Distraction prevention system

Abstract

The system detects driver distraction even during operations other than driving the forklift. [Solution] The distraction prevention system S comprises a shooting unit 12, a gaze estimation unit 24, an operation detection unit 22, and a distraction determination unit 28. The shooting unit 12 captures the driver's head and generates a head image, and the gaze estimation unit 24 estimates the direction of the driver's gaze based on the head image. The operation detection unit 22 also detects the driver's forklift operation. Next, the distraction determination unit 28 determines whether the driver is distracted based on the estimated direction of the driver's gaze and the detected forklift operation.

Description

Technical Field

[0001] The present invention relates to a forklift side vision prevention system.

Background Art

[0002] In the work by a forklift, due to various reasons, the load may fall. The causes of the load falling include, for example, the driver's side vision.

[0003] As a system for preventing the side vision of a vehicle driver, for example, Patent Document 1 discloses a side vision detection device. This device includes a face orientation detection means, a first determination means, a line-of-sight direction detection means, and a second determination means. This device detects the orientation of a person (driver)'s face by the face orientation detection means, and detects the orientation of the person's line of sight by the line-of-sight direction detection means. And first, this device determines whether a person is having side vision based on the orientation of the person's face by the first determination means. When it is determined that the person is not having side vision, it determines whether the person is having side vision based on the orientation of the person's line of sight by the second determination means. Thereby, this device improves the accuracy of side vision detection. Also, this device determines whether a person is having side vision according to the speed of the vehicle being driven. Further, this device can also stop the engine of the host vehicle when side vision is detected.

[0004] However, in addition to the traveling operation, a forklift also has a fork lifting and lowering operation. In addition to the traveling operation, the load may fall due to the driver's side vision. And the side vision detection device disclosed in Patent Document 1 does not consider the detection of side vision during the fork lifting and lowering operation.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] Therefore, the problem that the present invention aims to solve is to provide a distraction prevention system that can detect driver distraction even during operations other than driving the forklift. [Means for solving the problem]

[0007] To solve the above problems, the distraction prevention system according to the present invention A unit that photographs the driver's head and generates a head image, A gaze estimation unit that estimates the direction of the driver's gaze based on a head image, An operation detection unit that detects the driver's operation of the forklift, It includes a distraction detection unit that determines whether or not the driver is distracted, based on the estimated direction of the driver's gaze and the detected operation of the forklift.

[0008] The above-mentioned distraction prevention system is preferably, The forklift operations detected by the operation detection unit include the raising and lowering of the forks. The distraction detection unit determines whether the driver is distracted while operating the forks, based on whether the driver's gaze is directed towards the forks.

[0009] The above-mentioned distraction prevention system is preferably, It further includes a position detection unit that detects the position of the forks.

[0010] The above-mentioned distraction prevention system is preferably, It further includes a load detection unit that detects whether or not a load is loaded on the fork, The forklift operations detected by the operation detection unit include the raising and lowering of the forks. The distraction detection unit determines whether or not the driver is distracted, based on whether or not the driver's gaze is directed towards the load loaded on the forks when a load is loaded and the driver is operating the forks to raise or lower them.

[0011] The above-mentioned distraction prevention system is preferably, The distraction detection unit determines that the driver is not distracted if the direction of the driver's gaze is directed forward and that the direction of the gaze is within a predetermined angle from the center of the driver's seat in the horizontal direction, and therefore the driver is looking at both the forks and the load, or either one of them.

[0012] The above-mentioned distraction prevention system is preferably, It further includes a position detection unit for detecting the position of the load, The forklift operations detected by the operation detection unit include the raising and lowering of the forks. The distraction detection unit determines whether the driver is distracted while operating the forks, based on whether the driver's gaze is directed towards the load loaded on the forks.

[0013] The above-mentioned distraction prevention system is preferably, The distraction detection unit determines that a person is distracted only if they are distracted for a period exceeding the permitted duration.

[0014] The above-mentioned distraction prevention system is preferably, The permissible time for distracted driving varies depending on the specific operation of the forklift.

[0015] The above-mentioned distraction prevention system is preferably, The forklift operations detected by the operation detection unit include the raising and lowering of the forks. The system further includes a speed adjustment unit that slows down or stops the raising and lowering of the forks if it is determined that the operator is distracted during the raising and lowering operation.

[0016] The above-mentioned distraction prevention system is preferably, The operations of the forklift detected by the operation detection unit include both or either of the traveling operation and the turning operation, During the traveling operation or the turning operation of the forklift, if it is determined that the driver is looking aside, it further includes a speed change unit for decelerating or stopping the traveling of the forklift.

[0017] The above-mentioned look - aside prevention system preferably The operations of the forklift detected by the operation detection unit include both or either of the traveling operation and the turning operation, and the raising and lowering operation of the forks. When the look - aside determination unit determines that the raising and lowering operation of the forks and the traveling operation or the turning operation are being performed simultaneously, if the forklift is loaded with a load, it determines whether the driver is looking aside based on whether the driver's line of sight is directed at the load.

[0018] The above-mentioned look - aside prevention system preferably a position detection unit for detecting the position of the forks, a slide unit for sliding the position of the forks left and right, and further includes The operations of the forklift detected by the operation detection unit include the slide operation of the forks. When the driver is performing the slide operation of the forks, the look - aside determination unit determines whether the driver is looking aside based on whether the driver's line of sight is directed in the direction of the forks.

[0019] The above-mentioned look - aside prevention system preferably further includes a notification unit for notifying the driver that the driver is looking aside when it is determined that the driver is looking aside.

[0020] The above-mentioned look - aside prevention system preferably further includes a notification unit for notifying that the driver is looking aside at a predetermined location when it is determined that the driver is looking aside.

[0021] To solve the above problems, the forklift according to the present invention includes the look - aside prevention system described in any of the above.

[0022] To solve the above problems, the distraction prevention program according to the present invention A distraction prevention program for a forklift, comprising a camera unit that photographs the driver's head and generates a head image, an operation detection unit that detects the driver's operation of the forklift, and a computer, On the computer, A gaze estimation unit that estimates the direction of the driver's gaze based on a head image, The system is configured to perform a distraction detection unit that determines whether or not the driver is distracted, based on the estimated direction of the driver's gaze and the detected operation of the forklift. [Effects of the Invention]

[0023] The distraction prevention system according to the present invention can detect driver distraction even during operations other than driving the forklift. [Brief explanation of the drawing]

[0024] [Figure 1] This is a side view of a forklift relating to one embodiment of the present invention. [Figure 2] Figure 1 is a rear view of the forklift shown. [Figure 3] This is a block diagram of the distraction prevention system. [Figure 4] This figure shows an example of the gaze prediction unit. [Figure 5] This is a flowchart illustrating the operation of the distraction prevention system. [Figure 6] This is a top view showing the driver's seat of a forklift to illustrate a modified version of the distraction prevention system. [Modes for carrying out the invention]

[0025] Hereinafter, an embodiment of the distraction prevention system and a forklift equipped with the distraction prevention system of the present invention will be described with reference to the attached figures. In the figures, the X axis indicates the front-rear direction, the Y axis indicates the left-right direction, and the Z axis indicates the up-down direction. Forklift F in this embodiment is a battery-powered counterbalanced forklift, but this is merely an example, and the forklift in the present invention is not limited to this.

[0026] <Forklift Configuration> Figure 1 is a side view showing a forklift F equipped with the distraction prevention system S of this embodiment, and Figure 2 is a rear view showing the forklift F of this embodiment. Figure 3 is a block diagram of the distraction prevention system S. As shown in Figures 1 and 2, the forklift F comprises a plurality of wheels 2, a body 3, left and right masts 4, left and right forks 5, a backrest 6, a plurality of pillars 7, a head guard 8, an operating unit 9, a drive unit 10, an imaging unit 12, and a speaker 14.

[0027] Multiple wheels (four in this embodiment) 2 are arranged front, rear, left, and right, and the vehicle body 3 is positioned on top of the wheels 2.

[0028] The left and right masts 4 are positioned at the front of the vehicle body 3 and are configured to extend and retract vertically. The left and right forks 5 and backrests 6 are connected to the masts 4 and are configured to move up and down along the masts 4.

[0029] Multiple (four) pillars 7 extend upward from the vehicle body 3, and the head guard 8 is positioned above the vehicle body 3 and supported by the pillars 7.

[0030] The control unit 9 is located on the front side of the vehicle body 3 and includes a steering wheel, multiple levers, and multiple pedals. The multiple levers consist of, for example, a parking brake lever, a lift lever, a tilt lever, and a forward / reverse lever. The multiple pedals consist of, for example, an accelerator pedal, a clutch pedal, and a brake pedal.

[0031] The drive unit 10 is composed of drive components such as a motor and is connected to either the front or rear wheel 2. The drive unit 10 drives the connected wheel 2 to move the forklift F forward or backward. When the present invention is applied to an engine-powered forklift, the drive unit 10 is composed of drive components including an engine.

[0032] In this embodiment, the imaging unit 12 consists of one camera. However, this is merely an example, and the imaging unit 12 may consist of, for example, multiple cameras. The imaging unit 12 is positioned on the right front pillar 7 and is configured to capture the head of the driver H. In this embodiment, the imaging unit 12 is configured to capture the eyes of the seated driver H. However, the placement of the imaging unit 12 is also merely an example, and the placement of the imaging unit 12 is not limited to this. The imaging unit 12 captures the head of the driver H and generates a head image HG.

[0033] Speaker 14 is located on the head guard 8 and emits an alert sound to notify and warn the driver H that distraction has been detected. The location of speaker 14 is merely an example and is not limited to this. The alert sound may be a specific voice or a beep.

[0034] As shown in Figure 3, the forklift F further includes a lifting unit 16, a brake 18, and a control unit 20.

[0035] The lifting section 16 has a lift cylinder that extends and retracts by hydraulic pressure from the hydraulic fluid. The lifting section 16 is connected to the mast 4, and the extension and retraction of the lift cylinder causes the mast 4 to extend and retract.

[0036] The brake 18 is positioned on the wheel 2 and stops the rotation of the wheel 2. The type of brake 18 is not particularly limited.

[0037] The control unit 20 is comprised of a computer located within the vehicle body 3. The control unit 20 includes an arithmetic unit, a storage device, and memory. The storage device stores a distraction prevention program that causes the computer to operate as a gaze prediction unit 24, a distraction detection unit 28, and a speed change unit 30, which will be described later.

[0038] <Functional configuration of the distraction prevention system> Next, the functional configuration of the distraction prevention system S will be described. As shown in Figure 3, the control unit 20 includes an operation detection unit 22, a gaze estimation unit 24, a position detection unit 26, a distraction determination unit 28, a speed change unit 30, a stop unit 32, and a notification unit 34.

[0039] The operation detection unit 22 detects the operation performed by the operator H via the operation unit 9 (hereinafter referred to as "forklift operation"). Forklift operation includes, for example, forward operation, reverse operation, turning operation, raising operation of the forks 5, and lowering operation of the forks 5.

[0040] The gaze estimation unit 24 estimates the direction of the driver H's gaze (hereinafter referred to as "gaze direction L") based on the head image HG. The gaze estimation unit 24 may be configured to output the gaze direction L when a head image HG is input, for example, by pre-training with training data that takes multiple head images HG as input data and the direction of gaze as output data. In this training, it is preferable to use head images HG of a driver H wearing a helmet. It is also preferable that the head images HG include images of a driver H wearing glasses.

[0041] Furthermore, in this embodiment, the head image HG is configured to include the eyes of the driver H, but this is merely an example, and for example, the head image HG generated by the imaging unit 12 may not include the eyes. In this case, it is preferable to use a head image HG that does not include the eyes as training data in the training learning process so that the gaze direction L can be estimated based on the head image HG that does not include the eyes.

[0042] Furthermore, to enable appropriate estimation of the gaze direction L based on a head image HG that does not include the eyes, the imaging unit 12 may, for example, generate a head image HG that includes the upper body of the driver H. In this case, the gaze estimation unit 24 uses the head image HG including the upper body of the driver H as training data for supervision learning and estimates the gaze of the driver H. Note that supervision learning may be performed while generating multiple trained models. These multiple trained models may include, for example, a first trained model that has been machine-learned to output skeletal information (information on the orientation and shape of the skeleton) from a head image HG including the upper body, and a second trained model that has been machine-learned to output the gaze direction L from the skeletal information of multiple drivers H.

[0043] The gaze estimation unit 24 may be pre-trained using training data that takes forklift operation information OD, which indicates which operation the driver H is performing, and a head image HG as input data, and gaze direction L as output data. This allows the gaze estimation unit 24 to estimate the driver H's gaze for each operation. As a result, the accuracy of estimating the driver H's gaze from the head image HG, which does not include the driver H's eyes, is increased. Operations may include, for example, forward operation, reverse operation, turning operation, raising and lowering of the forks 5 when a load W is loaded, raising and lowering of the forks 5 when no load W is loaded, and sliding operation when sliding the forks 5 in the left and right directions. When operating a forklift, unlike a normal passenger car, the driver H may change their driving posture to check the condition of the load W, while checking the direction of travel and the direction of the load W. Therefore, the gaze estimation unit 24 can appropriately estimate the gaze direction L according to the operation situation through the above machine learning.

[0044] Furthermore, the gaze estimation unit 24 may also include all of the above-described configurations. For example, as shown in Figure 4, the gaze estimation unit 24 first outputs skeletal information of the driver H from the head image HG using the first trained model 240, and then uses the second trained model 241 to estimate the gaze of the driver H from the skeletal information and the forklift operation information OD. This allows the gaze estimation unit 24 to appropriately estimate the gaze direction L even when the driver H's eyes are not included in the head image HG.

[0045] The position detection unit 26 is configured to detect the position of the fork 5. The position detection unit 26 detects the position of the fork 5 using, for example, a known fork height position detection method as described in Japanese Patent Application Publication No. 2006-335520. However, the method of detecting the position of the fork 5 by the position detection unit 26 is not particularly limited. Furthermore, the forklift F is further equipped with devices necessary for the position detection unit 26 to detect the position of the fork 5.

[0046] The distraction detection unit 28 determines whether the driver H is distracted based on the estimated gaze direction L, the detected forklift operation, and the direction of travel or the position of the forks 5.

[0047] The distraction detection unit 28 determines that the driver H is distracted if, for example, the gaze direction L is not in the direction of travel when the forklift is being operated forward, backward, or turning. However, even if the gaze direction L is not in the direction of travel during forward, backward, or turning operations, the distraction detection unit 28 considers that the driver is not distracted if the distraction time is less than the allowable distraction time. This is because there are times (moments) when the driver H intentionally does not face the direction of travel in order to check directions other than the direction of travel, such as when there are obstacles or people on the left or right of the direction of travel, when driving on a narrow road, or when approaching an intersection or T-junction. The allowable distraction time during forward, backward, and turning operations may be set, for example, between 0 and 5 seconds. The allowable distraction time may also be set for each intersection, T-junction, and passage of a predetermined width. Known position detection methods can be used to determine whether the position of the forklift F is at an intersection, T-junction, or passage of a predetermined width.

[0048] Furthermore, the distraction detection unit 28 determines that the driver H is distracted if, for example, the forklift operation is the raising and lowering of the forks 5, the line of sight L is not in the direction of the forks 5. However, even if the line of sight L during the raising and lowering of the forks 5 is not in the direction of the forks 5, the distraction detection unit 28 considers that the driver is not distracted if the line of sight L is less than the allowable distraction time. This is because, during the raising and lowering operation, the driver H may check the destination to ensure that the loaded load W or the forks 5 do not come into contact with the destination. The allowable distraction time during the raising and lowering of the forks 5 may be set, for example, between 0 and 2 seconds. Also, this allowable distraction time may be set differently for lowering and raising operations.

[0049] When the distraction detection unit 28 determines that the driver H is distracted, the speed change unit 30 controls the drive unit 10 to decelerate the forklift F's movement during travel and turning, and controls the lifting unit 16 to decelerate the lifting of the forks 5 during the raising and lowering of the forks 5. For example, the speed change unit 30 reduces the maximum speed during travel to between 0 km / h and 3 km / h, and the maximum speed during lifting to between 0 and 150 mm / s. The specific speed at which the speed change unit 30 decelerates is not particularly limited.

[0050] The stopping unit 32 controls the brake 18 to stop the forklift F when the distraction detection unit 28 determines that the driver H is distracted, and the speed change unit 30 controls the vehicle to reduce its speed to 0 km / h.

[0051] If the notification unit 34 determines that the driver is distracted, it will notify and warn the driver H of the distraction via the speaker 14. The content of the notification may be changed depending on the forklift operation.

[0052] <Flowchart of the distraction prevention system> Next, referring to Figure 5, we will explain the operation of the distraction prevention system S again.

[0053] (1) The distraction prevention system S detects the driver H's forklift operation (see S(step)1 in Figure 5).

[0054] (2) The distraction prevention system S also detects the position and direction of travel of the fork 5 (see S2 in Figure 5).

[0055] (3) The distraction prevention system S generates a head image HG using the imaging unit 12 and estimates the driver's gaze direction L based on the head image HG (see S3 in Figure 5).

[0056] (4) Next, the distraction prevention system S determines whether or not the driver H is distracted by the distraction determination unit 28 (see S4 in Figure 5).

[0057] (5) If the distraction prevention system S determines that driver H is distracted (Yes in S5 of Figure 5), the notification unit 34 notifies and warns driver H that he is distracted (see S6 of Figure 5). On the other hand, if the distraction prevention system S determines that driver H is not distracted (No in S5 of Figure 5), it does not notify or slow down.

[0058] (6) Furthermore, if the distraction prevention system S determines that the driver H is distracted (Yes in S5 of Figure 5), it will further reduce or stop the lifting speed and travel speed based on the forklift operation.

[0059] The distraction prevention system S, through the above configuration and operation, can appropriately detect not only distracted driving while driving, but also distracted driving during lifting operations. Furthermore, during lifting operations, unlike during driving operations, if the driver H's line of sight L is not directed towards the fork 5 or the load W, it is determined that the driver H is distracted.

[0060] Furthermore, the distraction prevention system S, when it detects that the driver H is distracted, not only provides notification and warnings, but also slows down and stops the raising and lowering of the fork 5, thereby preventing the load W from falling.

[0061] Although one embodiment of the distraction prevention system according to the present invention has been described above, the present invention is not limited to the above embodiment. For example, the distraction prevention system and forklift according to the present invention may be implemented by the following modifications, or by appropriately combining the following modifications.

[0062] <Variation> The imaging unit 12 may further include, for example, a camera positioned on the back of the backrest 6. This allows the imaging unit 12 to capture the driver H's head as seen from the backrest 6 with this camera and generate a head image HG, making it possible to easily confirm whether the driver H is looking in the direction of the fork 5 (the direction of the backrest 6) in response to changes in the position of the fork 5.

[0063] The imaging unit 12 may have, for example, a camera capable of photographing the area around the forklift F. In this case, the camera may, for example, have a fisheye lens and photograph the surroundings with a wide field of view, or it may consist of multiple cameras. The imaging unit 12 is configured to photograph the forks 5 and the load W loaded on the forks 5 using these cameras. As a result, for example, the position detection unit 26 may have a trained model that has been trained by machine learning to detect the position of the forks 5 and the position of the load W by referring to the images generated by this camera. The gaze estimation unit 24 may also be configured to estimate, based on the head image HG generated by this camera, whether the driver H is looking in the direction of the forklift F's movement, in the direction of the forks 5, or in the direction of the load W.

[0064] In this case, the distraction detection unit 28 may further determine whether the driver is distracted, for example, when the forklift F is not carrying a load W, based on whether the line of sight L is in the direction of travel, when the forklift 5 is being raised and lowered and the forklift or turning operation is being performed simultaneously. In other words, the distraction detection unit 28 may be configured to prioritize the driver looking in the direction of the load W to prevent the load W from falling, for example, when the forklift F is carrying a load W while the forklift 5 is being raised and lowered and the forklift or turning operation is being performed simultaneously.

[0065] The position detection unit 26 may be configured to detect whether the forklift F is loaded with a load W, and to detect the position of the load W when the forklift F is loaded with a load W. In this case, the distraction prevention system S may further include a camera that photographs the area above the forks 5 and generates a load image, and the position detection unit 26 may detect the position of the load W based on this load image. In this case, the distraction determination unit 28 may determine that the driver H is distracted if the forklift F is loaded with a load W and the driver's line of sight L is not in the direction of the load W during the lifting and lowering operation of the forks 5. This prevents situations where, for example, the driver H is only looking in the direction of the forks 5 and fails to notice that the load W is swaying or that the load W is about to collide with something. Whether or not the driver is looking at the load W may be determined, for example, by whether or not they are looking at the top of the load W or the center of the load W. In this case, the position detection unit 26 may be configured to detect the top of the load W or the center of the load W.

[0066] The forklift F is further equipped with a sliding section that slides the forks 5 in the left-right direction, and the distraction detection unit 28 may determine that the driver H is distracted when the driver H slides the forks 5 and the driver's line of sight L is not in the direction of the forks 5. In this case, the position detection unit 26 may also be configured to detect the left-right position of the forks 5. In this case, the distraction prevention system S is further equipped with a camera that photographs the direction of the forks 5 and generates a fork image, and the position detection unit 26 may detect the position of the forks 5 based on this fork image. As a result, the distraction prevention system S can prevent distraction during the left-right sliding of the forks 5.

[0067] The distraction detection unit 28 may, for example, determine that the driver H is looking at both or either the fork 5 and the load W, and that the driver is not distracted, if the estimated gaze direction L is directed forward and the gaze direction L is within a predetermined angle θ from the center of the driver's seat 19 in the horizontal direction, as shown in Figure 6. In other words, in this case, the distraction detection unit 28 does not include whether the gaze direction L is directed vertically or horizontally in its determination criteria. The predetermined angle θ may be, for example, an angle in the range of 5° to 30° to the left and right from the center of the driver's seat (i.e., an angle in the range of 10° to 60° when the left and right angles are combined). Also, in this case, the distraction prevention system S does not need to include a position detection unit 26.

[0068] In this case, the distraction prevention system S may further include a load detection unit that detects whether or not a load W is loaded. As a result, the distraction determination unit 28 can determine that the driver H is looking in the direction of the load W and is not distracted if the load W is loaded and the driver H is operating the forklift 5, and the line of sight L is within a predetermined angle θ.

[0069] The notification unit 34 may be configured to notify a designated party, such as the manager of driver H or the system managing driver H, if it determines that driver H is distracted. In this case, the distraction prevention system S may also be equipped with a communication device to make this notification. This helps the distraction prevention system S to manage driver H to prevent him from being distracted. The notification unit 34 may also make different notifications depending on the forklift operation. This allows for operations such as considering distracted driving during driving as a serious case and reporting it to the manager. [Explanation of Symbols]

[0070] S Distraction Prevention System F Forklift H Driver L View direction P Palette W load HG Head Image OD operation information 2 wheels 3. Vehicle Body 4 Mast 5 forks 6 Backrest 7 Pillar 8 Headguard 9 Control section 10 Drive unit 12 Photography Department 14 speakers 16 Lifting section 18 Brake 19 Driver's seat 20 Control Unit 22 Operation detection unit 24 Line of sight estimation part 240 First pre-trained model 241 Second pre-trained model 26 Position detection unit 28. Distraction Judgment Section 30 Speed ​​change section 32 Stop part 34 Notification Department

Claims

1. A unit that photographs the driver's head and generates a head image, A gaze estimation unit that estimates the direction of the driver's gaze based on the head image, An operation detection unit that detects the operation of the forklift by the driver, A distraction prevention system comprising a distraction detection unit that determines whether or not the driver is distracted based on the estimated direction of the driver's gaze and the detected operation of the forklift.

2. The operation of the forklift detected by the operation detection unit includes the raising and lowering of the forks. The distraction detection unit determines whether the driver is distracted when the driver is raising or lowering the forks, based on whether the driver's gaze is directed towards the forks, according to claim 1.

3. The system further includes a position detection unit for detecting the position of the fork. The distraction prevention system according to claim 2.

4. It further includes a load detection unit that detects whether or not a load is loaded on the fork, The operation of the forklift detected by the operation detection unit includes the raising and lowering operation of the forks. The distraction prevention system according to claim 1, wherein the distraction detection unit determines whether the driver is distracted based on whether the driver's line of sight is directed towards the load loaded on the fork when the load is loaded and the driver is operating the fork to raise or lower.

5. The distraction detection unit determines that the driver is looking at both the forks and the load, or either one thereof, if the direction of the driver's gaze is directed forward and the direction of the gaze is within a predetermined angle from the center of the driver's seat in the horizontal direction, and determines that the driver is not driving while distracted, according to claim 2 or 4.

6. It further includes a position detection unit for detecting the position of the load, The operation of the forklift detected by the operation detection unit includes the raising and lowering of the forks. The distraction prevention system according to claim 1, wherein the distraction detection unit determines whether the driver is distracted when the driver is performing the lifting and lowering operation of the forks, based on whether the driver's line of sight is directed toward the load loaded on the forks.

7. The distraction detection unit determines that a person is distracted only when they are distracted for a period of time longer than the permitted distraction time, according to any one of claims 1 to 4.

8. The distraction prevention system according to claim 7, wherein the permissible time for distraction differs for each operation of the forklift.

9. The operation of the forklift detected by the operation detection unit includes the raising and lowering of the forks. The distraction prevention system according to claim 1, further comprising a speed adjustment unit that decelerates or stops the raising or lowering of the forks if it is determined that the driver is distracted during the raising and lowering operation of the forks.

10. The operation of the forklift detected by the operation detection unit includes both or either of the following: The distraction prevention system according to claim 1, further comprising a speed change unit that decelerates or stops the movement of the forklift if it is determined that the driver is distracted while the forklift is being driven or turned.

11. The operation of the forklift detected by the operation detection unit includes both or either the traveling operation and the turning operation, as well as the raising and lowering operation of the forks. The distraction detection unit determines whether the driver is distracted when the forklift is loaded with a load, based on whether the driver's gaze is directed towards the load, when the forklift is being raised and lowered and the forklift is being driven or turned, according to claim 1.

12. A position detection unit that detects the position of the fork, The system further includes a sliding part that slides the position of the fork from side to side, The operation of the forklift detected by the operation detection unit includes the sliding operation of the forks. The distraction detection unit determines whether the driver is distracted based on whether the driver's gaze is directed towards the fork when the driver is operating the fork.

13. The distraction prevention system according to claim 1, further comprising a notification unit that notifies the driver of distraction when it is determined that the driver is distracted.

14. The distraction prevention system according to claim 1, further comprising a notification unit that notifies a designated location of distraction when it is determined that the person is looking away.

15. The forklift comprising the distraction prevention system described in claim 1.

16. A distraction prevention program for a forklift, comprising: an imaging unit that photographs the driver's head and generates a head image; an operation detection unit that detects the driver's operation of the forklift; and a computer, To the aforementioned computer, A gaze estimation unit that estimates the direction of the driver's gaze based on the head image, A distraction detection unit determines whether the driver is distracted based on the estimated direction of the driver's gaze and the detected operation of the forklift, and a distraction prevention program is executed by this unit.

Images