Imaging device, system and fork lift equipped with the system

Abstract

To provide an imaging device, system and fork lift which can effectively prevent an engagement member for imaging camera from entering a photographed image of the imaging camera and can be miniaturized as a whole.SOLUTION: An imaging device 1 comprises: a wide-range imaging camera 2 which has a hemispherical lens 2A; and an engagement member 4 which is arranged on the back side of the wide-range imaging camera 2 and engages the wide-range imaging camera 2 with another structure. The engagement member 4 includes a rising / falling rotation setting mechanism 5 which holds the wide-range imaging camera 2 in a connected manner and is integrated with the wide-range imaging camera 2 in a manner of performing rising / falling rotation and being fixed at any rising / falling rotation position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to, for example, an imaging device, an imaging system, and a forklift equipped with this system, and is also related to a device equipped on a material handling and transporting machine such as a forklift, for capturing an image of a person or an object. The present invention relates to an imaging device and system suitable for recording the position and movement of a forklift or the like, and to a forklift or the like equipped with the system. [Background technology]

[0002] There have been known imaging devices in which the camera's mounting means is devised to allow the camera's shooting direction to be changed in various ways. In this case, changing the shooting direction can sometimes cause the inconvenience of parts of the camera mounting mechanism board or other parts located around the camera appearing in the image.

[0003] On the other hand, a known method for these is to mount a camera in a cylindrical camera holder and rotate the cylindrical camera holder back and forth to allow the camera to rise and fall in a fixed position (for example, Patent Document 1 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-105530 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technique disclosed in Patent Document 1 has the disadvantage that the entire imaging device tends to become large in size and is difficult to transport and maintain, since the entire camera is housed in a cylindrical camera holder.

[0006] Furthermore, since the mounting member is attached to a portion of the outer periphery of the cylindrical camera holder, protruding from the outer periphery, there is the inconvenience that, depending on the fixing position of the mounting member, part of the mounting member may get inside the lens surface of the camera.

[0007] The present invention aims to improve upon the disadvantages of the above-mentioned conventional examples, and to provide an imaging device that effectively prevents an attachment member for the imaging camera from getting into the image captured by the imaging camera and that can be made smaller overall, a system that uses this imaging device, and a forklift equipped with this, which are easier to use than conventional devices. [Means for solving the problem]

[0008] (1) The imaging device is a wide-angle camera; and an attachment member disposed on the rear side of the wide-angle camera for attaching the wide-angle camera to another structure;

[0009] It is preferable to provide a configuration in which the engaging member is equipped with a tilt-and-rotate setting mechanism that connects and holds the wide-angle camera and fixes and integrates the wide-angle camera so that the wide-angle camera can be tilted and rotated freely at any tilt-and-rotate position.

[0010] In this way, since an attachment member is arranged on the back side of the wide-area camera, even if the wide-area camera captures a wide range of information within its shooting range, the possibility of structures attached to the camera, such as attachment members, appearing in the captured image can be reduced, making it possible to capture a maximum range of areas other than structures related to the camera with a single camera.

[0011] In this way, for example, in a vehicle such as a forklift, in particular, where people frequently get on and off, or a vehicle that has operations other than those for moving people (for example, forward and backward movement of the vehicle) (for example, loading and unloading of luggage), structures attached to the camera such as an attachment member may get in the way, making it impossible to capture, for example, people getting on and off, or some operations other than those for moving people. This reduces the possibility of this happening, and also reduces the need to be aware of such problems during installation work, making installation easy and quick.

[0012] The wide-angle camera is preferably a camera having a field of view exceeding 180°, for example, a camera having a field of view exceeding 180° in the diagonal direction, and more preferably, a camera having a field of view exceeding 180° in all directions.

[0013] The wide-angle camera is preferably a camera equipped with a fisheye lens, and may be a camera equipped with a diagonal fisheye lens, but is particularly preferably a camera equipped with a full-circle fisheye lens.

[0014] The wide-area camera may be a camera capable of capturing an image of a hemispherical area, and may be a camera equipped with a lens (referred to as a hemispherical lens in this specification and claims, but this term does not refer to a hemispherical lens) that forms an image of the hemispherical area on an imaging means such as an image sensor.

[0015] The hemispherical lens should be a lens that can capture the entire sky (for example, a full field of view of approximately 180 degrees) within an image circle of a predetermined size on the imaging means. A diagonal fisheye lens may be used, with the diameter of the field of view circle fitting the diagonal of the screen, capturing the entire field of view in the diagonal direction of the imaging area of ​​the imaging means. However, a particularly excellent effect is achieved by using a full-circle fisheye lens, where the full field of view circle fits within the short side of the imaging area of ​​the imaging means. It is particularly desirable to capture the entire circumference of the field of view circle.

[0016] Images captured by such cameras and lenses are often projected so that the area occupied by an image portion of a subject of the same size in the entire image varies depending on its position within the image, for example, by strongly compressing the center of the image and less compressing the periphery. In such images, if a structure attached to the camera, such as an attachment member, is captured particularly in the periphery of the image, the structure will be widely projected in the periphery of the captured image. However, according to the present invention, it is possible to reduce the possibility that a structure attached to the camera, such as an attachment member, will be widely projected in the captured image, making it possible to capture a wide range of areas other than the structure related to the camera with a single camera.

[0017] This is particularly effective in cameras with lenses that use projection other than the central projection method, which keeps the shape of the subject and the shape of the image similar. For example, this is effective in cameras that use a stereoscopic projection or equi-solid angle projection lens to form an image on the imaging means. The hemispherical lens should preferably have a field angle of more than 180°, for example, around 210°. The lens may be made up of a plurality of lenses. The range of any desired up-and-down rotation may be, for example, a rotation range from 0° to a predetermined angle, and in particular, this predetermined angle may be, for example, 90°.

[0018] The relationship between the angle of view and position of the wide-area imaging camera and the position and shape of the fastening member for fastening the wide-area imaging camera to another structure can be set so that the fastening member for fastening the wide-area imaging camera to another structure does not enter the imaging range of the wide-area imaging camera over the entire rotation range. The relationship between the rotation range, the angle of view of the wide-area imaging camera, and the range of possible positions of the fastening member can be set so that part of the fastening member does not appear in the angle of view of the wide-area imaging camera at any position within the rotation range.

[0019] The engaging member may be provided with a part or other member (hereinafter referred to as a simultaneous rotation member) that moves with the rotation. As such a part or member, it is particularly preferable to provide a cable fastening portion for fastening a cable connected to the wide-area imaging camera. The simultaneous rotation member may also move over the entire rotation range. Therefore, the position and shape of the camera should be set in relation to the angle of view and position of the wide-area camera so that the camera does not enter the imaging range of the wide-area camera. The simultaneous rotation member should preferably include a cable holding portion, which will be described later.

[0020] The wide-angle camera itself may be configured so that a portion of it is directly held without being housed inside a cylindrical case or the like. This allows for further miniaturization of the entire imaging device. For example, if a lens with an angle of view exceeding 180° is configured as a camera of the type housed inside a conventional cylindrical case as described above, there is a problem that a portion of the cylindrical case or a connection cable extending axially from the center of the cylindrical case will appear in the image. However, this configuration easily solves this problem.

[0021] For example, the wide-area imaging camera may have a flat surface on its back surface, and the engaging member may have a surface portion to be engaged with another structure, and the elevation / rotation setting mechanism may be configured so that the angle between the two surfaces is within a range from 0° to a predetermined angle, which may be 90°.

[0022] The rotation may be configured to be stepless, but it is preferable to provide a latch or other mechanism to semi-fix the rotation at predetermined angles. It is even better to provide a mechanism to change the semi-fixed state to a fixed state, such as a screw mechanism. It is particularly preferable to provide serrations that engage at predetermined angles. For example, it is preferable to configure the hoisting and rotation position to be set in increments of any angle between 5° and 10°.

[0023] (2) The elevation and rotation setting mechanism may be configured to include a cylindrical body that is arranged along the wide-angle camera at the upper end of the wide-angle camera and is integrally molded with the attachment member, and a connecting mechanism that is rotatably incorporated into the inner diameter portion of the cylindrical body and engages with a camera-side locking portion that is previously installed at the upper end of the wide-angle camera, thereby fixing and integrating the camera-side locking portion with the cylindrical body.

[0024] In this way, for example, when the wide-angle camera is installed with its upper end facing up, the wide-angle camera is stably held hanging down by the attachment member. Therefore, in practice, the size and shape of the attachment member can be freely set. For example, when installing the camera on a forklift, the attachment member can be freely formed and processed to fit the structure of the forklift, allowing the installation position and lens orientation to be always set in an optimal state, which has the advantage of increasing versatility.

[0025] Here, the cylindrical body integrally molded with the fastening member and the camera side fastening portion pre-installed at the upper end of the wide-area camera may also be a cylindrical body integrally molded with the upper end of the wide-area camera and a fastening member side fastening portion pre-installed on the fastening member.

[0026] (3) A connection cable for externally outputting image information captured by the wide-angle camera is removably provided, and the engaging member is formed in a plate shape, and a cable holding portion for the connection cable is provided at the upper end of the engaging member.

[0027] This makes it easier to route the cable during installation, and also has the advantage that when the cable is installed on a forklift, for example, during actual use, the connecting cable will not be swung around even when the forklift moves or rotates rapidly, making it less likely to come loose and eliminating the risk of it breaking.

[0028] Another advantage is that, because the engaging member holds the cable, the initially set shooting direction of the wide-angle camera can be effectively maintained even when the forklift is moving violently.

[0029] Furthermore, since the cable is removable, wiring is easy and there is less risk of it breaking, and even if it does break, it can be operated by simply replacing the cable.

[0030] Here, the connection cable may be called a camera cable. The connection cable may be a type of cable that can not only output image information but also supply power to the imaging device. (4) The cable holding portion is arranged to hold the connection cable along the mounting surface of the fastening member.

[0031] This has the advantage that when the fastening member is installed on a structure, for example, a forklift, the connection cable can be routed along the surface of the structure, preventing the connection cable from coming off the structure and becoming easily caught.

[0032] (5) The imaging device may be an imaging device that can be attached to a forklift, and the system may include the imaging device and a recording device that records the images captured by the imaging device.

[0033] In this way, when this imaging device is installed on the structure of a forklift, it is possible to capture images of a wide area including the front area, rear area, left and right areas, upper area, and driver's seat area, which are necessary for investigating collision accidents and cargo collapse that may occur during forklift operation, with a single imaging device, and record the captured images. Moreover, the imaging device is designed so that the structure of the imaging device does not enter the field of view, so that the widest possible range can be photographed and recorded.

[0034] (6) The recording device may be a system characterized in that it associates the captured image with environmental information related to the captured image and records this as image information. This has the advantage that the captured and collected image information can be used more effectively according to the purpose by displaying it on the screen of the display device.

[0035] Here, the environmental information related to the captured image may include, for example, the type of forklift equipped with a wide-area camera, vehicle speed, acceleration, angular velocity, camera location, shooting conditions, time, sound, shooting direction, etc.

[0036] (7) The recording device is characterized in that the photographed image is recorded as a photographed image including both the area in front of the forklift and other areas adjacent thereto.

[0037] This has the advantage that not only can the area in front of the forklift, where forklift collisions and cargo collapses are common, be recorded, but also other areas, namely the area above the forklift's cargo lifting device, the area below the forks when the cargo lifting device is operated to lift cargo on the forks, the left and right areas of the forklift, the driver's seat area, and in some cases the rear area, can be recorded as a continuous image in the front area.

[0038] Furthermore, forklifts are not driven by company employees, but rather, in many cases, the driver of the truck that delivered the cargo borrows a forklift and drives it to unload the cargo. There are many different types of truck drivers, some of whom drive roughly, and may even make holes in the cargo (for example, cardboard boxes) with their toes. Also, even a fast, experienced driver may make a hole in the cargo or bump into something when they are pressed for time or are not paying attention when walking between two pieces of cargo. Furthermore, In addition to puncturing luggage with your toes, there is also the risk of hitting parts of the lifting device or the luggage against the ceiling when lifting it.

[0039] In addition to the collision, recording images of the driver's facial expression, eye direction, steering wheel position, whether or not they checked their fingertips, and the driver's name written on their helmet will also be useful information for investigating the cause of the accident and considering future countermeasures. Ultimately, understanding the overall situation of the accident will enable prediction of danger, and can be used for education to prevent serious accidents.

[0040] For example, it would be a great advantage to equip a forklift with a system capable of photographing and recording accidents that occur over such a wide range, using the system disclosed in (5) above. (8) The system is equipped on a forklift,

[0041] The forklift may be characterized in that the imaging device is installed facing forward in an upper area on the front side of the forklift via the engaging member provided on the imaging device.

[0042] For example, it is preferable to configure the system to collect image information over a wide area, including a range of approximately 180 to 210 degrees forward in the direction of movement of the forklift. This has the advantage that a single imaging device can collect image information that includes not only the area in front of the forklift, but also the areas above and to the left and right of the forklift, especially high areas in the front. Furthermore, by using this collected image information, it is possible to reliably and effectively grasp and manage the results of work performed in front of the forklift after the work is completed. (9) The imaging device may be installed in an upper central area of ​​the forklift, facing downward, via the fastening member provided on the imaging device.

[0043] This system has the advantage that it can collect image information from the entire 360-degree area around the forklift in the direction of movement, and in particular, it can collect not only the area in front of the forklift but also the driver's seat area, rear area, and back area of ​​the forklift, i.e., the entire area around the forklift, with a single imaging device.Furthermore, by using this collected image information, it is possible to reliably and effectively grasp and manage the work results for the entire area around the forklift after the work is completed.

[0044] Here, "facing downward" does not necessarily have to be directly downward; for example, even if the vehicle is slightly tilted backward, as long as the luggage on the forks at the front of the vehicle and / or the area around the handlebars in the driver's seat are within the field of view, this can also be considered "facing downward." The configurations (1) to (9) may be arbitrarily combined. The components (1) to (9) may also be arbitrarily combined.

[0045] Furthermore, apart from (1) to (9), or together with any of (1) to (9), or a combination of these, or any of the components, the following may be configured.

[0046] (A) An imaging device for capturing images of a predetermined imaging range in a vehicle, the imaging device preferably comprising: an imaging means having an angle of view for capturing a single image in which multiple monitored objects in different directions are included in the predetermined imaging range; and an attachment means for attaching the imaging means to a mountable position on the vehicle so that the multiple monitored objects in different directions are included in the predetermined imaging range.

[0047] In this way, a plurality of monitoring devices in different directions can be mounted on the vehicle. It is easy to capture multiple monitoring targets in different directions so that they are included in a single image. Therefore, it is possible to realize a system that is easier to use than conventional systems. Conventionally, in order to capture multiple monitoring targets in different directions, multiple imaging devices were installed, images were obtained from each of the multiple imaging devices, and the individual images were then combined into a single image. However, it is no longer necessary to install multiple imaging devices or a device that combines the images from each imaging device into a single image, as was done in the past. Therefore, it is possible to reduce the installation time in the vehicle and, at a lower cost than conventional systems, to capture multiple monitoring targets in different directions so that they are included in a single image.

[0048] The vehicle may be a vehicle that moves forward or backward, such as a passenger car, truck, bus, etc., but may particularly be a vehicle that moves not only forward or backward but also in a turning direction, such as a forklift, etc. The different directions may include at least two directions, for example, a forward direction, a backward direction, and a turning direction.

[0049] At least a portion of each of the multiple monitored objects may be included within the specified imaging range, but it is particularly desirable that each of them be included in its entirety within the specified imaging range, and it is especially desirable that all of them be included in their entirety within the specified imaging range.

[0050] The multiple monitoring target ranges in different directions may be, for example, a range for capturing images of an accident that occurs when the vehicle is traveling, and a range for capturing images of a monitoring target other than the accident that occurs when the vehicle is traveling, etc. For example, an imaging device that captures images of a predetermined imaging range in a vehicle may be configured to include: imaging means having an angle of view such that images in the direction in which the vehicle is traveling and in directions other than the direction in which the vehicle is traveling fall within the predetermined imaging range; and installation means for installing the camera on the vehicle so that images in the direction in which the vehicle is traveling and in directions other than the direction in which the vehicle is traveling can be captured within the angle of view.

[0051] (B) The multiple monitored objects in different directions may be, for example, two of the following: monitoring of accidents occurring as the vehicle moves, monitoring of the driver's driving operations, and monitoring of accidents occurring as movable parts attached to the vehicle move. (C) The different directions may be, for example, directions in which the largest angle formed by the respective central directions of a plurality of monitoring ranges exceeds 90 degrees.

[0052] If the angle between the two monitoring target ranges whose extensions are furthest apart among multiple monitoring target ranges in different directions is X degrees, the angle of view should be set to, for example, more than X degrees. In this way, multiple monitoring targets in different directions can be photographed, increasing the possibility of photographing multiple monitoring targets.

[0053] (D) It is particularly advantageous to use the angle of view and the lens used to obtain that angle of view as described in (1). This increases the likelihood that multiple monitoring ranges, such as (C), will all be captured. The imaging means may be a wide-angle camera, and the mounting means may include an engaging member and a lifting and rotating mechanism.

[0054] The mounting means may be provided on the opposite side of the imaging direction of the housing having the imaging means, and may be configured to include, for example, a flat portion provided on the back of the housing having the imaging means on the front and an adhesive member for directly attaching the flat portion to the vehicle, but it is preferable to use the mounting means as shown in (E).

[0055] (E) The mounting means includes a mounting member having a flat portion that can face a flat portion at a position where the mounting member can be attached to the vehicle, and an imaging device that can adjust the imaging direction of the imaging device when the mounting member is attached to the vehicle so as to face the flat portion at the position where the mounting member can be attached to the vehicle. It is preferable to provide a direction adjustment means, and to set the relationship between the angle of view of the imaging means and the range of adjustable imaging directions so that the mounting member and the imaging direction adjustment means do not enter within the angle of view of the imaging means over the entire range of adjustable imaging directions of the imaging direction adjustment means.

[0056] In this way, no part of the mounting means will be captured in the image captured in the imaging range at any adjustment position, making it easier to mount and adjust the mounting means on the vehicle than in the past.

[0057] The mounting member may be, for example, a mounting plate, with the imaging direction adjustment means provided on one side of the mounting plate, and the other side facing a flat surface at the mounting position on the vehicle, and the opposing surfaces may be bonded together with an adhesive such as double-sided tape.

[0058] The imaging direction adjustment means may be configured as a ball joint between an arm extending from the mounting member and an arm extending from the housing having the imaging means, but it is particularly preferable to use the methods (F) to (J).

[0059] (F) The imaging direction adjustment means may be a hinge mechanism provided between the mounting member and a housing having the imaging means, and may be configured to be capable of opening and closing the angle between the mounting member and the housing about the axis of the hinge from a predetermined minimum angle to a predetermined maximum angle, and may be configured to include an angle fixing means capable of fixing the angle at the user's desired angle.

[0060] (G) The hinge mechanism may be provided between a position where it protrudes from the surface opposite to the surface having the flat portion that can face the flat portion at the position where it can be attached to the vehicle, and a position where it protrudes from the housing in a direction perpendicular to the imaging direction of the housing having the imaging means.

[0061] The hinge mechanism may be provided, for example, between the center of the rear surface of the housing having the imaging unit and the surface opposite the surface having the flat portion opposite the flat portion at the vehicle mount position. However, this increases the likelihood of the housing hitting the vehicle or other object the more the hinge is opened. The configuration (G) significantly reduces this possibility. For example, as shown in FIG. 3(C) of the embodiment, the hinge mechanism may be provided between a position protruding upward from the case having the camera and a position protruding from the surface opposite the mounting surface 4A of the fastening member 4. In particular, the configuration (G) may be used, and the surface having the flat portion opposite the flat portion at the vehicle mount position may be provided across the hinge axis of the hinge mechanism. This reduces the likelihood of the flat portion opposite the flat portion at the vehicle mount position peeling off when the hinge angle is changed after the flat portion is attached to the vehicle, for example. For example, as shown in FIG. 3(C) of the embodiment, the mounting surface 4A of the fastening member 4 may have mounting surfaces on both the upper and lower sides, straddling the hinge axis located on its rear side.

[0062] (H) The imaging direction of the imaging means may be configured to be approximately parallel to a direction opposite to the normal direction of the mounting surface of the mounting member to the vehicle when the hinge mechanism is closed.

[0063] In this way, simply by attaching the imaging means to the vehicle with the hinges closed, the imaging direction can be set to a direction that is approximately normal to the flat surface at the position where the imaging means can be attached to the vehicle. Even if the user attaches the imaging means to the vehicle without paying attention to the direction in which the center of the lens of the imaging means faces, the direction in which the center of the lens faces can be set to a direction that is approximately perpendicular to the mounting surface of the vehicle as long as the hinges are closed. Also, it is easy to set the range based on the flat surface at the position where the imaging means can be attached to the vehicle as the predetermined imaging range. For example, particularly when the imaging means is configured as a circular fisheye camera, the direction of the center of the captured circular image can be set to a direction that is approximately normal to the mounting surface of the vehicle. It is easy to make the directions substantially perpendicular to each other.

[0064] (I) The imaging direction of the imaging means may be configured to be approximately parallel to a direction perpendicular to the normal direction of the mounting surface of the mounting member to the vehicle when the hinge mechanism is fully open.

[0065] Even if the user installs the imaging means on a vehicle without paying attention to the direction in which the center of the lens of the imaging means faces, the direction in which the center of the lens faces can be made substantially parallel to the mounting surface of the vehicle simply by leaving the hinge in the fully open position. For example, particularly when the imaging means is configured as a circular fisheye camera, it is easy to make the direction of the center of the captured circular image substantially parallel to the mounting surface of the vehicle. (J) The mounting member may be provided with a simultaneous rotation member as described above. For example, it may be provided with a cable holding portion.

[0066] (K) A device comprising a video signal connector for connecting a video signal line from an imaging device and a connector for connecting other signal lines, comprising a plurality of at least one of the video signal connectors or the connectors, and performing processing based on the connected video signal connectors and signals from the connected connectors, the device comprising a housing having a waterproofing mechanism that can be attached to a location in a vehicle where water may splash on it, and a tube that is pulled out from the housing and is waterproofed against the housing, the connector being provided within the housing, and the video signal line and the other signal lines being able to be pulled out from inside the housing to outside the housing through the tube.

[0067] This eliminates the need to waterproof multiple connectors, making it easier and more reliable to reduce malfunctions due to water intrusion than in the past. In particular, even when the number of imaging devices and other devices connected to this device varies (e.g., when various overall system configurations are possible), simply passing all signal lines through this tube can easily waterproof the entire device. While multiple tubes are possible, a single tube is preferable. The length of the tube should be long enough to prevent water from entering the vehicle due to rainfall or car washes. For example, the length of the tube should be longer than the length of the tube in the direction of extension (the short side in FIG. 6(A)) on the water-receiving surface of the housing (e.g., the surface shown in FIG. 6(A) in the embodiment). The tube should be bound around its periphery with a binding material that deforms when constricted, narrowing the space between the opening of the tube, the video signal lines, other signal lines, and the inner diameter of the tube. The tube should be made of a deformable material, while the housing should be made of a non-deformable material. This allows the housing to be more reliably fixed to the vehicle, and also makes it easier to route the cable along the vehicle. The housing of this device is provided with a removable portion for a recording medium for recording images from the imaging device, and the removable portion preferably has a structure that makes it waterproof when a recording medium is attached.

[0068] (L) A program for causing a computer to realize a function for displaying images captured by the imaging device, the program having a display mode for displaying the captured image as is, and a plurality of display modes for converting the coordinates of the captured image and displaying it, and a function for displaying a selection unit for selecting which display mode to use, the selection unit having images representing the display method in each display mode, the selection unit having a first selection unit that displays images representing the display method in each display mode in a state where the entire displayed image can be seen, and a second selection unit that displays, for each display mode, the title of the display mode, a description of the display mode, and the image representing the display method in that display mode, and the second selection unit is preferably displayed when a display button that allows the entire displayed image to be seen is pressed.

[0069] In this way, the display button that allows you to see the entire displayed image can be displayed. The second selection section that is displayed by pressing the button shows an explanation of the display method of each display mode and its image at a glance, so that even a first-time user can intuitively select the display mode that he or she wants to see, and once the relationship between the display method of the display mode and the image that represents the display method can be understood by looking at the display in the second selection section, it is only necessary to select in the first selection section without pressing the display button that displays the second selection section. (M) The configurations (A) to (L) may be arbitrarily combined. The components (A) to (L) may also be arbitrarily combined. [Effects of the Invention]

[0070] The present invention can provide a device that is easier to use than conventional devices. For example, it can improve the disadvantages of conventional devices. For example, no matter how the mounting angle of the imaging camera in the imaging device is variably set, it is possible to configure the device so that the attachment member for the imaging camera is more reliably prevented from entering the image captured by the imaging camera than conventional devices. It is also possible to achieve an overall smaller size than when multiple narrow-area cameras are used. [Brief explanation of the drawings]

[0071] [Figure 1] 1A and 1B are diagrams showing an imaging device in a first embodiment of the present invention, in which FIG. 1A is a front view, FIG. 1B is a left side view, FIG. 1C is a right side view, FIG. 1D is a plan view, FIG. 1E is a bottom view, FIG. 1F is a rear view, and FIG. 1G is a perspective view. [Figure 2] 2(A) and 2(B) are cross-sectional views showing an imaging device according to a first embodiment of the present invention, with FIG. 2(A) being a cross-sectional view taken along line AA in FIG. 1(A), FIG. 2(B) being a cross-sectional view taken along line BB in FIG. 1(A), FIG. 2(C) being an explanatory view showing mainly the internal imaging element substrate with the front portion of FIG. 1(A) removed, and FIG. 2(D) being an explanatory view showing mainly the internal connector and connector substrate with the front portion and the imaging element substrate removed as in FIG. 2(C). [Figure 3] 3A and 3B are detailed external views showing the imaging device of the first embodiment shown in FIG. 1, in which FIG. 3A is a front view, FIG. 3B is a left side view, FIG. 3C is a right side view, FIG. 3D is a plan view, and FIG. 3E is a bottom view. [Figure 4] 4A and 4B are perspective views showing the imaging device of the first embodiment shown in FIG. 1, where FIG. 4A is a perspective view seen from the front side and FIG. 4B is a perspective view seen from the rear side. [Figure 5] 5A and 5B are diagrams showing a sensor unit used in connection with the imaging device of the first embodiment shown in FIG. 1, in which FIG. 5A is a front view, FIG. 5B is a front view, FIG. 5C is a left side view, FIG. 5D is a right side view, and FIG. 5E is a rear view. [Figure 6] 6A and 6B are diagrams showing a recording device used in connection with the imaging device of the first embodiment shown in FIG. 1, where FIG. 6A is a front view, FIG. 6B is a left side view, FIG. 6C is a right side view, FIG. 6D is a plan view, FIG. 6E is a bottom view, and FIG. 6F is a perspective view. [Figure 7] 7A and 7B are external perspective views showing the main unit (recording device) of the recording device shown in FIG. 6 when it is made dustproof / waterproof, where FIG. 7A shows the case where the protective cover is made of a non-transparent material, and FIG. 7B shows the case where the protective cover is made of a transparent material. [Figure 8] 8A and 8B are external perspective views showing how to insert and remove an SD card in the recording device shown in FIG. 7, where FIG. 8A shows the state when the cover is open, and FIG. 8B shows the state when inserting and removing an SD card. [Figure 9] 7 is an explanatory diagram showing an example in which the imaging device of FIG. 1 and the main unit (recording device) of FIG. 6 are mounted on a forklift as a system. [Figure 10] Fig. 10(A) is a plan view of a conventional example, and Fig. 10(B) is a front view of the same. Fig. 10(C) is a plan view of an example where the imaging device of Fig. 1 is mounted on the ceiling of the driver's seat of a forklift, Fig. 10(D) is a front view of Fig. 1(C), and Fig. 10(E) is a front view of an example where the imaging device of Fig. 1 is mounted on the upper front part of the driver's seat of a forklift. [Figure 11]FIG. 11(A) is an explanatory diagram showing another example when the imaging device of FIG. 1 is equipped on a forklift. FIG. 11(A) is an explanatory diagram showing the shooting range when the cameras of the conventional example are equipped above the driver's seat and above the outer side of the back of the driver's seat. FIG. 11(B) is an explanatory diagram showing the shooting range when the imaging device of FIG. 1 is equipped downward above the driver's seat of the forklift. FIG. 11(C) is an explanatory diagram showing each shooting range when the imaging device of FIG. 1 is equipped above the upper part on the front side of the driver's seat of the forklift and the camera of the conventional example is equipped above the outer side of the back of the driver's seat. FIG. 11(D) is an explanatory diagram showing each shooting range when the imaging device of FIG. 1 is equipped above the upper part on the front side of the driver's seat of the forklift and the same imaging device is equipped downward and slightly backward above the driver's seat. [Figure 12] FIG. 12(A) and FIG. 12(B) are explanatory diagrams showing still another example when the imaging device of FIG. 1 is equipped on a forklift. FIG. 12(A) and FIG. 12(B) are explanatory diagrams showing examples of the shooting range when one imaging device of FIG. 1 is equipped above the outer side of the front of the driver's seat and facing forward, and a conventional imaging camera is equipped slightly downward above the outer side of the back of the driver's seat. FIGS. 12(C) and FIGS. 12(D) are explanatory diagrams showing examples of the shooting range when two imaging devices of FIG. 1 are respectively equipped at the same positions as in FIGS. 12(A) and FIGS. 12(B). [Figure 13] FIG. 13(A) is a diagram showing an example of a specific captured image when the imaging device of FIG. 1 is equipped on a forklift. FIG. 13(A) is a diagram showing the captured image obtained when shooting under the same conditions as in FIG. 11(B). FIG. 13(B) is a diagram showing an example of the captured image obtained when the shooting location is set inside the office under the same conditions as in FIG. 13(A). FIG. 13(C) is a diagram showing an example of the planarized display of FIG. 13(B). [Figure 14] FIG. 14(A) is a diagram showing an example of the display screen of the captured image obtained by equipping the imaging device of FIG. 1 on a forklift. FIG. 14(A) is a diagram showing a list of a plurality of display methods. FIG. 14(A) is a diagram showing an example of a selected specific display method. [Figure 15] FIG. 12 is an explanatory diagram showing an enlarged list obtained by enlarging the list of display methods displayed at the main part of FIG. 14(A). [Figure 16]16A and 16B are diagrams showing examples of captured images that are displayed on the display screen when normal display is specified in the list shown in FIG. 15, where FIG. 16A is a diagram showing a guidance display screen, and FIG. 16B is a diagram showing an example of a captured image that is displayed in normal display. [Figure 17] These figures show examples of captured images that are displayed on the display screen when panoramic display is specified in the list shown in Figure 15, where Figure 17(A) shows a guidance display screen, Figure 17(B) shows an example of a captured image displayed in panoramic display, and Figure 17(C) shows a partial enlarged display screen that is obtained when specified in Figure 17(B). [Figure 18] 18A and 18B are diagrams showing examples of captured images that are displayed on the display screen when ring-shaped display is specified in the list shown in FIG. 15, where FIG. 18A is a diagram showing a guidance display screen, and FIG. 18B is a diagram showing an example of a captured image that is displayed in ring-shaped display. [Figure 19] 19A and 19B are diagrams showing examples of captured images that are displayed on the display screen when dome-shaped display is specified in the list shown in FIG. 15, where FIG. 19A is a diagram showing a guidance display screen, and FIG. 19B is a diagram showing an example of a captured image that is displayed in dome-shaped display. [Figure 20] 20(A) shows an example of a captured image displayed on the display screen when flat display is specified in the list shown in FIG. 15, and FIG. 20(B) shows an example of a captured image displayed in flat display. DETAILED DESCRIPTION OF THE INVENTION

[0072] Hereinafter, an embodiment of an imaging device, a system, and a forklift with a camera according to the present invention will be described with reference to the accompanying drawings. (imaging device) First, the configuration of the imaging device 1 in this embodiment will be described.

[0073] 1 to 4, the imaging device 1 includes a wide-angle camera 2 equipped with a hemispherical lens 2A, and a device body 3 that houses and holds the wide-angle camera 2. The device body 3 includes, for example, a CMOS image sensor 13 as a signal conversion unit that sends signals to a recording device 6, which will be described later. (Wide-angle camera and device body)

[0074] The wide-angle imaging camera 2 is configured as a hemispherical camera 2 equipped with a hemispherical lens 2A. This hemispherical lens 2A has a configuration in which the lens is housed in a lens barrel made of aluminum die-cast.

[0075] Here, in this embodiment, the hemispherical lens 2A is a lens with a field of view exceeding 180°, and more specifically, the field of view (VIEW AREA, field of view, field of view) of the hemispherical camera 2 is set to approximately 210°. The dashed-dotted line in FIG. 1(C) indicates the field of view (field of view) of this imaging device 1 (and therefore hemispherical camera 2), and the range to the left of the dashed-dotted line is within the field of view. Similarly, the area below the dashed-dotted line in FIG. 1(C) indicates the field of view of the imaging device 1.

[0076] The lens barrel of the hemispherical lens 2A is supported by the edge 3A of the lens protrusion hole in the device body 3 and by a lens holding part 3B disposed inside the device body 3. Here, support by the lens holding part 3B is achieved by screwing a screw thread 2B formed near the rear side of the lens barrel into a screw thread 3B' of the lens holding part 3B.

[0077] In this way, the hemispherical lens 2A is held by the lens holder 3B in a state where it protrudes somewhat from the front surface of the device body 3. The periphery of the edge 3A has an outer shape that is rounded and inclined toward the rear surface as it moves away from the hemispherical lens 2A in the radial direction of the lens.

[0078] Therefore, even if the angle of view of the hemispherical camera 2 equipped with the hemispherical lens 2A is about 210°, the periphery of the hemispherical lens 2A is prevented from being reflected in the field of view.

[0079] In this way, the hemispherical camera 2 of this embodiment has the capability to capture a wide range of images in its field of view, including not only the area in front of the camera (the area 180° in front of the camera) but also part of the area behind the camera (see FIG. 1(D)).

[0080] A CMOS image sensor substrate 14 carrying the CMOS image sensor 13 as the signal conversion unit is arranged on the inner surface of the device main body 3 so that the CMOS image sensor 13 is positioned on the back side of the hemispherical lens 2A at the position where an image is formed by the hemispherical lens 2A.

[0081] Furthermore, on the rear side of the CMOS image sensor board 14, a connector board 15 of approximately the same size as the CMOS image sensor board 14 and electrically connected to it is also arranged on the inner surface of the device body 3.

[0082] In this way, by separating the CMOS image sensor board 14 from the connector board 15, which is approximately the same size, and arranging these boards in two layers, front and back, on the back side of the hemispherical camera 2, it is possible to miniaturize the device body 3 so that the case that houses these structures does not enter the field of view of the hemispherical lens 2A. (Attachment member, elevation and rotation setting mechanism)

[0083] Furthermore, a fastening member 4 is provided on the rear side of the device main body 3 for fastening the hemispherical camera 2 to another structure (for example, the main body and head girder of a forklift, as will be described later). In this embodiment, the fastening member 4 is formed in the shape of a substantially rectangular plate. Furthermore, as shown in FIG. 4(B), the fastening member 4 is provided with a screw hole 4C.

[0084] For this reason, in this embodiment, the hemispherical camera 2 is structured so that it can be easily attached to various other structures via the attachment member 4 (for example, this attachment can be achieved by attaching a double-sided tape to the attachment surface 4A of the attachment member 4 and then attaching this to the other structure). (This is done in

[0085] Therefore, according to the imaging device 1 described above, the attachment member 3 is disposed on the back side of the hemispherical camera 2, so that many of the structures holding the imaging device 1 are not positioned within the field of view of the hemispherical camera 2. Therefore, even if the hemispherical camera 2 according to this embodiment captures images over a wide range with an angle of view exceeding 180°, structures such as the attachment member 4 will not appear in the image at all.

[0086] Furthermore, since the hemispherical camera 2 is not stored inside a conventional cylindrical case but part of it is directly held in place, the entire photographing device 1 can be made smaller, which has the advantage of making it easier to attach to a forklift, for example.

[0087] Furthermore, the aforementioned hemispherical camera side of the attachment member 4 is equipped with a tilt-and-rotate setting mechanism 5 that connects and holds the hemispherical camera 2 and fixes and integrates the hemispherical camera 2 so that it can be freely tilted and rotated and at any tilt-and-rotate position.

[0088] Specifically, as shown in Figures 1(B) and 3(B), this elevation and rotation setting mechanism 5 is configured to include a cylindrical body 5A that is integrally molded at the upper end of the hemispherical camera 2 and protrudes forward (to the right in Figure 1(B)) from the attachment member 4 that is arranged along the hemispherical camera 2, and a connecting mechanism 5B that is rotatably incorporated into the inner diameter portion of this cylindrical body 5A and engages with camera side locking portions 5a, 5b that are previously installed at the upper end of the hemispherical camera 2, thereby fixing and integrating the camera side locking portions 5a, 5b to the cylindrical body 5A.

[0089] In this embodiment, the connecting mechanism 5B is configured with a connecting screw mechanism consisting of a bolt and a nut, and therefore, by tightening the bolt and nut to the cylindrical body 5A and the camera side locking portions 5a and 5b, the desired raising and lowering rotation position can be set.

[0090] In this embodiment, this desired up-and-down rotation position is set in 10° increments within the range of 0° to 90° when expressed using the opening angle range of the engaging member relative to the back surface of the device main body 1, as shown in Figure 1(B).

[0091] Here, the distance from the position of the fastening member 4 at the base of the bolt of the connecting mechanism 5 to the position of the upper end of the fastening member 4 (and the cable holding part 4B described later) is set to a length that will prevent the structure near the upper end of the fastening member 4 from entering the field of view of the wide-angle imaging camera (hemispherical camera) 2, even when the fastening member 4 rotates around the bolt axis of the connecting mechanism 5 and the upper end of the fastening member 4 (and the cable holding part 4B described later) moves forward (to the right in FIG. 1(B)). Therefore, regardless of the rotation position (opening angle) of the fastening member 4 between 0 and 90°, the fastening member 4 will not obstruct the field of view of the wide-angle imaging camera (hemispherical camera) 2 (the range in front of the dashed dotted line in FIG. 1(C)).

[0092] Furthermore, in the imaging device 1, because the elevation and rotation setting mechanism 5 is mounted on the upper end of the hemispherical camera 2, when the hemispherical camera 2 is installed with its upper end facing up, the hemispherical camera 2 is stably held hanging down by the attachment member 4. Therefore, in practice, the size and shape of the attachment member 4 can be freely set, so when it is mounted on a forklift, for example, the attachment member 4 can be freely formed and processed to match the structure of the forklift, and the mounting position and lens orientation can always be set in an optimal state, thereby increasing versatility in this respect. (cable connection mechanism)

[0093] Next, we will further explain the cable connection mechanism 3C provided in the imaging device 1 of this embodiment. Here, the connection cable 7 is a cable for externally outputting image information captured by the hemispherical camera 2 to a recording device 6, which is separately and removably provided in advance and will be described later, and is provided at one end with a cable-side connector 7A for connecting to an imaging device-side connector 32, which will be described later, provided on the device body 3 of the imaging device 1. The cable connection mechanism 3C detachably receives this connection cable 7 in the device body 3.

[0094] Here, the structure of this cable connection mechanism 3C will be described in detail. In this embodiment, the cable connection mechanism 3C is configured to include a cylindrical connector receiving portion 31 that is a protruding portion from the right side surface of the device body 3 and has an opening on the right side surface, and an imaging device side connector 32 that receives a terminal of the cable side connector 7A inserted from the opening of this connector receiving portion 31. Here, the imaging device side connector 32 is fixed near the right end portion of the connector board 15 in a state where it is electrically connected to the connector board 15.

[0095] As shown in FIG. 3(B), the cable-side connector 7A has coaxial projections 7C and 7D that protrude separately from its front and rear surfaces. These projections 7C and 7D have rounded tips and are made of a resilient rubber material. Meanwhile, as shown in FIG. 3(A), the connector receiving portion 31 has a through-hole 3D for receiving the projection 7C in a central region near the left end in FIG. 3(A) of the front side of the connector receiving portion 31, which forms part of the front surface of the device main body 3. Similarly, as shown in FIG. 3(B), a through-hole (not shown) for receiving the projection 7D of the cable-side connector 7A is also formed in the rear side of the connector receiving portion 31, with a depth approximately equal to that of the through-hole 3D.

[0096] By fitting the protrusions 7C, 7D into the through holes 3D located at the front and rear, it is possible to prevent the cable side connector 7A from coming off in the upward and leftward directions in FIG. 3(A).

[0097] As shown in Figures 3(A) to (D), the connection cable 7 extends upward from the upper end near the left end (in Figure 3(A)) of the cable side connector 7A, then turns diagonally toward the rear and horizontally, and extends so as to be held by the cable holding portion 4B described later.

[0098] Furthermore, the cable connector 7A is composed of an input / output terminal to be inserted into the imaging device connector 32 (described later), and a molded portion having the input / output terminal in a central region on the right side of the molded portion in Fig. 2(B). Of these, the molded portion has a lower right portion cut away to form a molded portion side step (see Fig. 2(B)). Therefore, as will be described later, this molded portion side step abuts against a corresponding connector receiving portion side step of the connector receiving portion 31 that receives the cable connector 7A, and when the cable connector 7A is fully inserted, it can be positioned so that even if the outer surface of the cable connector 7A protrudes from the device main body 1, the protrusion is not noticeable, and preferably it does not protrude at all (see Fig. 3(A), etc.). Next, a waterproofing mechanism provided in the cable connection mechanism 3C will be described.

[0099] The cable-side connector 7A is provided with a waterproof ring member 7B around its entire periphery, while a groove 33 corresponding to the shape of the ring member 7B is formed on the inner surface of the connector receiving portion 31 so as to go around the inner surface at a specific distance from the opening.

[0100] When the cable side connector 7A is inserted into the connector receiving portion 31, the waterproof ring member 7B on the cable side connector 7A is elastically deformed and fits into the groove of the connector receiving portion 31, and in this state, the waterproof function can be achieved. The tight fit prevents the cable side connector 7A from coming off in the left direction in FIG. 2(B).

[0101] Therefore, the device main body 3 is provided with a connector receiving portion 31, and this connector receiving portion 31 is formed with a groove 33 into which the waterproof ring member 7B of the cable side connector 7A fits.Therefore, the connection cable 7 can be attached and detached freely to the device main body 3, and when the imaging device 1 is installed in any structure and the connection cable 7 is connected to the imaging device 1, it can be easily and simply routed.

[0102] Furthermore, while the cable side connector 7A of the connection cable 7 is connected within the connector receiving portion 31, this connection area is waterproof, so there is no need to worry about water getting into the imaging device 1 when cleaning with water or when it is raining. (cable holding part) Next, the cable holding portion 4B for holding the connection cable, which is provided at the upper end of the engaging member 4, will be described. The fastening member 4 is formed in a plate shape as described above, and is provided at its upper end with a cable holding portion 4B for a connection cable.

[0103] Therefore, the captured image information is configured to be output externally via the connection cable 7, and at the same time, a cable holding portion 4B is provided on the attachment member 4, which makes it easier to route the connection cable 7 during installation.Furthermore, when the device is actually installed on a forklift, for example, the attachment member 4 holds the connection cable 7 even when the forklift moves or rotates rapidly, so the connection cable 7 does not swing around, making it less likely to come loose and eliminating the risk of it breaking.

[0104] Furthermore, since the engaging member 4 holds the connection cable 7, there is an advantage that the initially set shooting direction of the wide-angle shooting camera 2 can be effectively maintained even when the forklift is moving violently.

[0105] Furthermore, even if the connection cable 7 is broken due to a problem during use, the camera device main body 3 and the connection cable 7 can be detached, so operation can be resumed by simply replacing the connection cable 7, providing peace of mind even in the event of a sudden problem.Furthermore, even if the connection cable 7 is broken due to a problem during use, the camera device main body 3 and the connection cable 7 can be detached, so operation can be resumed by simply replacing the connection cable 7, providing peace of mind even in the event of a sudden problem.

[0106] Furthermore, the cable holding portion 4B is oriented to hold the connection cable 7 so as to hold the connection cable 7 along the attachment surface 4A of the engaging member 4.

[0107] Therefore, the cable holding portion 4B is provided so as to hold the connection cable 7 parallel to the plate-shaped attachment member 4, so that when the attachment member 4 is installed on a structure such as a forklift, the connection cable 7 can be routed along the surface of the structure, which has the advantage of preventing the connection cable 7 from coming off the structure and becoming easily caught.

[0108] Therefore, the imaging device 1 in this embodiment is designed so that the connection cable 7 is difficult to come loose, and even the routing of the connection cable 7 is taken into consideration, and it has the advantage that it can be easily removed and replaced even if the cable is broken. (sensor unit) Next, the configuration of the sensor unit 8, which is used by being connected to a main unit (to be described later) via a sensor cable 9, will be described.

[0109] 5, the sensor unit 8 is configured in a substantially flat rectangular parallelepiped shape (for example, dimensions are 35 mm wide, 26 mm deep, and 10.7 mm high). This sensor unit 8 has built-in acceleration sensors (not shown) that measure the acceleration of a vehicle (a forklift in this embodiment) on which the imaging device is installed, and gyroscopes (not shown) that measure the angular velocity of the forklift on which the imaging device is installed. Here, the sensor unit 8 simultaneously detects four items: acceleration (x (left and right), y (front and back), z (up and down)) and gyro (ω (horizontal rotation axis)) (the cord length is 3 m). The sensor unit 8 is also IP55 compliant (dustproof and waterproof). The cord length is 4 m.

[0110] 5(A), a triangular mark 8A for defining the forward direction (travel direction) of the forklift is drawn on the outer surface of the sensor unit 8. In other words, the triangular mark 8A indicates the direction in which the sensor unit 8 should be affixed when the user actually attaches the sensor unit 8 to the forklift. Furthermore, a horizontal line 8B for defining the horizontal direction (side direction) of the forklift is also drawn on the same outer surface of the sensor unit 8.

[0111] As a result, for example, if the sensor unit 8 is installed with the triangular mark 8A aligned with the direction of travel of the forklift and the horizontal line 8B aligned with the horizontal direction, the acceleration sensor can detect the acceleration of the forklift as acceleration information, and even when the rear wheels of the forklift are steered to cause the forklift to rotate, the gyroscope can detect the angular velocity related to the rotational movement of the forklift as angular velocity information.

[0112] A sensor cable 9 for outputting acceleration information and angular velocity information detected by the acceleration sensor and gyroscope is provided on the rear side of the sensor unit 8. This sensor cable 9 is connected to a sensor cable terminal of the main unit 11, which will be described later. (Main unit) Next, the configuration of the main unit 11 incorporating the recording device 6 that records the image information input from the imaging device 1 will be described. Here, the main unit 11 is a unit to which various units (imaging device 1, sensor unit 8) are connected, and an SD card as a recording medium is also inserted here (more specifically, recording device 6). This unit is the heart of the system. The main unit 11 is IP55 compliant (dustproof / waterproof). The SD card here is a dedicated SD card that can withstand repeated writing by a drive recorder. The SD card has a capacity of, for example, 8GB, 16GB, or 32GB.

[0113] As shown in Figures 6 to 8, the main unit 11 is composed of a base 11a, a main unit main body (inner cover) 11A that covers (contains) the recording device 6 arranged on this base 11a and the various connectors 12 electrically connected thereto, a protective cover 11B that covers this main unit main body 11A waterproofly and dustproofly via a packing (not shown) attached to the base 11a, and a tube 11C that extends leftward from a partial area of ​​the left side of this protective cover 11B (in Figure 5(A)).

[0114] Of these, the recording device 6 is configured as a memory card reader / writer (in this embodiment, an SD card reader / writer) for recording on a removable recording medium images captured by the imaging device 1. As will be described in more detail later, one side of the main unit body 11A is equipped with a card slot 11D, which is a part of the components of the memory card reader / writer (see FIGS. 8(A) and (B)).

[0115] The recording device 6 also has various connectors 12, such as a camera cable connector 12A for connecting the connection cable 7 for transmitting image information (image signals) sent from the imaging device 1, as described above, a sensor cable connector 12B for connecting the sensor cable 8 for transmitting sensor signals sent from the sensor unit 8, and a power cable connector 12C for the power cable. The power cable used here is made of the same material as the conventional product, is connected to the forklift's battery, and supplies power to the main unit. This power cable is 3m long.

[0116] Here, when the power cable 16 connected to the cigarette lighter socket of the forklift is connected to the power cable connector 12C, and the engine of the forklift starts, power is supplied to the main unit 11, and power is supplied to the recording device 6, the sensor unit 8, and the imaging device 1. As will be described later, when power is supplied by starting the engine, the recording device 6 starts recording the images captured by the imaging device 1, and continues this recording until the engine is turned off. Furthermore, the recording device 6 can also record the sound generated during shooting together with the captured image using a sound collecting microphone (not shown) provided in the main unit body 11A. Furthermore, the protective cover 11B is formed in a flattened, approximately rectangular parallelepiped shape (the dimensions of the product in this embodiment are, for example, 154 mm×94 mm×26 mm).

[0117] Next, the tube 11C is made of a resin such as silicone and has a hollow passage extending in the longitudinal direction of the tube 11C. An opening having the same or slightly smaller external dimensions as the tube 11C is formed in a partial area of ​​the left side surface of the protective cover 11B (in FIG. 5(A)), and one end of the tube 11C is adhered to this opening.

[0118] Therefore, various cables, such as the connection cable 7 for the imaging device 1, the sensor cable 9, and the power cable 16, can be inserted through the tube 11C and connected to the various connectors 12 of the main unit body 11. Furthermore, with the various cables inserted in this manner, the flexible silicone tube can be tied with string, rubber, a tie wrap, or the like to prevent water from entering. Regarding the position of the tie, if tying in one place, it is preferable to tie it in one place on the open end side (the side closest to where water enters). It is also preferable to tie it in two places instead of one, and if tying in two places, it is preferable to tie it in one place on the open end side and one place on the main unit body side.

[0119] In this case, this system (described in detail later) has connectors for connecting various external devices depending on the system configuration, and various types and numbers of cables can be connected to these (for example, by configuring one, two, three, four, etc. cameras, the number of camera connection cables 7 can be one, two, three, four, etc. depending on whether the sensor unit 8 is connected or not, and the number of sensor cables 9 can be one or none depending on whether a cable connecting to a GPS is wired or not). Therefore, various numbers of cables are wired to this main unit 11, and the connectors used for these cables will be different each time. Therefore, it would be very time-consuming to waterproof the various connectors individually. Therefore, rather than waterproofing each connector, it is possible to make it water-resistant by passing the various types of cables to be connected together through tube 11C and bundling this tube, regardless of the system configuration.

[0120] Furthermore, when the protective cover 11B is installed on the base 11a, a door 11E for inserting and removing an SD card is formed in an area of ​​the protective cover 11B that faces the card insertion / removal opening 11D of the card slot of the main unit body 11A. Furthermore, when this door 11E is in the door closed position, the door 11E closes the card insertion / removal opening 11D of the main unit body 11A. The surrounding structure is sealed via a packing.

[0121] Therefore, even when the protective cover 11B is in place, the SD card can be inserted and removed, and when the door 11E is in the closed state, the waterproof and dustproof functions are realized. The main unit is now waterproof and dustproof, making it easy to insert and remove SD cards for everyday use without the need for tools.

[0122] Therefore, if the free end side (i.e., the open end side) of this tube 11C is facing downward and installed on a vehicle structure near the feet of a forklift driver, for example, even if it gets wet due to rain or a car wash, the water can be prevented from entering the inside of main unit 11 via tube 11C. Furthermore, protective cover 11B is sealed to base 11a using a packing, and door 11E is also sealed to the surrounding structure via a packing, so that waterproof and dustproof properties of main unit 11 are achieved in accordance with IP55 (dustproof / waterproof compatible).

[0123] Therefore, compared to the main units for conventional imaging devices and forklift monitoring cameras, the waterproof and dustproof functions are higher, and the freedom of installation location (selection of installation location) has been improved accordingly (in the past, water could get on the underside of the seat when cleaning the forklift, but with this embodiment, there is no need to worry about the main unit breaking down). (Example of installation location on a forklift) Next, an example in which the imaging device 1 is installed on a forklift 20 and a forklift equipped with the imaging device 1 will be described. 9 to 12 show installation images of the imaging and recording system (drive recorder) according to this embodiment.

[0124] Here, the imaging and recording system is composed of an imaging device 1 that can be attached to a forklift 20, a sensor unit equipped with a sensor that measures the acceleration and / or angular velocity of the forklift 20, and a recording device 6 that records the images captured by this imaging device 1. Here, this imaging and recording system can be connected to an additional imaging device (additional sub-camera) (which is the same as the imaging device 1 described above) and an additional sub-camera (which is a unit equivalent to the imaging device attached to a conventional drive recorder (DR-800), and has a cord length of 3m). Here, the additional sub-camera has a recording resolution of 2 million pixels, a lens field of view of 154.8° diagonal (121.3° horizontal, 62° vertical), the additional sub-camera has a lens field of view of 154.8° diagonal (121.3° horizontal, 62° vertical), the maximum recorded image is 154.8° diagonal (121.3° horizontal, 62° vertical), the minimum subject illumination is 1 Lux, the dimensions are 51mm (W) x 33mm diameter (diameter), and the weight is 40g (including bracket).

[0125] The forklift 20 also comprises a vehicle body, a head guard 21 installed on the top of the vehicle body to protect the head of the occupant from falling objects, etc., and forks attached via a lifting device provided in front of the vehicle body 20.

[0126] 9 to 12, the fan-shaped, semicircular, and circular areas centered on the imaging device 1 mounted on the forklift 20 represent the image of the field of view of this imaging device 1. However, the arc portions of these fan-shaped, semicircular, and circular peripheries do not mean that the field of view does not extend beyond these.

[0127] The following (1) to (4) are examples of installation of the imaging and recording system. Note that a common feature of these installation examples is that the main unit having the recording device 6 of this embodiment The recording device 6 is connected to each imaging device 1 (hemispherical camera) by a connection cable 7.

[0128] (1) Installation example 1 is an example in which only one imaging device 1 (hemispherical camera) of this embodiment is installed facing downward in the central area of ​​the ceiling part of the head guard 21 of the forklift 20 (see the upper left diagram in Figure 9, Figures 10(C) and (D), and Figure 11(B)). Therefore, compared to the conventional (current) two-camera photography (see Figure 11(A)), a wider area can be confirmed with one camera. Here, if hemispherical (180°) photography is possible, the scope of photography will be expanded. If you use a 360° camera, it can be difficult to shoot due to obstacles such as forklift poles, people, and luggage. Therefore, a hemispherical (180°) camera can be installed in the desired location.

[0129] Here, "facing downward" does not necessarily have to be facing directly downward; for example, even if the camera is slightly tilted backward, as long as the view includes luggage on the forks at the front of the vehicle and / or the area around the handlebars in the driver's seat (see, for example, the example of the rear camera in Figure 11(D)), this can also be considered "facing downward."

[0130] Furthermore, the central area of ​​the ceiling portion of the head guard 21 means the area approximately above the head of the driver's seat of the forklift 20. If the imaging device 1 (hemispherical camera) is installed in this central area, imaging will be performed near directly above the head of the operator of the forklift 20, and therefore images can be recorded closer to the operator's line of sight. However, when actually installed, it is possible to capture 360° of the surrounding area as long as it is installed facing downward from the ceiling, even if it is not directly above the driver's seat.

[0131] (2) This is an example in which the imaging device 1 (hemispherical camera) of this embodiment is installed facing forward in the upper front area of ​​the head guard 21 of the forklift 20 (see FIG. 10(E)).

[0132] Here, the upper front region of the head guard 21 is any region near the front side of the frame member extending in the left-right direction at the front of the head guard 21, and preferably near the center of the front side of the frame member extending in the left-right direction at the front.

[0133] By installing the imaging device 1 (hemispherical camera) in this position, a wider forward field of view can be ensured, and even when a tall load is placed on the forks, the view is not obstructed by the load, and the area ahead of the forklift 20 can be effectively imaged and recorded. In addition, the imaging device 1 (hemispherical camera) does not obstruct the operator's view. In addition, this single camera can capture images from all directions, allowing the driver to see at a glance the situation in the direction they are looking. Furthermore, by understanding the overall situation, it is possible to predict danger and use it for education purposes to prevent serious accidents. Furthermore, with just one camera, you can see the situation in the vertical direction, so by checking the situation at the end of the fork, the situation at the end of the fork, and the situation below the fork, you can also verify what kind of dangers may be lurking.

[0134] (3) In addition to the imaging device 1 (hemispherical camera) of installation example (2), a conventional camera is installed facing slightly downward in the upper area of ​​the rear side of the head guard 21 of the forklift 20 (see Figures 11(C), 12(A) and (B)). In this case, it is possible to take pictures of luggage in high places. Furthermore, it is possible to take pictures of the rear, but the driver does not take pictures.

[0135] (4) In addition to the imaging device 1 (hemispherical camera) of installation example (2), an additional imaging device 1' (hemispherical camera) of this embodiment is installed in the upper area of ​​the rear side of the head guard 21 of the forklift 20 at an installation angle tilted slightly rearward from a downward orientation (see Figures 11(C), 12(C) and (D)). In this case, it is possible to capture images of luggage in high places, as well as the rear and driver.

[0136] The installation angle that is tilted slightly rearward from downward is basically the same as in installation example (1), and is an installation angle that allows the view of the luggage on the forks at the front of the vehicle and / or the area around the handlebars in the driver's seat to be included.

[0137] For comparison, an example is also shown in which two separate conventional cameras are installed in the upper rear area of ​​the head guard 21 of the forklift 20, facing forward and downward (towards the driver's seat) and slightly downward (see Figures 10(A) and (B) and Figure 11(A)). (Photos and playback software) Next, the captured images and environmental information recorded by the recording device 6 and the software for reproducing them will be described with reference to FIGS. This software is dedicated software (stored on an SD card) that allows you to display and print the captured video on a Windows 7 / 8 (Windows is a registered trademark) computer. It is also possible to output reports, making it possible to understand the situation without having to check all the video footage.

[0138] 13(A) shows an example of a captured image obtained when the imaging device 1 (hemispherical camera) of this embodiment (1) is installed at the position shown in the above-mentioned installation example (1). In this captured image, the operator operating the forklift 20 in the driver's seat is visible in the central area, and in front of the operator, the steering wheel and other components being operated by the operator. In addition, the four support pillars of the head guard 21 are visible radially on all four sides of the driver's seat.

[0139] Furthermore, between the two front pillars of the head guard 21, the cargo resting on the forks of the forklift 20 and part of the lifting device (e.g., the mast) for raising and lowering the cargo with the forks are also visible. In addition, the left and right areas and the rear area are also visible, continuing from the front area including the cargo. All of this can be confirmed in a single image.

[0140] FIG. 13(B) shows an image captured by the imaging device 1 (hemispherical camera) of this embodiment (1) when it is installed facing downward on the ceiling, and is displayed by launching dedicated software for viewing captured images (hereinafter referred to as "PC viewer") running on a personal computer.

[0141] First, this PC viewer is downloaded by the user and used on the user's own PC. When the user runs the downloaded PC viewer program, the program is loaded into the PC's processing unit and can perform the following functions.

[0142] The display screen of the PC viewer is equipped with a captured image display area located in the upper left of Figures 13(B) and (C) that displays the contents of the captured image file loaded into the PC viewer, and a file data display area located in the upper right of the figures that displays the capture date and time, recording start time, recording duration, etc. of each captured image file recorded on the recording medium. In addition, below the captured image display area, a timeline of the video and a cursor are displayed, and by moving this cursor on the screen with a mouse or the like, the video can be played back from a desired time.

[0143] Here, the photographed image in FIG. 13(A) is taken out of the main unit 11 and is then read from the SD card inserted into the slot of an SD card reader connected to a personal computer in a PC viewer. By loading the image into the server as a video file, it will be displayed in the captured image display area, etc.

[0144] In addition, the display screen is equipped with an audio volume adjustment area, an operation button area for fast rewind, previous frame, reverse play, stop, play, next frame, and fast forward, a switching button area that allows one of the four cameras to be selected and switched with one click, a single screen button area, and a 16-split button area, located toward the bottom center of the figure.

[0145] Furthermore, below and to the lower left of each operation button area, there are provided an acceleration / angular velocity graph display area and an acceleration / angular velocity numerical display area (see also Figures 14(A) and (B), etc. for angular velocity display) that display the acceleration in the X-, Y-, and Z-axis directions recorded by the acceleration sensor and the angular velocity ω recorded by the gyroscope, as well as a speed display area for the forklift 20.

[0146] In addition, Figures 14(A) and (B) show illustrations showing the direction of travel of the forklift 20, the direction of the acceleration and angular velocity axes, which helps the user to understand the acceleration / angular velocity graph display area and the acceleration / angular velocity numerical value display area.

[0147] As can be seen clearly in Figure 14(A), icons with illustrations symbolizing various functions are displayed at the top of the display screen, and by clicking on these icons, various functions such as file operations can be performed.

[0148] Among these, when the icon part with a square and dome shape, second from the left in Figure 14(A), is pressed, it has the function of displaying a sub-screen that allows you to select from a list of five display screens described below.

[0149] This sub-screen for selecting a display screen is shown enlarged in Fig. 15. In this embodiment, the PC viewer has (1) a normal display function (normal display mode) that displays an image captured (recorded) by a hemispherical camera (180° camera) as is (fisheye state) (Fig. 16), (2) a panoramic display function (panoramic display mode) that displays a horizontal 360° direction in a single landscape-long image (it is also possible to enlarge a portion by enlarging it, and this can be moved to any location by moving the scroll bar below) (Fig. 17), (3) a ring-shaped display function (ring-shaped display mode) that displays a panoramic image as a ring-shaped image (Fig. 18), (4) a dome-shaped display function (dome-shaped display mode) that displays a dome-shaped image (Fig. 19), and (5) a flat display function (flat display mode) that enlarges a portion of the dome-shaped image and displays it in a flat state (Fig. 20).

[0150] Here, the sub-screen for selecting a display screen displays, from left to right, the title of each display mode, a description in words explaining the display method of the titled display mode, and a selection button displaying an image (in this embodiment, an illustration symbolizing each display function) showing the display method of the titled display mode as it is displayed, arranged vertically for each display mode so that the user can select the desired display function. Therefore, the description of the display function and the illustration symbolizing the function are simultaneously visible to the user, making it easy for the user to intuitively find and select the desired display function.

[0151] The illustrations symbolizing the above display functions are also depicted on shortcut buttons, which allow you to quickly execute each display function by simply clicking them, as shown in the lower center of Figure 14(B).

[0152] By using this button, it is possible to switch between the display screens one after another without having to go through the sub-screen for selecting the display screen, thereby speeding up the confirmation process. As mentioned above, the software is equipped with new functions that support 180° shooting, allowing you to check the image more intuitively. For example, by clicking on the icons with illustrations representing various functions at the top of the software's display screen, a diagnostic will appear, allowing you to check the type of image processing you want to use. Also, once you become familiar with the software, shortcut buttons are located in the center of the screen, allowing you to switch between the screens you want to check with a single click. The screens in this embodiment described above are merely examples, and the PC viewer also has display areas and functions that are not included in the display areas and functions listed here. [How to use] (Installation of imaging equipment, etc.)

[0153] First, prior to actual use, a user (for example, a manager of the forklift 20) installs one or more imaging devices 11 on any structure of the forklift 20, as illustrated in Figures 10 to 12. This installation is performed, for example, by attaching double-sided tape to the mounting surface 4a of the engaging member 4 and then attaching this to any structure of the forklift 20. At this time, in order to determine the orientation of the imaging device 1, the elevation and rotation setting mechanism 5 is used to set the opening angle of the device main body 3 relative to the engaging member 4. Note that this opening angle is set in the range of 0 to 90 degrees.

[0154] The sensor unit 8 is placed at any position on the forklift 20, preferably under the seat or other location that is less likely to get wet from rain, with the triangular mark 8A aligned with the direction of travel of the forklift 20.

[0155] Furthermore, with regard to the main unit 11, the connectors at one end of the cable 7 connected to the imaging device 1, the sensor cable 9 from the sensor unit 8, and the power cable are passed through tubes 11C and then connected to various connectors 12 on the main unit body 11A. Meanwhile, the connectors at the other ends of the connection cable 7, sensor cable 9, and power cable are also connected to the connectors of the imaging device 1, the sensor unit 8, and a cigarette lighter socket (not shown), respectively.

[0156] When connecting the connection cable 7 to the imaging device 1, first, the terminal of the cable connector 7A is facing the imaging device connector 32 and inserted until the molded portion side step of the molded portion of the cable connector 7A abuts the corresponding connector receiving portion side step of the connector receiving portion 31. When in this abutting position, the side of the cable connector 7A exposed to the outside of the device body 3 (the left side portion of the cable connector 7A in FIG. 2(B)) protrudes from the side of the device body 3 to an extent that it is barely noticeable, and preferably is fitted inside the side of the device body 3. With this configuration, the cable connector 7A is hidden behind the device body 3 and can be prevented from entering the field of view of the imaging device 1.

[0157] Furthermore, when the cable connector 7A reaches the above-mentioned abutting position, the waterproof ring member 7B on the cable connector 7A fits into the groove of the connector receiving portion 31, thereby providing a waterproof function and preventing the cable connector 7A from slipping out toward the side of the device main body 3. Furthermore, the protrusions 7C and 7D of the cable connector 7A fit into the corresponding through-holes provided at the front and rear (only one of the through-holes, 3D, is shown in Figure 3(A) and other figures), thereby preventing the cable connector 7A from slipping out toward the side or upward of the device main body 3. (Recording of photographed images, etc.)

[0158] When the engine of the forklift 20 is started, power is supplied from the cigarette lighter socket to the main unit 11, and power is supplied from there to the imaging device 1, the recording device 6, and the sensor unit 8. Supplied. When power is supplied in this manner, the imaging device 1, recording device 6, and sensor unit 8 start operating in cooperation with each other.

[0159] Specifically, the image capturing device 1 sends the captured image to the recording device 6, which starts recording the transmitted captured image at one frame per second (if an event such as a collision occurs, the image is recorded at 30 frames per second before and after the event). At this time, the recording device 6 also associates each piece of sensor information transmitted by the sensor unit 8 with the captured image as environmental information related to the captured image, and records this as image information on the SD card. This recording ends when the engine of the forklift 20 is shut off. (Viewing recorded images using a PC viewer)

[0160] The user inserts the SD card removed from the main unit 11 into an SD card reader that is already connected to a personal computer on which the PC viewer has been installed. Then, the user operates the PC viewer to load the desired image information file into the personal computer, and displays the captured image and environmental information on the display screen of the PC viewer.

[0161] In this case, the user can switch between various modes such as normal display mode and panoramic display mode as desired to view the images obtained from one imaging device, or can view images obtained separately from multiple imaging devices side by side on the display screen. (Effects of this embodiment)

[0162] Since this embodiment is configured as described above, it is possible to provide an imaging device, a system, and a forklift using the same that can reliably prevent the attachment member for the imaging camera from getting into the image captured by the imaging camera, regardless of how the mounting angle of the imaging camera in the imaging device is variably set, and that can be made smaller overall.

[0163] Furthermore, since the system equipped with the imaging device can be attached to a forklift, for example, if this imaging device is installed on the structure of the forklift, it is possible to capture and record images of a wide range of areas including the front, rear, left and right areas, upper area, and driver's seat area, which are necessary for investigating collision accidents, cargo collapse, etc. that may occur during forklift operation, with a single imaging device. Moreover, since the imaging device is designed so that the structure of the imaging device does not enter its field of view, it is possible to capture and record the widest range possible.

[0164] Furthermore, forklifts equipped with the above system not only record the area in front of the forklift where forklift collisions and cargo collapses are common, but also record other areas, namely the area above the forklift's cargo lifting device, the area below the forks when the cargo lifting device is operated to lift cargo on the forks, the left and right areas of the forklift, the driver's seat area, and in some cases the rear area, as continuous images in the front area.In addition, by using this collected image information, the results of work done in front of the forklift can be reliably and effectively understood and managed after the work is completed. (Other embodiments) The connecting mechanism 5B of the elevation / rotation setting mechanism 5 may be configured with other mechanisms such as a quick lever mechanism instead of the connecting screw mechanism. Furthermore, instead of being configured to set the elevation / depression rotation position in 10° increments, the elevation / depression rotation setting mechanism 5 may be configured to set the elevation / depression rotation position in 5° increments or in a stepless manner.

[0165] The cylindrical body 5A integrally formed with the fastening member 4 and the camera side fastening parts 5a and 5b pre-installed on the upper end of the hemispherical camera (wide-angle camera) 2 are Alternatively, the cylindrical body 5A may be integrally formed with the fastening member 4, and the fastening member side fastening portions 5a, 5b may be provided in advance on the fastening member 4.

[0166] Furthermore, instead of using double-sided tape to attach the hemispherical camera 2 to the mounting surface 4A of the fastening member 4 and attaching it to the other structure, any adhesive may be used. Alternatively, the hemispherical camera 2 may be fastened to a structure (e.g., a forklift) by passing a screw through a screw hole formed in the fastening member 4. Alternatively, the hemispherical camera 2 may be configured with cable tie insertion holes. In this case, the cable tie is passed through the cable tie insertion hole to fasten the hemispherical camera 2 to any structure.

[0167] The imaging device 1 may be attached to the tip (toe) of the fork of the forklift 20 via an attachment member 4. The imaging device 1 may also be attached to the mast of the lifting device of the forklift 20, etc., facing forward. Furthermore, the imaging device 1 may be attached to the side of the forklift, that is, to the side of the forklift body, the side of the head guard 21, or the like. For example, depending on the contents of the cargo being transported by the forklift, the range that the camera can capture from this installation position can be important, and in that case this can be a great advantage. Furthermore, instead of the power cable 16, an external trigger / general-purpose input cable may be connected to the main unit 11, which can record general-purpose input information in addition to supplying power when connected (if this is used, the power cable 16 is not used).

[0168] A two-way split function may be added to the PC viewer screen display, allowing images from a forward-facing camera and a rear-facing camera to be displayed side by side. In this case, the display size of the two images may be the same, or one may be larger than the other. This may make it easier to verify the details of the accident. The modified examples, the constituent elements of the contents of each embodiment, and the elements to which the elements and ideas described in the means for solving the problems are applied may be combined in any manner to form an embodiment. [Explanation of symbols]

[0169] 1. Imaging device 2 Wide-area camera (hemispherical camera) 2A Hemispherical Lens 2B thread 3. Device body 3A Edge 3B Lens holder 3B' thread 3C cable connection mechanism 3D through hole 4. Attachment member 4A Mounting surface 4B Cable holder 4C screw hole 5. Elevation and rotation setting mechanism 5a, 5b Camera side locking part 5A Cylindrical body 5B Connection mechanism 6. Recording Devices 7 Connection cable 7A cable side connector 7B Waterproof ring component 7C Protrusion 7D protrusion 8 Sensor Unit 9 Sensor Cable 11 Main unit 11 a base 11A Main unit body (inner cover) 11B Protective cover 11C tube 11D card slot 11E Door 12 Connectors 12A camera cable connector 12B Sensor Cable Connector 12C power cable connector 13 CMOS image sensor 14 CMOS image sensor substrate 15 Connector board 16 Power cable 20 forklift 21 Head Guard 31 Connector receiving part 32 Imaging device side connector 33 Groove

Claims

1. A device that has various connectors for connecting various external devices according to the system configuration, and that can connect various types and numbers of cables to these connectors, The device is provided with a housing that can be attached to a location where water may splash on it and has a waterproof mechanism, and a tube that is pulled out from the housing and is waterproofed against the housing, the connector is provided in the housing, and the video signal line and the other signal line are led out from inside the housing to outside the housing through the tube, Instead of waterproofing the various connectors individually, the various types of cables to be connected are passed through the tube together regardless of the system configuration, and the tube is bundled to make it difficult for water to get in. A device characterized by:

2. The plurality of connectors include: The device is provided with a video signal connector for connecting a video signal line from an imaging device and a connector for connecting other signal lines, and at least one of the video signal connectors or the connectors is provided in plural, and performs processing based on the connected video signal connectors and signals from the connected connectors.

2. The device of claim 1 .

3. The number of the tubes is one.

3. The device according to claim 1 or 2, characterized in that

4. The tube is configured to be bound around itself by a binding member, which deforms when constricted, narrowing the space between the opening of the tube and the video signal line and other signal lines and the inner diameter of the tube.

4. The device according to claim 1, wherein:

5. The tube may be made of a deformable material, and the housing may be made of a non-deformable material.

5. The device according to claim 1, wherein:

Images