Material handling vehicles

Abstract

This provides an arrangement that improves the blind spots of the two cameras used for human detection in cargo handling vehicles. [Solution] The cargo handling vehicle comprises a drivable vehicle body 1 having a driver's seat 12, a mast device 2 provided in front of the vehicle body 1, an imaging means that captures images of the area around the cargo handling vehicle to detect people and acquires image data, an image processing unit that performs processing to detect people on the image data, and a decision unit that determines whether to output a warning based on the detection result by the image processing unit. The imaging means consists only of a front camera 30F and a rear camera 30R. The front camera 30F is located on one side of the mast device 2 so as to include at least the left or right side of the loading vehicle and the area in front of the loading vehicle in its imaging range. The rear camera 30R is located at the rear of the vehicle body 1 so as to include at least the left or right side of the loading vehicle and the area behind the loading vehicle in its imaging range.

Description

Technical Field

[0001] This application relates to a handling vehicle having a function of outputting a warning when detecting a person around it.

Background Art

[0002] Patent Document 1 discloses this type of handling vehicle. When the handling vehicle detects a person around it, it gives a warning such as emitting sound or light from an alarm device.

[0003] Patent Document 1 exemplifies imaging the entire periphery of the handling vehicle with four cameras installed in the handling vehicle, and detecting a person by performing image processing on the acquired imaging data.

[0004] FIG. 11 exemplifies the arrangement of cameras according to the related art. Two cameras, a front camera and a rear camera, are used. These cameras are half-spherical cameras having a 360° field of view. The imaging range of the front camera is indicated by reference sign FC', and the imaging range of the rear camera is indicated by reference sign RC'.

[0005] The front camera is attached to a mast device in front of the vehicle body. More specifically, the front camera is attached downward at the center of the upper beam connecting the left and right fixed masts of the mast device. The rear camera is attached to the vehicle body. More specifically, the rear camera is attached downward at the center of the rear end of the roof of the head guard of the vehicle body.

[0006] Since the front camera images the periphery of the handling vehicle through the gaps between the constituent members of the mast device, the imaging range FC' as shown in FIG. 11 is obtained. As a result, a large dead angle BA' as shown by hatching occurs due to the fixed masts of the mast device and the like. In order to reduce this dead angle, it is conceivable to install three or more cameras as in Patent Document 1. However, naturally, the cost increases by the number of additional cameras.

Prior Art Documents

Patent Documents

[0007] [Patent Document 1] Japanese Patent Publication No. 2020-125171 [Overview of the project] [Problems that the invention aims to solve]

[0008] This invention provides an arrangement that improves the blind spots of two cameras used for human detection. [Means for solving the problem]

[0009] This application relates to a cargo handling vehicle, A drivable vehicle body with a driver's seat, A mast device is provided at the front of the vehicle body, An imaging means for detecting people by imaging the area around the cargo handling vehicle and acquiring imaging data, An image processing unit that performs processing to detect a person on the aforementioned imaging data, The system includes a determination unit that determines whether to output a warning based on the detection result from the image processing unit, The imaging means consists only of a front camera and a rear camera. The front camera is positioned on one side of the mast device such that its imaging range includes at least one of the left or right sides of the cargo handling vehicle and the area in front of the cargo handling vehicle. The rear camera is positioned at the rear of the vehicle body such that its imaging range includes at least the left or right side of the cargo handling vehicle, and the area behind the cargo handling vehicle.

[0010] For example, the rear camera may be located on the other side of the rear of the vehicle body.

[0011] For example, the vehicle body is equipped with a head guard, The head guard comprises, at least, The roof covers the aforementioned driver's seat from above, It comprises two rear pillars that are spaced apart from each other in the left-right direction and support the roof, The rear camera may be attached to the other end at the rear end of the roof or to the upper part of the rear pillar on the other side.

[0012] The mast device includes two fixed masts provided at intervals in the left - right direction; and an upper beam connecting the two fixed masts at the upper part of the two fixed masts. The front camera may be attached to a portion located outside the fixed mast on one side of the upper beam.

[0013] For example, the mast device includes two fixed masts provided at intervals in the left - right direction. The front camera may be attached to the outer surface of the fixed mast on one side.

[0014] For example, the front camera and the rear camera are each a hemispherical camera.

[0015] For example, the material handling vehicle further includes an alarm device that outputs sound and / or light, and an alarm control unit that causes the alarm device to output sound and / or light when the determination unit determines to output an alarm.

[0016] For example, the material handling vehicle further includes a traveling device that travels the vehicle body, and a vehicle control unit that restricts the travel of the vehicle body when the determination unit determines to output an alarm.

[0017] For example, the material handling vehicle is a forklift.

[0018] For example, the material handling vehicle further includes traveling direction detection means for detecting whether the vehicle body is moving forward or backward. When the vehicle body moves forward, an area setting unit is further provided that sets, as a region of interest, an area of the imaging data corresponding to a predetermined front area with respect to the loading vehicle, and when the vehicle body moves backward, sets, as a region of interest, an area of the imaging data corresponding to a predetermined rear area with respect to the loading vehicle. The image processing unit is configured to execute a process for detecting a person with respect to the set region of interest. The area setting unit may be configured to set the region of interest in both the imaging data of the front camera and the imaging data of the rear camera when the vehicle body moves forward.

[0019] For example, the area setting unit may further be configured to set the region of interest in both the imaging data of the front camera and the imaging data of the rear camera when the vehicle body moves backward.

[0020] For example, the front area is an area based on the center of the mast device. The rear area may be an area based on the center of the rear part of the vehicle body.

[0021] For example, the region of interest consists of a first region and a second region that does not overlap with the first region. The determination unit determines to output a first warning when a person is detected in the first region in the imaging data, and is configured to determine to output a second warning different from the first warning when a person is detected in the second region in the imaging data. The first region when the vehicle body moves forward is a region corresponding to an area at a short distance from the center of the mast device. The second region when the vehicle body moves forward may be a region corresponding to an area at a long distance from the center of the mast device.

[0022] For example, the first region when the vehicle body moves backward is a region corresponding to an area at a short distance from the center of the rear part of the vehicle body. The second region when the vehicle body is moving in reverse may be a region corresponding to an area far from the center of the rear of the vehicle body.

[0023] For example, the first warning includes stopping the vehicle from moving, The second warning may include a speed limit that does not involve stopping the vehicle from moving.

[0024] For example, the first warning and the second warning both include a speed limit that does not involve stopping the vehicle, but may include different types of audible and / or visual warnings. [Brief explanation of the drawing]

[0025] [Figure 1] Figures 1A and 1B are schematic side views of an example of a cargo handling vehicle. [Figure 2] Figure 2 is a schematic plan view of the cargo handling vehicle shown in Figure 1. [Figure 3] Figure 3 is a block diagram showing the configuration for warning control based on human detection. [Figure 4] Figure 4 schematically shows the imaging range when the cameras are arranged diagonally. [Figure 5] Figure 5 is a diagram illustrating the detection area when moving forward. [Figure 6] Figure 6A is a diagram illustrating the setting of the region of interest for the image data from the front camera during forward movement, and Figure 6B is a diagram illustrating the setting of the region of interest for the image data from the rear camera during forward movement. [Figure 7] Figure 7 is a diagram illustrating the detection area when the vehicle is moving in reverse. [Figure 8] Figure 8A is a diagram illustrating the setting of the region of interest for the image data from the front camera when reversing, and Figure 8B is a diagram illustrating the setting of the region of interest for the image data from the rear camera when reversing. [Figure 9] Figure 9 shows the flow of warning control based on human detection in the cargo handling vehicle shown in Figure 3. [Figure 10] Figure 10 schematically shows the imaging range of the camera arrangement according to a modified example of the present invention. [Figure 11] Figure 11 shows the camera arrangement related to the related technology (comparative example). [Modes for carrying out the invention]

[0026] Embodiments of the present invention will be described below with reference to the accompanying drawings. The following are merely illustrative examples of the present invention. The drawings are schematic and may not be drawn to exact size. It should also be understood that the same reference numerals are used throughout the drawings to represent identical or similar components.

[0027] [Improved camera blind spots] Figures 1A, 1B, and 2 schematically show an example of a cargo handling vehicle. The cargo handling vehicle comprises a vehicle body 1 and a mast device 2 provided in front of the vehicle body 1.

[0028] The vehicle body 1 comprises a vehicle frame 10 and a plurality of wheels 11 provided on the vehicle frame 10, and is configured to be drivable. The vehicle body 1 includes a driver's seat 12 formed by the vehicle frame 10. The driver's seat 12 is equipped with operating means 13 (consisting of a steering wheel, accelerator lever, brake lever, cargo handling lever, etc.) for operating the cargo handling vehicle. The operator can operate (drive) the cargo handling vehicle by sitting in the driver's seat 12 and operating the operating means 13.

[0029] The vehicle body 1 is equipped with a head guard 14. The head guard 14 comprises a roof 140 that covers the area above the driver's seat 12, and pillars 141FL, 141FR, 141RL, and 141RR that support the roof 140. The pillars consist of two front pillars 141FL and 141FR attached to the front of the vehicle body frame 10 and spaced apart from each other in the left-right direction, and two rear pillars 141RL and 141RR attached to the rear of the vehicle body frame 10 and spaced apart from each other in the left-right direction.

[0030] The mast device 2 is a device for raising and lowering a load-handling device for supporting cargo. The load-handling vehicle in this embodiment is a forklift, and the mast device 2 is equipped with two forks 20L and 20R, which are spaced apart from each other in the left-right direction, as load-handling devices.

[0031] The mast device 2 further comprises at least two fixed masts 21L, 21R supported on the vehicle frame 10 at a distance from each other in the left-right direction, an upper beam 22 extending in the left-right direction at the top of the two fixed masts 21L, 21R to connect them, a lift bracket 23 supporting the forks 20L, 20R, and a lift cylinder 24 for raising and lowering the forks 20L, 20R and the lift bracket 23 along the fixed masts 21L, 21R.

[0032] The cargo handling vehicle is further equipped with an imaging means 3 (Figure 3) that captures images of its surroundings and acquires image data in order to detect whether there are people around it. The imaging means 3 for person detection consists of only two cameras: a front camera 30F (Figure 1A) and a rear camera 30R (Figure 1B). The front camera 30F and the rear camera 30R are each hemispherical cameras with a 360° field of view.

[0033] The front camera 30F is positioned to the right of the mast device 2 so that its imaging range includes at least the right and front of the cargo handling vehicle. Specifically, the upper beam 22 has a portion 22a (Figure 1A) located to the right and outside of the right fixed mast 21R, and the front camera 30F is mounted facing downward on the lower surface of this portion 22a. Alternatively, the front camera 30F may be mounted on the right side (outer side) of the fixed mast 21R.

[0034] The rear camera 30R is positioned on the left side of the rear of the vehicle body 1 so that its imaging range includes at least the left and rear of the loading / unloading vehicle. Specifically, the rear camera 30R is mounted facing downwards at the left end of the upper rear of the vehicle body 1, that is, on the underside of the rear left end of the roof 140 of the head guard 14 that constitutes the vehicle body 1. Alternatively, the rear camera 30R may be mounted on the upper left side (outer side) of the left rear pillar 141RL.

[0035] As described above, the front camera 30F and the rear camera 30R are positioned diagonally opposite each other in the cargo handling vehicle. Hereinafter, this arrangement will be referred to as the "diagonal arrangement." In contrast to the embodiments shown in Figures 1 and 2, a diagonal arrangement in which the front camera 30F is positioned on the left and the rear camera 30R is positioned on the right is also possible.

[0036] Figure 4 schematically shows the imaging range around the cargo handling vehicle of the imaging means 3 (front camera 30F and rear camera 30R) in a diagonal arrangement. The imaging range of the front camera 30F is indicated by a dashed line and the symbol FC, and the imaging range of the rear camera 30R is indicated by a dashed line and the symbol RC. The blind spots of cameras 30F and 30R are indicated by hatching and the symbol BA.

[0037] Figure 11 schematically shows the imaging ranges of the front and rear cameras related to the related technologies described in the background technology section. The imaging range of the front camera is indicated by a dashed line and the code FC', and the imaging range of the rear camera is indicated by a dashed line and the code RC'. The camera blind spots are indicated by hatching and the code BA'.

[0038] As is clear from the comparison of blind spot BA and blind spot BA' in Figures 4 and 11, the diagonal arrangement significantly improves the camera's blind spot. The diagonal arrangement is highly advantageous in that it provides blind spot improvement without the need to add cameras.

[0039] The material handling vehicle can be either battery-powered or engine-powered. Furthermore, while the example above uses a counterbalanced forklift, a reach-type forklift is also acceptable for the diagonal arrangement.

[0040] [Explanation of related technology control] The cargo handling vehicle of the related technology shown in Figure 11 processes the image data captured by the front camera when moving forward, and issues a first warning (e.g., stop driving) when it detects a person in a short-range area relative to the front camera (and therefore the center of the mast device to which it is attached), and issues a second warning (e.g., decelerate driving) when it detects a person in a long-range area.

[0041] Furthermore, when the cargo handling vehicle is moving in reverse, it processes the image data captured by the rear camera and issues the first warning described above when it detects a person in a short-range area based on the rear camera (and therefore the center of the rear end of the roof of the head guard to which it is mounted), and issues the second warning described above when it detects a person in a long-range area.

[0042] However, if the image processing for human detection in this related technology is applied directly to the diagonal arrangement described above, as shown in Figure 4, when the front camera 30F detects a person at position P1, even though the person is close to the loading / unloading vehicle, the second warning for the long-distance area is issued because the distance to the front camera 30F is far. Similarly, when the rear camera 30R detects a person at position P2, the second warning for the long-distance area is issued even though the person is close to the loading / unloading vehicle.

[0043] [Control based on human detection in a diagonal arrangement] The following describes an example of a warning control system based on human detection using the diagonal arrangement described above to solve this problem.

[0044] As shown in Figure 3, the cargo handling vehicle is further equipped with an alarm device 4. The alarm device 4 is configured to output sound and / or light as an alarm to the operator. In this embodiment, the alarm device 4 comprises a buzzer 40 that outputs sound and a lamp 41 that outputs light. More specifically, the alarm device 4 in this embodiment is a two-color stacked lamp with a buzzer, in which the buzzer 40 and the lamp 41 are integrated, and can output an alarm in the form of sound, yellow light, and red light, or in combination of two or more of these.

[0045] The warning device 4 is preferably positioned on the vehicle body 1 in a location that does not interfere with the operation of the operator in the driver's seat 12 and is easily visible, for example, on the side in front of the driver's seat 12 as shown in Figure 1A, or more specifically, on the front pillar 141FR. The warning device 4 may be something other than a two-color stacked lamp. The warning device 4 may also consist of turn signals or horns that are installed on the cargo handling vehicle.

[0046] The cargo handling vehicle is further equipped with a running gear 5 for moving the vehicle body 1. The running gear 5 is located within the vehicle body frame 10 and is configured to drive and steer at least one of the wheels 11.

[0047] The cargo handling vehicle further includes a direction detection means 6 for detecting whether the vehicle body 1 is in motion and whether it is moving forward or backward. The direction detection means 6 may consist of, for example, a speed sensor for detecting the speed at which the vehicle body 1 is traveling, and a lever sensor (e.g., consisting of multiple limit switches) for detecting whether the directional lever (part of the operating means 13) for switching the direction of travel of the vehicle body 1 is in a forward position with the direction of travel forward or a rear position with the direction of travel backward.

[0048] The cargo handling vehicle further includes a control unit 7 for issuing warnings. The control unit 7 comprises an image processing unit 70, a region setting unit 71, a determination unit 72, an alarm control unit 73, and a vehicle control unit 74. The control unit 7 is a functional unit that is composed of one or more processors and is realized by executing a program stored on a storage medium (not shown). For example, the image processing unit 70, the region setting unit 71, the determination unit 72, and the alarm control unit 73 may be composed of a single information processing device added to the cargo handling vehicle, and the vehicle control unit 74 may be composed of a vehicle control device provided on the vehicle body 1. Alternatively, all of these functional units 70 to 74 may be composed of a vehicle control device.

[0049] The image processing unit 70 is configured to perform processing for detecting people on the image data acquired by the imaging means 3 (and therefore the front camera 30F and the rear camera 30R). The image processing unit 70 may use a well-known person detection algorithm to perform image processing to detect whether or not a person is included in the image data (whether or not a person is visible), and may further determine the position of the detected person in the image data.

[0050] Alternatively, the image processing unit 70 may use a pre-trained model for person detection to detect whether or not a person is included in the image data. This pre-trained model takes the image data as input and outputs information indicating whether or not a person is included in the image data and the location of the detected person in the image data. Since such pre-trained models are also well known, their explanation will be omitted here.

[0051] The region setting unit 71 sets a region of interest in the imaging data where the processing for detecting people described above will actually be performed. Therefore, the image processing unit 70 performs the image processing for person detection on the set region of interest (a specific part) rather than on the entire imaging data.

[0052] The region setting unit 71 uses information from the direction of travel detection means 6 to set different regions of interest when the vehicle body 1 is moving forward and when it is moving backward. By setting regions of interest in the image data using information from the direction of travel detection means 6 in this way, the region setting unit 71 sets a person detection area corresponding to the direction of travel.

[0053] The region setting unit 71 sets the region of interest so that, when the vehicle body 1 is moving forward, a predetermined forward area relative to the cargo handling vehicle, specifically the area based on the center of the mast device 2, becomes the person detection area. More specifically, the overlapping portion of the imaging ranges FC, RC and range FL in Figure 5 is defined as the forward area.

[0054] Therefore, when the vehicle body 1 is moving forward, the region setting unit 71 sets the region corresponding to area FA1, indicated by hatching in the image data of the front camera 30F, as the region of interest, as shown in Figure 6A, and further sets the region corresponding to area FA2, indicated by hatching in the image data of the rear camera 30R, as the region of interest, as shown in Figure 6B.

[0055] The region setting unit 71 sets the region of interest so that, when the vehicle body 1 is moving in reverse, a predetermined rear area relative to the cargo handling vehicle, specifically the area based on the center of the rear of the vehicle body 1 (the center of the rear end of the roof 140), becomes the person detection area. More specifically, the overlapping portion of the imaging ranges FC, RC and range RL in Figure 7 is defined as the rear area.

[0056] Therefore, when the vehicle body 1 is moving in reverse, the region setting unit 71 sets the region corresponding to area RA1, indicated by hatching in the image data of the front camera 30F, as the region of interest, as shown in Figure 8A, and further sets the region corresponding to area RA2, indicated by hatching in the image data of the rear camera 30R, as the region of interest, as shown in Figure 8B.

[0057] In the imaging data acquired from the diagonally positioned front camera 30F and rear camera 30R, the regions corresponding to areas FA1, FA2, RA1, and RA2 have been identified in advance, and adjustments have been made beforehand so that these regions are set as regions of interest.

[0058] Although the hemispherical cameras 30F and 30R may capture images of the operator in the driver's seat 12 depending on their placement and the structure of the cargo handling vehicle, the appropriate setting of the region of interest as described above prevents the operator in the driver's seat 12 from being detected as a person.

[0059] The decision unit 72 decides whether to output a warning based on the detection result of the image processing unit 70. The decision unit 72 decides not to output a warning if no person is detected in the imaging data from both the front camera 30F and the rear camera 30R.

[0060] The decision unit 72 decides to output a warning when a person is detected in the imaging data of at least one of the front camera 30F and the rear camera 30R. More specifically, the decision unit 72 decides to output a first warning if the position of the detected person in the imaging data is within a first region of the region of interest corresponding to the near-field area. The decision unit 72 decides to output a second warning if the position of the detected person in the imaging data is within a second region that does not overlap with the first region of the region of interest corresponding to the far-field area.

[0061] When moving forward, distance is measured from the center of the mast device 2. The short-range area when moving forward is the area within the forward area that is close to the center of the mast device 2, more specifically the area within range FS (Figures 5 and 6) in the forward area. The long-range area when moving forward is the area within the forward area that is far from the center of the mast device 2, more specifically the area outside range FS in the forward area that is within range FL (Figures 5 and 6).

[0062] When reversing, the distance is based on the center of the rear of the vehicle body 1 (the center of the rear end of the roof 140). The short-distance area when reversing is the area within the rear area that is close to the center of the rear of the vehicle body 1, more specifically the area within range RS (Figures 7 and 8) in the rear area. The long-distance area when reversing is the area within the rear area that is far from the center of the rear of the vehicle body 1, more specifically the area outside range RS in the rear area that is within range RL (Figures 7 and 8).

[0063] The first warning is a warning for human detection in a short-range area, and the second warning is a warning for human detection in a long-range area. Therefore, the first warning should be stronger than the second warning. In this embodiment, the first warning is the stopping of the loading vehicle (vehicle body 1), the sounding of the buzzer 40 of the alarm device 4, and the illumination of the lamp 41 in red, while the second warning is a speed limit that does not include stopping the loading vehicle, and the illumination of the lamp 41 in yellow.

[0064] In response to the decision unit 72 determining to output a warning, the alarm control unit 73 activates the alarm device 4 to perform a warning (audible and / or luminous alarm operation) according to the determined content. In this embodiment, the alarm control unit 73 sounds the buzzer 40 and lights up the lamp 41 red in response to the decision unit 72 determining to output a first warning, and lights up the lamp 41 yellow in response to the decision to output a second warning.

[0065] The vehicle control unit 74 normally controls the operation of the cargo handling vehicle by activating the running gear 5 and / or the mast gear 2 in response to input from the operating means 13. The vehicle control unit 74 also controls the running gear 5 in response to the decision unit 72 deciding to output a warning and implements the determined warning (driving restriction). In this embodiment, the vehicle control unit 74 slows down and stops the cargo handling vehicle in response to the decision unit 72 deciding to output a first warning, and in response to the decision to output a second warning, it limits the maximum speed of the cargo handling vehicle to a value lower than the value before the restriction (not zero) and slows down the vehicle.

[0066] The control flow outline is explained with reference to Figure 9. The control unit 7 monitors the movement of the cargo handling vehicle (vehicle body 1) based on information from the direction of travel detection means 6 (step S1), and determines whether or not the cargo handling vehicle is moving (step S2).

[0067] If the cargo handling vehicle is not in motion (NO in S2), the control unit 7 returns to step S1, and if the cargo handling vehicle is in motion (YES in S2), it proceeds to step S3.

[0068] In step S3, the region setting unit 71, as described above, uses information from the direction of travel detection means 6 to set regions of interest corresponding to the direction of travel for each of the imaging data from both cameras 30F and 30R. This sets the detection area corresponding to the direction of travel. Then, the control unit 7 proceeds to step S4.

[0069] In step S4, the image processing unit 70 performs processing to detect a person in the set region of interest in the imaging data from both cameras 30F and 30R. Then, the control unit 7 proceeds to step S5.

[0070] In step S5, the decision unit 72 decides whether or not to output a warning based on the detection result of the image processing unit 70. If no person is detected, the decision unit 72 decides not to output a warning (NO in S5), and the control unit 7 returns to step S1. On the other hand, if a person is detected, the decision unit 72 decides to output a warning (YES in S5), and the control unit 7 proceeds to step S6.

[0071] In step S6, the decision unit 72 further determines the content of the warning based on the detection result of the image processing unit 70. Specifically, the decision unit 72 decides to issue a first warning if a person is detected in the near-range area (if the detected person is located in the first region corresponding to the near-range area in the imaging data). Then, the control unit 7 proceeds to step S7.

[0072] In step S7, the alarm control unit 73 and the vehicle control unit 74 perform the contents of their respective first warnings as described above.

[0073] Meanwhile, in step S6, the determination unit 72 issues a second warning if a person is detected in the long-range area (if the detected person is located within the second area corresponding to the long-range area in the imaging data). Then, the control unit 7 proceeds to step S8.

[0074] In step S8, the alarm control unit 73 and the vehicle control unit 74 perform the contents of their respective second warnings as described above.

[0075] Furthermore, in steps S7 and S8, when detecting a person in the area in front (when moving forward), the vehicle control unit 74 may apply the driving restrictions related to the first and second warnings described above only to forward movement and not to reverse movement, thereby allowing reverse movement without restriction. Similarly, when detecting a person in the area behind (when moving backward), the vehicle control unit 74 may apply the driving restrictions related to the first and second warnings described above only to reverse movement and not to forward movement, thereby allowing forward movement without restriction.

[0076] As described above, the warning includes a speed restriction and an audible and / or luminous alarm. In place of the above embodiment, the first warning for short-range detection and the second warning for long-range detection may both have the same speed restriction, but differ only in the audible and / or luminous alarm. As a more specific example, the speed restrictions of both the first and second warnings may both be speed restrictions that do not involve stopping the vehicle, but the alarm for the first warning may be the sounding of the buzzer 40 and the illumination of the red lamp 41, while the alarm for the second warning may be the illumination of the yellow lamp 41.

[0077] As described above, warning control based on the detection of people in the surrounding area while driving is realized. As is clear from the above, although this embodiment employs a diagonal arrangement, it has the advantage of being able to set the detection area based on the center of the mast device 2 / the center of the rear of the vehicle body 1 in substantially the same direction of travel as related technologies, and to realize two-stage detection of a short-range area and a long-range area (and moreover, it can be achieved while improving blind spots).

[0078] If a person is within the blind spots BA and BA', they will not be captured by the camera and therefore cannot be detected. For example, in related technology, if an operator starts a loading vehicle while the entire person is within the wide blind spot BA', the person may suddenly move out of the blind spot BA' and be detected close to the vehicle, causing the loading vehicle to stop based on the person detection function. This is unsafe. On the other hand, with a diagonal arrangement, the blind spot BA is narrow, so the possibility of this happening is low.

[0079] Instead of the above embodiment, person detection in a forward area and a rear area without distinguishing between a short-range area and a long-range area, and warning control based on said person detection may be implemented.

[0080] [Differentiation] Figure 10 shows a modified example of the camera arrangement of the present invention. As can be seen from Figure 10, the rear camera 30R may be positioned in the center of the upper rear part of the vehicle body 1 (center of the rear end of the roof 140), as is clear from its imaging range CR. In this case, the blind spot on the front camera 30F side (right side) is eliminated, and the blind spot BA that occurs on the opposite side (left side) is narrower than the blind spot BA' of the related technology, indicating an improvement.

[0081] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. [Explanation of Symbols]

[0082] 1. Vehicle body 12 Driver's seat 14 Headguard 140 Roof 141RL, 141RR Rear Pillar 2. Mast Equipment 21L, 21R Fixed Mast 22 Upper beam 22a Outer part of the upper beam 3. Imaging means 30F Front Camera 30R Rear Camera 4 Alarm device 5. Traveling device 6. Means for detecting the direction of travel 7 Control Unit 70 Image Processing Unit 71 Area setting section 72 Decision Section 73 Alarm Control Unit 74 Vehicle Control Unit BA blind spot FR Front Camera Imaging Range Image range of the CR rear camera

Claims

1. It is a cargo handling vehicle, A drivable vehicle body with a driver's seat, A mast device is provided at the front of the vehicle body, An imaging means for detecting people by imaging the area around the cargo handling vehicle and acquiring imaging data, An image processing unit that performs processing to detect a person on the aforementioned imaging data, The system includes a determination unit that determines whether to output a warning based on the detection result from the image processing unit, The imaging means consists only of a front camera and a rear camera. The front camera is positioned on one side of the mast device such that its imaging range includes at least one of the left or right sides of the cargo handling vehicle and the area in front of the cargo handling vehicle. The rear camera is positioned at the rear of the vehicle body such that its imaging range includes at least the left or right side of the cargo handling vehicle, and the rear of the cargo handling vehicle. Material handling vehicle.

2. The aforementioned rear camera is located on the other side of the rear of the vehicle body, A cargo handling vehicle according to claim 1.

3. The aforementioned vehicle body is equipped with a head guard, The head guard comprises, at least, The roof covers the aforementioned driver's seat from above, It comprises two rear pillars that are spaced apart from each other in the left-right direction and support the roof, The rear camera is mounted on the other end of the rear end of the roof, or on the upper part of the rear pillar on the other side. The cargo handling vehicle according to claim 2.

4. The aforementioned mast device is Two fixed masts are spaced apart from each other in the left-right direction, The two fixed masts are provided with an upper beam connecting them at the top of the two fixed masts, The front camera is mounted on a portion of the upper beam that is located outside the fixed mast on one side of the upper beam. A cargo handling vehicle according to claim 1.

5. The aforementioned mast device is It is equipped with two fixed masts spaced apart from each other in the left-right direction, The front camera is mounted on the outer surface of the fixed mast on one side. A cargo handling vehicle according to claim 1.

6. The front camera and the rear camera are hemispherical cameras, respectively. A cargo handling vehicle according to claim 1.

7. An alarm device that emits sound and / or light, The system further comprises an alarm control unit that causes the alarm device to output sound and / or light when the determination unit determines to output a warning, A cargo handling vehicle according to claim 1.

8. A traveling device for moving the aforementioned vehicle body, The system further includes a vehicle control unit that restricts the movement of the vehicle body when the decision unit determines that it should output a warning. A cargo handling vehicle according to claim 1.

9. The aforementioned material handling vehicle is a forklift. A cargo handling vehicle according to claim 1.

10. A means for detecting whether the vehicle body is moving forward or backward, The system further includes a region setting unit that, when the vehicle is moving forward, sets a region of the image data corresponding to a predetermined forward area relative to the cargo handling vehicle as a region of interest, and when the vehicle is moving backward, sets a region of the image data corresponding to a predetermined rear area relative to the cargo handling vehicle as a region of interest. The image processing unit is configured to perform processing to detect a person in the set region of interest, The region setting unit is configured to set the region of interest in both the image data of the front camera and the image data of the rear camera when the vehicle body is moving forward. A cargo handling vehicle according to any one of claims 1 to 9.

11. The region setting unit is further configured to set the region of interest in both the image data of the front camera and the image data of the rear camera when the vehicle is moving in reverse. A cargo handling vehicle according to claim 10.

12. The aforementioned forward area is an area based on the center of the mast device, The aforementioned rear area is an area based on the center of the rear part of the vehicle body. A cargo handling vehicle according to claim 10.

13. The aforementioned region of interest consists of a first region and a second region that does not overlap with the first region. The aforementioned determination unit, It is decided that a first warning will be output when a person is detected in the first region in the aforementioned imaging data. The system is configured to output a second warning, different from the first warning, when a person is detected in the second region in the aforementioned imaging data. The first region when the vehicle body is moving forward corresponds to the area in the short distance from the center of the mast device. The second region during the forward movement of the vehicle body corresponds to the area far from the center of the mast device. The cargo handling vehicle according to claim 12.

14. The first region when the vehicle body is moving in reverse is a region that corresponds to an area close to the center of the rear of the vehicle body. The second region during the reverse movement of the vehicle body is a region corresponding to an area far from the center of the rear of the vehicle body. A cargo handling vehicle according to claim 13.

15. The first warning includes stopping the vehicle from moving, The second warning includes a speed limit that does not involve stopping the vehicle from moving. A cargo handling vehicle according to claim 13.

16. The first and second warnings both include a speed limit that does not involve stopping the vehicle, but include different types of audible and / or visual warnings. A cargo handling vehicle according to claim 13.

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