forklift

Abstract

The operator must recognize a person behind the forklift. [Solution] The forklift 10 includes a projector 65 that projects an image, a projection image generation unit 62a that generates an image, and a detection unit 51 that detects the position of a person located behind the forklift 10. The image projected by the projector 65 represents the position of the person detected by the detection unit 51. The image projected by the projector 65 is offset to the left or right of the center position in the width direction of the forklift 10.

Description

Technical Field

[0001] This disclosure relates to a forklift.

Background Art

[0002] The warning irradiation device described in Patent Document 1 includes a night vision camera that detects a person, a distance sensor that detects the distance to the person, an irradiation device that irradiates light, and a control device. The control device irradiates light from the irradiation device to a person in front of the vehicle. Thereby, the presence of the person can be notified to the driver of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A forklift includes a cargo handling device. When a load is loaded on the cargo handling device, the visibility ahead becomes low. Therefore, the operator of the forklift reverses the forklift while visually checking the rear. At this time, the operator's posture is in a state of looking back at the rear. Therefore, even if light is irradiated to people around the forklift, it may be difficult to visually recognize this light.

Means for Solving the Problems

[0005] The forklift for solving the above problems is a forklift including a detection unit that detects the position of a person, a projector that projects an image, and a projection image generation unit that generates the image. The projector is provided to project the image behind the forklift. The image is an image representing the position of the person detected by the detection unit. The image is offset to either the left or the right from the center position in the vehicle width direction of the forklift.

[0006] When an operator is operating a forklift while facing backward, they turn to either the left or right to perform the operation. Therefore, the operator's field of vision is biased to one side. By offsetting the image to either the left or right, the image is more easily incorporated into the operator's field of vision. This allows the operator to recognize people behind the forklift.

[0007] With respect to the above-mentioned forklift, the image includes a notification image projected from the forklift toward the position of the person, and an auxiliary image that notifies the operator of the forklift of the notification image, wherein the auxiliary image may be offset to the left or right of the center position in the vehicle width direction.

[0008] With respect to the forklift described above, the image includes a notification image projected from the forklift toward the position of the person, and the notification image may be offset to the left or right of the center position in the vehicle width direction.

[0009] The above-mentioned forklift comprises a driver's seat in which an operator sits, and an assist grip that the operator holds when reversing the forklift. The assist grip is located behind the driver's seat and to the right or left of the center position in the vehicle width direction. The image may be offset to the left or right in the direction in which the assist grip is located.

[0010] The above-mentioned forklift may be equipped with a determination unit that determines which direction the operator is facing (left or right), and the projection image generation unit may offset the image in the direction the operator is facing. [Effects of the Invention]

[0011] According to the present invention, an operator can recognize a person located behind the forklift. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a perspective view of a forklift. [Figure 2] Figure 2 is a schematic diagram of a forklift. [Figure 3] Figure 3 is a flowchart showing the processing performed by the image acquisition processing unit. [Figure 4] Figure 4 is a schematic diagram showing the projection range of a projector. [Figure 5] Figure 5 is a flowchart showing the processing performed by the control unit. [Figure 6] Figure 6 shows an example of a projected image. [Figure 7] Figure 7 shows an example of a projected image. [Modes for carrying out the invention]

[0013] An embodiment of a forklift will be described. As shown in Figure 1, the forklift 10 comprises a body 11, drive wheels 12, and steering wheels 14. In the following description, front, rear, left, and right refer to the front, rear, left, and right of the forklift 10.

[0014] The forklift 10 comprises a driver's seat 15 in which the operator O sits, a head guard 16, and pillars 17 that support the head guard 16. The head guard 16 is located above the driver's seat 15. The forklift 10 is operated by the operator O who is seated in the driver's seat 15.

[0015] Pillar 17 includes two rear pillars 17R and 17L located behind the driver's seat 15. The two rear pillars 17R and 17L include the right pillar 17R and the left pillar 17L. The right pillar 17R is located to the right of the center position in the width direction of the forklift 10. The left pillar 17L is located to the left of the center position in the width direction of the forklift 10.

[0016] The forklift 10 is equipped with a steering wheel 18, a grip 19, and an assist grip 20. The steering wheel 18 is located in front of the driver's seat 15. The steering wheel 18 is operated by the operator O. The grip 19 is located on the steering wheel 18. The grip 19 is located to the left of the center position in the width direction of the forklift 10 when the steering wheel 18 is not rotating, i.e., when the forklift 10 is not turning. The assist grip 20 is located on the right pillar 17R. The assist grip 20 is located behind the driver's seat 15 and to the right of the center position in the width direction of the forklift 10.

[0017] The forklift 10 is equipped with a cargo handling device 30. The cargo handling device 30 is located in front of the driver's seat 15. A load is loaded onto the cargo handling device 30. As shown in Figure 2, the forklift 10 includes a vehicle control unit 31 that controls driving and loading / unloading. The vehicle control unit 31 includes a processor 32 and a storage unit 33. The processor 32 is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a DSP (Digital Signal Processor). The storage unit 33 includes RAM (Random Access Memory) and ROM (Read Only Memory). The storage unit 33 stores a program for operating the vehicle control unit 31. The storage unit 33 stores program code or commands configured to cause the processor 32 to execute processing. The storage unit 33, i.e., the computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer. The vehicle control unit 31 may be composed of hardware circuits such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The vehicle control unit 31, which is a processing circuit, may include one or more processors that operate according to a computer program, one or more hardware circuits such as ASICs or FPGAs, or a combination thereof.

[0018] The forklift 10 includes an accelerator member 21. The accelerator member 21 is, for example, an accelerator pedal. The accelerator member 21 is operated by an operator O who has boarded the forklift 10.

[0019] The forklift 10 includes an accelerator sensor 34. The accelerator sensor 34 detects the operation amount of the accelerator member 21. The accelerator sensor 34 outputs an electrical signal corresponding to the operation amount of the accelerator member 21 to the vehicle control unit 31. The vehicle control unit 31 acquires information on the operation amount of the accelerator member 21 from the electrical signal from the accelerator sensor 34. The vehicle control unit 31 controls the speed of the forklift 10 based on the operation amount of the accelerator member 21.

[0020] The forklift 10 includes a direction operation unit 22. The direction operation unit 22 is, for example, a lever provided in the driver's seat 15. The direction operation unit 22 can be switched from the neutral position to the forward position or from the neutral position to the reverse position. The direction operation unit 22 is operated when the operator O moves forward or backward.

[0021] The forklift 10 includes a direction sensor 35. The direction sensor 35 detects the position of the direction operation unit 22. The direction sensor 35 outputs an electrical signal corresponding to the position of the direction operation unit 22 to the vehicle control unit 31. The vehicle control unit 31 acquires the operation position information of the direction operation unit 22 from the electrical signal from the direction sensor 35. The vehicle control unit 31 controls the traveling direction of the forklift 10 according to the operation position of the direction operation unit 22.

[0022] The forklift 10 includes a vehicle speed sensor 36 for detecting the vehicle speed of the forklift 10. The vehicle speed sensor 36 outputs an electrical signal corresponding to the vehicle speed of the forklift 10 to the vehicle control unit 31. The vehicle control unit 31 acquires the vehicle speed from the electrical signal of the vehicle speed sensor 36.

[0023] The forklift 10 is equipped with a detection unit 51 that detects the position of people present around the forklift 10. The detection unit 51 comprises a camera 52 and an image processing unit 53. In this embodiment, the camera 52 is a stereo camera. The stereo camera comprises two cameras, each of which performs imaging. In this embodiment, the camera 52 is mounted on the head guard 16 of the forklift 10 and is positioned to image a wide area of ​​the road surface behind the forklift 10 as it travels. The image processing unit 53 has a configuration similar to that of the vehicle control unit 31, for example, a processor 54 and a storage unit 55.

[0024] The image processing unit 53 performs processing to detect the position of a person. An example of the processing performed by the image processing unit 53 is described below. <Processing performed by the image processing unit> As shown in Figure 3, in step S10, the image acquisition processing unit 53 acquires an image from the camera 52.

[0025] Next, in step S11, the image processing unit 53 acquires a disparity image by performing stereo processing. The disparity image associates the disparity [px] with each pixel. Next, in step S12, the image processing unit 53 derives the coordinates of the feature points in the world coordinate system, which is a coordinate system in real space. As shown in Figure 1, the world coordinate system is a coordinate system in which, with the forklift 10 positioned on a horizontal plane, the axis extending in the width direction of the forklift 10 in the horizontal direction is the X-axis, the axis perpendicular to the X-axis in the horizontal direction is the Y-axis, and the axis extending in the vertical direction is the Z-axis. The image processing unit 53 derives the coordinates of the feature points in the camera coordinate system from the baseline length of the camera 52, the focal length of the camera 52, and the disparity image obtained in step S11. The camera coordinate system is a coordinate system with the camera 52 as the origin. The image processing unit 53 converts the coordinates of the feature points in the camera coordinate system to coordinates in the world coordinate system.

[0026] Next, in step S13, the image processing unit 53 extracts obstacles by clustering feature points. The image processing unit 53 collects a set of feature points that are assumed to represent the same obstacle from among the feature points that represent a part of the obstacle, and extracts this point group as an obstacle. The clustering of feature points performed in step S13 can be done by various methods. Obstacles include people and objects. Objects are obstacles other than people.

[0027] Next, in step S14, the image processing unit 53 derives the position of the obstacle. The position of the obstacle may be, for example, in the coordinates of the world coordinate system. The coordinates of the obstacle in the world coordinate system can be derived from the coordinates of the feature points that make up the point cloud. The coordinates of the obstacle in the world coordinate system represent the relative position between the forklift 10 and the obstacle. More specifically, the X coordinate of the obstacle in the world coordinate system represents the distance from the origin to the obstacle in the left-right direction. The Y coordinate of the obstacle in the world coordinate system represents the distance from the origin to the obstacle in the front-back direction. The origin of the world coordinate system is, for example, a coordinate system where the X and Y coordinates are the position of the camera 52 and the Z coordinate is the road surface. The Z coordinate of the obstacle in the world coordinate system represents the height of the obstacle from the road surface.

[0028] The location of the obstacle may be the location of the section in which the obstacle exists when the XY plane of the world coordinate system is divided into multiple sections. In this case, the image processing unit 53 determines that an obstacle exists in a section if the obstacle is located in a section obtained by dividing the XY plane of the world coordinate system.

[0029] Next, in step S15, the image capture processing unit 53 performs human detection processing. Human detection processing is the process of determining whether an obstacle is a person or not. In this embodiment, the image capture processing unit 53 performs human detection processing on the captured image. The image capture processing unit 53 converts the coordinates of the obstacle in the world coordinate system obtained in step S14 into camera coordinates, and converts the camera coordinates into coordinates of the captured image. The image capture processing unit 53 performs human detection processing on the coordinates of the obstacle in the captured image. Human detection processing is performed, for example, using feature quantities. The image capture processing unit 53 extracts feature quantities of the coordinates of the obstacle in the captured image. Feature quantities are, for example, HOG (Histogram of Oriented Gradients) features or Haar-Like features. The image capture processing unit 53 determines whether an obstacle is a person or not by comparing the feature quantities extracted from the captured image with dictionary data. Dictionary data is, for example, feature quantity data extracted from each of multiple captured images in which a person is visible. Obstacles that were not determined to be people in step S15 are objects.

[0030] The image processing unit 53 repeatedly performs the above-described process at a predetermined control cycle. This enables the recognition of a person's position. <Image projection device> As shown in Figure 2, the forklift 10 is equipped with an image projection device 60 that projects images. The image projection device 60 comprises a communication unit 61, a control unit 62, and a projector 65. The communication unit 61 is connected to the vehicle control unit 31 and the detection unit 51 by a bus 70. The communication unit 61 acquires various information from the vehicle control unit 31 and the image capture processing unit 53 by communicating based on a vehicle communication protocol.

[0031] The control unit 62 has the same hardware configuration as the vehicle control unit 31. The control unit 62 includes, for example, a processor 63 and a storage unit 64. The control unit 62 includes a projection image generation unit 62a that generates an image to be projected based on information acquired by the communication unit 61, and an image projection unit 62b that processes the image generated by the projection image generation unit 62a to be projected onto the projector 65.

[0032] The projector 65 includes a rear projector 65a positioned to project onto the road surface behind the forklift 10, a right-side projector 65b positioned to project onto the road surface to the right of the forklift 10, and a left-side projector 65c positioned to project onto the road surface to the left of the forklift 10. The projectors 65a, 65b, and 65c project the rear projection, right projection, and left projection images, respectively, generated by the projection image generation unit 62a. In this embodiment, the projector 65 is provided on the head guard 16. In the example shown in Figure 1, the projector 65 is provided below the head guard 16.

[0033] As shown in Figure 4, the projection range A1 onto which images are projected by the rear projector 65a, the right-side projector 65b, and the left-side projector 65c extends over the road surface, or in other words, the XY plane of the world coordinate system. A blind spot area A2 is set within the projection range A1. The blind spot area A2 is an area that is particularly likely to be a blind spot for the operator O when the forklift 10 is reversing. The forklift 10 in this embodiment is assumed to be operated by the operator O, who is facing backward while gripping the grip 19 with his left hand and the assist grip 20 with his right hand, and is visualizing the area behind him. In this case, the operator O will be turning to the right to look behind him, so the center of his field of view A3 is likely to be to the right of the center position C1 in the width direction of the forklift 10. For this reason, the area to the left of the center position C1 in the width direction of the forklift 10 becomes a blind spot. Furthermore, as shown in Figure 4, the field of view A3 can be simplified and represented as a fan shape centered on operator O, making the area adjacent to the left of the forklift 10 particularly prone to becoming a blind spot. For this reason, this area is designated as blind spot area A2.

[0034] The process performed by the control unit 62 when projecting an image onto the road surface will now be described. The control unit 62 projects an image when the forklift 10 is moving in reverse. Specifically, the control unit 62 determines that the forklift 10 is moving in reverse when the direction operation unit 22 instructs it to move in reverse.

[0035] The projection image generation unit 62a sets the XY plane position information for the area on the road surface where the rear projector 65a, the right projector 65b, and the left projector 65c each project an image. The XY plane of the rear projector is set to have the same coordinates as the XY plane of the image capture processing unit 53.

[0036] <Processing performed by the control unit> As shown in Figure 5, in step S21, the projection image generation unit 62a acquires human location information from the communication unit 61. Human location information can be acquired from the detection unit 51. The format of the human location information can be any format. For example, human location information may be information indicating whether or not a person is present in a predetermined area, or it may be coordinates in a world coordinate system. The coordinates in a world coordinate system may be orthogonal coordinates as described above, or polar coordinates. Since the image is projected onto a road surface which is an XY plane, the coordinates in a world coordinate system may be represented as two-dimensional coordinates that do not include vertical coordinates.

[0037] Next, in step S22, the projection image generation unit 62a generates an image to be projected onto the road surface. As shown in Figures 6 and 7, Image I represents the positions of persons M1 and M2 detected by the detection unit 51. Image I is used to notify the operator O of the presence of persons M1 and M2 when they are present around the forklift 10. Persons M1 and M2 present around the forklift 10 are, for example, workers performing tasks around the forklift 10 or pedestrians.

[0038] As shown in Figure 6, the image I projected onto person M1, which is within projection range A1 and outside blind spot area A2, includes a notification image IN. The notification image IN is projected from the forklift 10 toward the positions of people M1 and M2. The notification image IN is projected toward the positions of people M1 and M2 detected by the detection unit 51. The notification image IN includes a first image I1 extending between the forklift 10 and people M1 and M2, and a second image I2 projected beneath the feet of people M1 and M2. The first image I1 is, for example, linear. The line types of the first image I1 are, for example, solid, dashed, dotted, and double-dotted. In the example shown in Figure 6, the line type of the first image I1 is solid. The shape of the second image I2 is, for example, a circle, polygon, or cross. In the example shown in Figure 6, the shape of the second image I2 is a circle.

[0039] As shown in Figure 7, the image I projected onto a person M2 within the projection range A1 and in the blind spot area A2 includes a notification image IN and an auxiliary image IA. The auxiliary image IA notifies the operator O of the forklift 10 of the notification image IN. The auxiliary image IA is, for example, an arrow pointing to the notification image IN. In the example shown in Figure 7, the auxiliary image IA points to the notification image IN by extending backward from the forklift 10 and then curving toward the notification image IN.

[0040] The projection image generation unit 62a determines the position to project the notification image IN based on the position information of people M1 and M2. For example, the positions of people M1 and M2 in the coordinate system representing the position on which image I can be projected are derived using a map that pre-associates a coordinate system representing the position on which image I can be projected with the position information detected by the detection unit 51. Alternatively, the positions of people M1 and M2 in the coordinate system representing the position on which image I can be projected may be derived using a calculation formula that calculates the coordinates of the coordinate system representing the position on which image I can be projected from the position information. For example, if the position information is represented by coordinates, the positions of people M1 and M2 in the coordinate system representing the position on which image I can be projected can be derived from the shift of the origin and the shift of the coordinate axes between the coordinate system representing the position information and the coordinate system representing the position on which image I can be projected. The notification image IN is generated such that the first image I1 extends from the forklift 10 to the positions of people M1 and M2, and the second image I2 is positioned at the feet of people M1 and M2.

[0041] The position of the auxiliary image IA may change according to the position of the notification image IN, or it may remain constant regardless of the position of the notification image IN. If the position of the auxiliary image IA is changed according to the position of the notification image IN, for example, the direction of the arrow can be changed so that the arrow points to the notification image IN. The auxiliary image IA is projected when person M2 is in the blind spot area A2. In this case, the notification image IN extends into the blind spot area A2. Therefore, if the auxiliary image IA is projected at a fixed position, it can be considered to be pointing to the notification image IN if it is set to face the blind spot area A2.

[0042] Image I is offset to either the left or right of the center position C1 in the width direction of the forklift 10. That is, Image I is displayed shifted to either the left or the right. Image I is offset in the direction in which the assist grip 20 is provided. In this embodiment, the assist grip 20 is provided to the right of the center position C1 of the forklift 10, so Image I is offset to the right. In this embodiment, the starting point of Image I is offset to the right.

[0043] When projecting image I onto person M1 who is within projection range A1 but outside blind spot area A2, the starting point E1 of notification image IN is offset to the right. That is, the starting point E1 of notification image IN is located to the right of the center position C1. The starting point E1 of notification image IN is the position closest to the forklift 10 in the first image I1.

[0044] When projecting image I onto a person M2 within projection range A1 and blind spot area A2, the starting point E2 of auxiliary image IA is offset to the right. That is, the starting point E2 of auxiliary image IA is located to the right of the center position C1. The starting point E2 of auxiliary image IA is the position closest to the forklift 10 within the auxiliary image IA.

[0045] Next, in step S23, the image projection unit 62b causes the projector 65 to project image I. The projector 65 projects the second image I2 onto the positions of people M1 and M2. The projector 65 projects the first image I1 between the forklift 10 and the second image I2. When projecting image I onto person M2, the projector 65 also projects an auxiliary image IA. The projection range and projected images of the rear projector 65a and the right-side projector 65b, and the rear projector 65a and the left-side projector 65c are pre-set so that images such as image I are connected.

[0046] The processes in steps S21 to S23 are repeated at predetermined control cycles. As a result, the image I projected onto the road surface is updated with each control cycle. [Operation of this embodiment] When operator O turns to face backward and reverses the forklift 10, operator O operates the forklift while turning to either the left or the right. In this embodiment, the forklift 10 is designed to assume that operator O turns to the right, which is the direction in which the assist grip 20 is located. Therefore, operator O's field of view A3 is biased to the right. If operator O's field of view A3 is represented as a fan shape, the center of field of view A3 is located to the right of the center position C1 of the forklift 10. Consequently, operator O can easily recognize images I located to the right of the center position C1, but has difficulty recognizing images I located to the left of the center position C1.

[0047] By offsetting image I to the right, a portion of image I is positioned to the right of the center position C1. Therefore, when operator O is facing backward and operating the forklift 10, image I is more likely to enter operator O's field of view A3.

[0048] [Effects of this embodiment] (1) The forklift 10 is equipped with a cargo handling device 30 in front of the driver's seat 15. When the cargo handling device 30 is loaded with cargo, the operator O may have difficulty seeing ahead and may operate the forklift while facing backward. In this case, the projector 65 projects an image I, making it easier for the operator O to recognize people M1 and M2, thereby improving work efficiency. Furthermore, by offsetting the image I to the right, the image I is more likely to enter the operator O's field of view A3. This makes it even easier for the operator O to recognize people M1 and M2 who are behind the forklift 10.

[0049] (2) The image I projected to a person M2 located within the blind spot area A2 includes a notification image IN and an auxiliary image IA. If a person M2 is located within the blind spot area A2, even if the notification image IN is offset to the right, there is a risk that image I may not be within the operator O's field of view A3. Also, when projecting image I to a position adjacent to the forklift 10 in the vehicle width direction, depending on the placement of the projector 65, it may not be possible to offset the notification image IN. For example, in the example shown in Figure 7, the first image I1 is projected in the vehicle width direction of the forklift 10. Depending on the placement of the projector 65, it may not be possible to project image I close to the forklift 10, so the starting point E1 of the first image I1 will be slightly away from the forklift 10, and it may not be possible to offset the notification image IN. That is, it may not be possible to project image I to the position where the notification image IN has been offset. In such cases, offsetting the auxiliary image IA makes it easier for the operator O to recognize the auxiliary image IA. Operator O can recognize person M2 because they can recognize notification image IN from auxiliary image IA.

[0050] (3) The image I projected onto person M1 located outside the blind spot area A2 includes the notification image IN. When the notification image IN is projected onto person M1 located outside the blind spot area A2, the notification image IN is projected into a position that is easier for operator O to see compared to when the notification image IN is projected onto person M2 located inside the blind spot area A2. For this reason, even if the auxiliary image IA is not projected, offsetting the notification image IN makes it easier for operator O to recognize the notification image IN. Since operator O can recognize the notification image IN, they can recognize people M1 and M2.

[0051] (4) Image I is offset to the direction in which the assist grip 20 is located. The forklift 10 is designed to be operated by the operator O turning to face the direction in which the assist grip 20 is located. Therefore, by offsetting image I to the direction in which the assist grip 20 is located, it is easier for the operator O to recognize image I.

[0052] [Example of changes] The embodiment can be implemented with the following modifications. The embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0053] As shown in Figure 2, the forklift 10 may be equipped with a determination unit 81 that determines which direction the operator O is facing (left or right). The determination unit 81 may also consist of a camera that images operator O, and an image processing unit that determines the direction operator O is facing from the image captured by the camera. In this case, the camera is provided to image operator O in the driver's seat 15. The image processing unit determines the direction operator O is facing using pattern matching or a trained model.

[0054] If the driver's seat 15 is equipped with a mechanism for rotation, the determination unit 81 may be a detection unit that detects the direction of rotation of the driver's seat 15. When the driver's seat 15 rotates as the operator O turns left or right, the driver's seat 15 rotates to the right when the operator turns right, and rotates to the left when the operator turns left. Therefore, the direction in which the driver's seat 15 rotates can be considered as the direction in which the operator O turned. By detecting the direction of rotation of the driver's seat 15, the direction in which the operator O turned can be determined.

[0055] The determination unit 81 may be a selection unit that allows operator O to select the direction in which to turn. The selection unit is, for example, a switch or touch panel that operator O can operate. Operator O simply needs to select the direction in which to turn using the selection unit.

[0056] If assist grips 20 are provided on both the left and right sides, the determination unit 81 may be a detection unit that detects whether the operator O is gripping either the left or right assist grip 20. The detection unit may be, for example, a switch that turns on when the operator O grips the assist grip 20, or a contact sensor.

[0057] If the forklift 10 is equipped with a determination unit 81, the control unit 62 offsets image I in the direction that operator O is facing. That is, if operator O is facing right, the control unit 62 offsets image I to the right, and if operator O is facing left, it offsets image I to the left.

[0058] According to the above configuration, even if there are assist grips 20 on both the left and right sides, or if the forklift 10 does not have assist grips 20, the image I can be offset in the direction the operator O is turning.

[0059] ○Blind spot area A2 does not need to be set. In this case, if people M1 and M2 are present in projection range A1, the control unit 62 may configure the projector 65 to project both the notification image IN and the auxiliary image IA, or it may configure the projector 65 to project only the notification image IN.

[0060] ○The shape of the auxiliary image IA may be changed as appropriate. For example, the auxiliary image IA may be characters that indicate the presence of the notification image IN. In this case, characters indicating the direction in which the notification image IN is located may be projected as the auxiliary image IA.

[0061] ○The detection unit 51 only needs to be capable of detecting the positions of people M1 and M2. For example, the detection unit 51 may be a laser rangefinder, radar, or ToF (Time-of-flight) camera. Since the projector 65 projects image I onto the road surface, the detection unit 51 only needs to be capable of detecting the positions of people M1 and M2 in at least the horizontal direction.

[0062] ○ The projector 65 can be positioned in any way as long as it can project image I onto the road surface. For example, in the example shown in Figure 1, the projector 65 is located below the head guard 16, but it may also be located above the head guard 16. If the forklift 10 is a counterbalanced forklift, the projector 65 may be located on the counterweight.

[0063] ○ The assist grip 20 may be located to the left of the center position C1 in the vehicle width direction of the forklift 10. For example, the assist grip 20 may be located on the left pillar 17L. In this case, the control unit 62 offsets image I to the left of the center position C1 in the vehicle width direction of the forklift 10.

[0064] Image I can be any image as long as it can notify operator O that people M1 and M2 are present. ○Projector 65 only needs to have at least one projector.

[0065] ○The control unit 62 may determine that the forklift 10 is moving in reverse if the direction operation unit 22 has instructed it to move in reverse and the vehicle speed is equal to or greater than the driving determination threshold. The driving determination threshold is set, for example, within the range of 0 [km / h] to 0.5 [km / h]. [Explanation of Symbols]

[0066] A1...Shooting range, C1...Center position, I...Image, IA...Auxiliary image, IN...Notification image, M1, M2...Person, O...Operator, 10...Forklift, 15...Driver's seat, 20...Assist grip, 51...Detection unit, 62a...Projection image generation unit, 81...Determination unit.

Claims

1. A detection unit that detects the location of a person, A projector that projects images, A forklift comprising a projection image generation unit that generates the aforementioned image, The projector is installed to project the image behind the forklift. The aforementioned image is an image representing the position of the person detected by the detection unit, The image above shows a forklift that is offset to either the left or right of the center position in the width direction of the forklift.

2. The aforementioned image is, A notification image projected from the forklift toward the position of the person, The notification image includes an auxiliary image that notifies the operator of the forklift of the notification image, The forklift according to claim 1, wherein the auxiliary image is offset to either the left or right of the center position in the vehicle width direction.

3. The aforementioned image includes a notification image projected from the forklift toward the position of the person, The forklift according to claim 1, wherein the notification image is offset to either the left or right of the center position in the vehicle width direction.

4. The driver's seat where the operator sits, The forklift is equipped with an assist grip that is held by the operator when the forklift is moved in reverse, The assist grip is located behind the driver's seat and either to the right or to the left of the center position in the vehicle width direction. The above image is of the forklift according to claim 1, wherein the left and right sides are offset in the direction in which the assist grip is provided.

5. It includes a determination unit that determines which direction the operator is facing, left or right. The forklift according to claim 1, wherein the projection image generation unit offsets the image in the direction the operator is facing.

Images