, The detection device is a range setting unit that, in the first mode, does not set the driver's seat as a detection range for detecting the detection object, but sets the surrounding area as the detection range, and, in the second mode, sets the driver's seat as the detection range; Industrial vehicle.

2. The detection device is an imaging device configured to capture images of the surrounding area and the driver's seat to acquire imaging data; an image processing unit that detects the detection target based on the imaging data, The range setting unit In the first mode, a region in the imaging data corresponding to the driver's seat is not set as a region of interest for image processing by the image processing unit, and in the second mode, a region in the imaging data corresponding to the driver's seat is set as the region of interest. The industrial vehicle according to claim 1.

3. The industrial vehicle further comprises: a condition determination unit that performs a transition to the second mode when at least one additional condition is satisfied in addition to the mode selection means being operated for transition to the second mode; The industrial vehicle according to claim 1.

4. the condition determination unit determines that the at least one additional condition is that a brake sensor detects that a parking brake of the industrial vehicle is in an activated state; The industrial vehicle according to claim 3.

5. the condition determination unit determines that the at least one additional condition is that a seat sensor detects that a person is sitting in the driver's seat; 5. The industrial vehicle according to claim 3 or 4.

6. The industrial vehicle further comprises: a display device; a display control unit that, when the condition determination unit determines that the mode selection means is operated to transition to the second mode but the at least one additional condition is not satisfied, causes the display device to display the additional condition that is not satisfied. The industrial vehicle according to claim 3.

7. the display device includes a touch panel display, the mode selection means includes a button displayed on the display; The industrial vehicle according to claim 6.

8. The industrial vehicle further comprises: a seat sensor for detecting whether a person is sitting in the driver's seat; The notification control unit When the detection device detects a person in the second mode, Based on the seat sensor, When it is determined that a person is sitting in the seat, the alarm is output in a first manner; When it is determined that no person is sitting in the seat, the alarm is output in a second manner different from the first manner. The industrial vehicle according to claim 1.

9. The industrial vehicle further comprises: a directional lever for switching the direction of travel of the industrial vehicle; a lever sensor for detecting whether the directional lever is in a front position where the traveling direction is a forward direction and whether the directional lever is in a rear position where the traveling direction is a rearward direction, The imaging device is a front camera that captures an image of the surrounding area in front of the industrial vehicle and the driver's seat; a rear camera that captures images of the surrounding area behind the industrial vehicle and the driver's seat, The detection device further comprises: A camera selection unit is provided, The camera selection unit In the second mode, based on the lever sensor, When it is determined that the directional lever is in the front position, the image processing unit processes the image data from the front camera; when it is determined that the directional lever is in the rear position, the image processing unit processes the image data from the rear camera. The industrial vehicle according to claim 2.

10. The industrial vehicle further comprises: a travel control unit that controls a travel device of the industrial vehicle to perform deceleration control or stop control when the detection device detects the detection target; The industrial vehicle according to claim 1.

11. The notification device A light that emits light, a horn for outputting sound; The industrial vehicle according to claim 1.

12. The industrial vehicle is a forklift. The industrial vehicle according to claim 1.

13. A notification system, the notification system has a first mode and a second mode; The notification system includes: an industrial vehicle having a driver's seat; a detection device provided on the industrial vehicle and configured to detect a person and / or object in a surrounding area of ​​the industrial vehicle and a person in the driver's seat; an alarm device provided in the industrial vehicle and configured to output an alarm by sound and / or light; a mode selection means provided in the industrial vehicle and operated to switch the notification system between the first mode and the second mode; a notification control unit that causes the notification device to output the alarm when the detection device detects the detection target, The detection device is a range setting unit that, in the first mode, does not set the driver's seat as a detection range for detecting the detection object, but sets the surrounding area as the detection range, and, in the second mode, sets the driver's seat as the detection range; Notification system.

14. 14. A notification program for use in the industrial vehicle according to claim 1 or the notification system according to claim 13, the program comprising: causing the computer to function as the notification control unit and the range setting unit; Notification program.

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