Inattentive driving prevention system

Abstract

To detect when a driver is looking away even when operating a forklift other than traveling. [Solution] The inattentive driving prevention system S includes an imaging unit 12, a gaze estimation unit 24, an operation detection unit 22, and an inattentive driving determination unit 28. The imaging unit 12 captures an image of the driver's head to generate 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 detects the driver's forklift operation. Next, the inattentive driving determination unit 28 determines whether the driver is looking aside based on the estimated driver's gaze direction and the detected forklift operation.

Description

[Technical Field]

[0001] The present invention relates to a forklift driver's inattentive driving prevention system. [Background technology]

[0002] During work using a forklift, loads may fall due to various reasons, such as the driver being distracted.

[0003] As a system for preventing a vehicle driver from looking aside, for example, Patent Document 1 discloses an inattentiveness detection device. This device includes a face direction detection means, a first determination means, a gaze direction detection means, and a second determination means. This device detects the face direction of a person (driver) using the face direction detection means, and detects the direction of the person's gaze using the gaze direction detection means. This device first determines whether the person is looking aside based on the face direction of the person using the first determination means. If it determines that the person is not looking aside, it determines whether the person is looking aside based on the direction of the person's gaze using the second determination means. This improves the accuracy of inattentiveness detection. This device also determines whether the driver is looking aside based on the speed of the vehicle being driven. Furthermore, this device can stop the vehicle's engine if it detects inattentiveness.

[0004] However, forklifts not only operate to travel but also to raise and lower the forks, and a load can fall if the driver is not looking at the road. The inattentiveness detection device disclosed in Patent Document 1 does not take into consideration the detection of inattentiveness when the forks are being raised and lowered. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-15549 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, an object of the present invention is to provide an inattentive driver prevention system that can detect inattentive driving by a driver even when the driver is operating a forklift other than when the forklift is being driven. [Means for solving the problem]

[0007] In order to solve the above problems, the inattentive driving prevention system according to the present invention comprises: an imaging unit that captures an image of 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 an operation of the forklift by a driver; The vehicle is provided with an inattentiveness determining unit that determines whether the driver is looking away or not based on the estimated direction of the driver's line of sight and the detected operation of the forklift.

[0008] The inattentiveness prevention system preferably includes: The forklift operations detected by the operation detection unit include the lifting and lowering of the forks. The inattentiveness determining 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 while the driver is operating the forks to raise or lower them.

[0009] The inattentiveness prevention system preferably includes: The device further includes a position detector that detects the position of the fork.

[0010] The inattentiveness prevention system preferably includes: Further, a load detection unit is provided for detecting whether or not a load is loaded on the fork. The forklift operations detected by the operation detection unit include the lifting and lowering of the forks. The inattentiveness determining unit determines whether the driver is looking away or not based on whether the driver's line of sight is directed in the direction of the load loaded on the forks when the load is loaded and the driver is operating the forks to lift or lower.

[0011] The inattentiveness prevention system preferably includes: The inattentiveness determination unit determines that the driver is looking at both the fork and the load or either one of them and is not inattentive driving if the driver's line of sight is directed forward and the direction of the line of sight is within a predetermined angle in the horizontal direction from the center of the driver's seat.

[0012] The inattentiveness prevention system preferably includes: Further provided is a position detection unit for detecting the position of the load, The forklift operations detected by the operation detection unit include the lifting and lowering of the forks. The inattentiveness determining unit determines whether the driver is looking aside based on whether the driver's line of sight is directed toward the load loaded on the forks while the driver is operating the forks to lift or lower them.

[0013] The inattentiveness prevention system preferably includes: The inattentive driving determination unit determines that the driver is looking aside only when the driver is looking aside for a period of time equal to or longer than the inattentive driving allowable time.

[0014] The inattentiveness prevention system preferably includes: The allowable time for looking away varies depending on the operation of the forklift.

[0015] The inattentiveness prevention system preferably includes: The forklift operations detected by the operation detection unit include the lifting and lowering of the forks. The vehicle further includes a speed change unit that slows down or stops the lifting and lowering of the forks when it is determined that the driver is looking away during the lifting and lowering operation of the forks.

[0016] The inattentiveness prevention system preferably includes: The forklift operations detected by the operation detection unit include both or either of a traveling operation and a turning operation, The forklift truck further includes a speed change unit that slows down or stops the forklift when it is determined that the driver is looking away while the forklift is traveling or turning.

[0017] The inattentiveness prevention system preferably includes: The forklift operations detected by the operation detection unit include both or either of a traveling operation and a turning operation, and a fork lifting and lowering operation, When the forklift is loaded with a load while the forklift is being operated to lift and lower and traveling or turning at the same time, the inattentiveness determining unit determines whether the driver is looking aside or not based on whether the driver's line of sight is directed toward the load or not.

[0018] The inattentiveness prevention system preferably includes: a position detection unit that detects the position of the fork; A slide unit that slides the position of the fork left and right, The forklift operations detected by the operation detection unit include fork sliding operations, The inattentiveness determining 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 while the driver is operating the forks to slide.

[0019] The inattentiveness prevention system preferably includes: The device further includes a notification unit that notifies the driver of inattentive driving when it is determined that the driver is inattentive.

[0020] The inattentiveness prevention system preferably includes: The device further includes a notification unit that notifies a predetermined location of inattentive driving when it is determined that the driver is looking aside.

[0021] In order to solve the above problem, a forklift according to the present invention includes any one of the above-described inattentive driving prevention systems.

[0022] In order to solve the above problems, the inattentive driving prevention program according to the present invention includes: A forklift driver's inattentive driving prevention program includes a photographing unit that photographs the driver's head and generates a head image, an operation detecting unit that detects the operation of the forklift by the driver, and a computer, On the computer, a gaze estimation unit that estimates the direction of the driver's gaze based on the head image; The device is operated as an inattentiveness determining unit that determines whether the driver is looking away or not based on the estimated direction of the driver's line of sight and the detected operation of the forklift. [Effects of the Invention]

[0023] The inattentive driving prevention system according to the present invention can detect the driver's inattentive driving even when the forklift is being operated in an operation other than traveling. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a side view of a forklift according to an embodiment of the present invention. [Figure 2] FIG. 2 is a rear view of the forklift shown in FIG. 1. [Figure 3] FIG. 1 is a block diagram of a driver's inattentive driving prevention system. [Figure 4] FIG. 10 is a diagram illustrating an example of a line-of-sight estimation unit. [Figure 5] FIG. 2 is a flow chart showing the operation of the inattentive driving prevention system. [Figure 6] FIG. 10 is a top view showing a driver's seat of a forklift for explaining a modified example of the inattentive driving prevention system. DETAILED DESCRIPTION OF THE INVENTION

[0025] An embodiment of the inattentive driving prevention system and a forklift equipped with the inattentive driving prevention system of the present invention will be described below with reference to the accompanying drawings. In the drawings, the X axis indicates the front-to-rear direction, the Y axis indicates the left-to-right direction, and the Z axis indicates the up-to-down direction. The forklift F in this embodiment is a battery-powered counter-load forklift, but this is merely an example, and the forklift in the present invention is not limited to this.

[0026] <Forklift configuration> Fig. 1 is a side view showing a forklift F equipped with the inattentive driver prevention system S of this embodiment, and Fig. 2 is a rear view showing the forklift F of this embodiment. Fig. 3 is a block diagram of the inattentive driver prevention system S. As shown in Figs. 1 and 2, the forklift F is equipped with a plurality of wheels 2, a vehicle 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 operation unit 9, a drive unit 10, a photographing unit 12, and a speaker 14.

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

[0028] The left and right masts 4 are each disposed in front of the vehicle body 3 and are configured to be extendable and retractable up and down. The left and right forks 5 and the backrest 6 are connected to the masts 4 and are configured to move up and down along the masts 4.

[0029] A plurality of (four) pillars 7 extend upward from the vehicle body 3, and a head guard 8 is disposed above the vehicle body 3 and supported by the pillars 7.

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

[0031] The drive unit 10 is made up of drive parts such as a motor and is connected to either the front or rear wheels 2. The drive unit 10 drives the connected wheels 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 made up of drive parts including the engine.

[0032] In this embodiment, the photographing unit 12 is configured with one camera. However, this is merely an example, and the photographing unit 12 may be configured with, for example, multiple cameras. The photographing unit 12 is arranged on the right front pillar 7 and is configured to be able to photograph the head of the driver H. In this embodiment, the photographing unit 12 is configured to be able to photograph the eyes of the driver H who is seated. However, the location where the photographing unit 12 is arranged is also merely an example, and the location where the photographing unit 12 is arranged is not limited to this. The photographing unit 12 photographs the head of the driver H and generates a head image HG.

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

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

[0035] The lifting unit 16 has a lift cylinder that extends and retracts using hydraulic oil. The lifting unit 16 is connected to the mast 4, and extends and retracts the mast 4 by extending and retracting the lift cylinder.

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

[0037] The control unit 20 is configured by a computer arranged inside the vehicle body 3. The control unit 20 has an arithmetic unit, a storage device, and a memory. The storage device stores a program for preventing inattentive driving that causes the computer to function as a line of sight estimation unit 24, an inattentive driving determination unit 28, and a speed change unit 30, which will be described later.

[0038] <Functional configuration of the inattentive driving prevention system> Next, a description will be given of the functional configuration of the inattentive driving prevention system S. As shown in Fig. 3, the control unit 20 has an operation detection unit 22, a line of sight estimation unit 24, a position detection unit 26, an inattentive driving 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 of the driver H using the operation unit 9 (hereinafter referred to as "forklift operation"). The forklift operation includes, for example, a forward operation, a reverse operation, a turning operation, an operation to raise the forks 5, and an operation to lower the forks 5.

[0040] The gaze estimation unit 24 estimates the gaze direction of the driver H (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 the head image HG is input, for example, by performing supervised learning in advance using teacher data in which a plurality of head images HG are input data and the gaze direction is output data. In this supervised learning, it is preferable to use head images HG of a driver H wearing a helmet. It is also preferable that in this supervised learning, the head images HG include an image 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 that the gaze estimation unit 24 performs supervised learning using the head image HG that does not include the eyes as supervised data in supervised learning so that the gaze direction L can be estimated based on the head image HG that does not include the eyes.

[0042] Furthermore, for example, the imaging unit 12 may generate a head image HG including the upper half of the driver H's body so that the gaze direction L can be appropriately estimated based on the head image HG that does not include the eyes. In this case, the gaze estimation unit 24 performs supervised learning using the head image HG including the upper half of the driver H as training data to estimate the gaze of the driver H. Note that the supervised learning may be performed while generating multiple trained models. The multiple trained models may include, for example, a first trained model trained by machine learning to output skeletal information (information on the orientation and shape of the skeleton) from the head image HG including the upper half of the body, and a second trained model trained by machine learning to output the gaze direction L from the skeletal information of multiple drivers H.

[0043] The gaze estimation unit 24 may perform machine learning in advance using teacher data, for example, with input data including forklift operation information OD indicating which operation the driver H is performing and a head image HG, and output data including the gaze direction L. This allows the gaze estimation unit 24 to estimate the gaze of the driver H for each operation. As a result, the accuracy of estimating the gaze of the driver H from the head image HG, which does not include the eyes of the driver H, is improved. The operations may include, for example, forward operation, reverse operation, turning operation, raising and lowering operation of the forks 5 when a load W is loaded, raising and lowering operation of the forks 5 when no load W is loaded, and sliding operation for sliding the forks 5 left and right. Unlike with a normal passenger vehicle, when operating a forklift, the driver H may change his or her driving posture to check the direction of travel and the direction of the load W in order to confirm the status of the load W. Therefore, the gaze estimation unit 24 can appropriately estimate the gaze direction L according to the operating situation through the above machine learning.

[0044] 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 estimates the gaze of the driver H from the skeletal information and the forklift operation information OD using the second trained model 241. This allows the gaze estimation unit 24 to appropriately estimate the gaze direction L even when the eyes of the driver H are not included in the head image HG.

[0045] The position detection unit 26 is configured to detect the positions of the forks 5. The position detection unit 26 detects the positions of the forks 5 using a known fork height position detection method such as that described in Japanese Patent Application Laid-Open No. 2006-335520. However, the method by which the position detection unit 26 detects the positions of the forks 5 is not particularly limited. The forklift F also includes a device necessary for the position detection unit 26 to detect the positions of the forks 5.

[0046] The inattentiveness determining unit 28 determines whether the driver H is inattentive or not based on the estimated line of sight L, the detected forklift operation, and the traveling direction or the position of the forks 5.

[0047] For example, when the forklift is being operated in a forward, reverse, or turning manner, the inattentiveness determination unit 28 determines that the driver H is looking aside if the line of sight L is not in the direction of travel. However, even if the line of sight L is not in the direction of travel during a forward, reverse, or turning operation, the inattentiveness determination unit 28 determines that the driver H is not looking aside if the inattentiveness determination unit 28 determines that the driver H is not looking aside for a period of time that is less than the inattentiveness allowable time. This is because, for example, when there are obstacles or people on the left or right of the direction of travel, when traveling on a narrow road, or when approaching an intersection or T-junction, there are times (moments) when the driver H intentionally does not face the direction of travel in order to check in a direction other than the direction of travel. The inattentiveness allowable time during a forward, reverse, or turning operation may be set, for example, between 0 and 5 seconds. The inattentiveness allowable time may also be set for each intersection, T-junction, or passageway of a predetermined width. Whether the forklift F is located at an intersection, T-junction, or passageway of a predetermined width can be determined using a known position detection method.

[0048] Furthermore, when the forklift operation involves lifting or lowering the forks 5, the inattentiveness determination unit 28 determines that the driver H is looking aside if the line of sight L is not in the direction of the forks 5. However, even if the line of sight L during the lifting or lowering operation of the forks 5 is not in the direction of the forks 5, the inattentiveness determination unit 28 still determines that the driver H is not looking aside if the time is less than the permissible inattentiveness time. This is because, during the lifting or 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 permissible inattentiveness time during the lifting or lowering operation of the forks 5 may be set, for example, between 0 and 2 seconds. Furthermore, this permissible inattentiveness time may be set differently for each of the lowering and the raising operation.

[0049] When the inattentiveness determination unit 28 determines that the driver H is looking away, the speed change unit 30 controls the drive unit 10 to decelerate the traveling speed of the forklift F when traveling or turning, and controls the lifting unit 16 to decelerate the raising and lowering speed of the forks 5 when raising and lowering the forks 5. For example, the speed change unit 30 reduces the maximum speed when traveling to between 0 km and 3 km per hour, and reduces the maximum speed when raising and lowering to between 0 and 150 mm per second. Note that the specific speeds to which the speed change unit 30 reduces the speed are not particularly limited.

[0050] When the inattentiveness determination unit 28 determines that the driver H is looking away and the speed change unit 30 controls the traveling speed to be reduced to 0 km / h, the stopping unit 32 controls the brake 18 to stop the traveling of the forklift F.

[0051] When it is determined that the driver H is looking aside, the notification unit 34 notifies and warns the driver H of the looking aside through the speaker 14. The content of the notification may be changed depending on each forklift operation.

[0052] <Flow of the inattentiveness prevention system> Next, the operation of the inattentive driving prevention system S will be explained again with reference to FIG.

[0053] (1) The inattentive driving prevention system S detects the forklift operation by the driver H (see S (step) 1 in Figure 5).

[0054] (2) The inattentive driving prevention system S detects the position and direction of the fork 5 (see S2 in FIG. 5).

[0055] (3) Furthermore, the inattentive driving prevention system S generates a head image HG by the photographing unit 12, and estimates the line of sight L of the driver H based on the head image HG (see S3 in FIG. 5).

[0056] (4) Next, the inattentive driving prevention system S determines whether the driver H is looking aside using the inattentive driving determination unit 28 (see S4 in FIG. 5).

[0057] (5) When the inattentive driving prevention system S determines that the driver H is looking away (Yes in S5 of FIG. 5), the notification unit 34 notifies and warns the driver H that he is looking away (see S6 of FIG. 5). On the other hand, when the inattentive driving prevention system S determines that the driver H is not looking away (No in S5 of FIG. 5), it neither notifies nor slows down.

[0058] (6) Furthermore, if the inattentive driving prevention system S determines that the driver H is looking away (Yes in S5 of FIG. 5), it further slows down or stops the lifting / lowering speed and traveling speed based on the forklift operation.

[0059] With the above configuration and operation, the inattentive driving prevention system S can properly detect not only inattentive driving while traveling, but also inattentive driving while operating a lift. Furthermore, during a lift operation, unlike during traveling, if the line of sight L is not directed toward the forks 5 or the load W, it is determined that the driver H is looking away.

[0060] Furthermore, when the inattentive driving prevention system S determines that the driver H is looking away, it not only issues an alert and a warning, but also slows down or stops the lifting and lowering of the forks 5, thereby preventing the load W from falling.

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

[0062] <Modification> The photographing unit 12 may further include a camera disposed on the back of the backrest 6. This allows the photographing unit 12 to use this camera to photograph the head of the driver H as seen from the backrest 6 and generate a head image HG, thereby enabling the generation of a head image HG that follows changes in the position of the forks 5 and makes it easy to check whether the driver H is looking in the direction of the forks 5 (the direction of the backrest 6).

[0063] The photographing unit 12 may have, for example, a camera capable of photographing the surroundings of the forklift F. In this case, the camera may have, for example, a fisheye lens to photograph the surroundings with a wide angle of view, or may be composed of multiple cameras. The photographing unit 12 is configured to be able 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 machine-learned to detect the positions of the forks 5 and the load W by referring to the images generated by this camera. Furthermore, the gaze estimation unit 24 may be configured to estimate whether the driver H is looking in the direction of travel of the forklift F, in the direction of the forks 5, or in the direction of the load W, based on the head image HG generated by this camera.

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

[0065] The position detection unit 26 may be configured to detect whether the forklift F is carrying a load W and, when the forklift F is carrying a load W, to detect the position of the load W. In this case, the inattentive driving prevention system S may further include a camera that captures an image of 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 inattentive driving prevention system S may determine that the driver H is looking away if the forklift F is carrying a load W and the line of sight L is not toward the load W when the forks 5 are being raised or lowered. This prevents the inattentive driving prevention system S from, for example, failing to notice that the load W is swinging or that the load W is about to collide with something because the driver H is only looking toward the forks 5. Note that whether the driver is looking at the load W may be determined, for example, by whether the driver is looking at the top or center of the load W. In this case, the position detection unit 26 is configured to detect the top or center of the load W.

[0066] The forklift F may further include a sliding unit that slides the forks 5 in the left-right direction, and the inattentiveness determination unit 28 may determine that the driver H is looking away when the line of sight L is not in the direction of the forks 5 when the driver H operates the forks 5 to slide. 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 inattentiveness prevention system S may further include a camera that captures an image in 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. This allows the inattentiveness prevention system S to prevent inattentiveness when the forks 5 slide in the left-right direction.

[0067] For example, as shown in FIG. 6, if the estimated line of sight L is directed forward and is within a predetermined angle θ from the center of the driver's seat 19 in the horizontal direction, the inattentive driving determination unit 28 may determine that the driver H is looking at both the fork 5 and the load W, and may determine that the driver is not looking inattentively. In other words, in this case, the inattentive driving determination unit 28 does not include in its determination criteria whether the line of sight L is directed upward or downward. The predetermined angle θ may be, for example, an angle ranging from 5° to 30° to the left and right from the center of the driver's seat (i.e., an angle ranging from 10° to 60° for both the left and right angles). In this case, the inattentive driving prevention system S does not need to include the position detection unit 26.

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

[0069] The notification unit 34 may be configured to notify a predetermined party, such as the manager of the driver H or a system that manages the driver H, of the inattentiveness when it is determined that the driver H is looking away. In this case, the inattentiveness prevention system S may further include a communication device that makes this notification. This helps the inattentiveness prevention system S to manage the driver H so that he or she does not look away. The notification unit 34 may also determine whether or not to make this notification depending on the forklift operation. This makes it possible to operate the system such that, for example, looking away while driving the forklift is considered to be malicious inattentiveness and a special report is made to the manager. [Explanation of symbols]

[0070] S Inattentive driving prevention system F Forklift H Driver L View direction P Palette W load HG head image OD operation information 2 wheels 3. Body 4 Mast 5 forks 6 Backrest 7 Pillar 8 Head Guard 9 Control section 10 Drive unit 12 Photography Department 14 Speaker 16 Lifting section 18 Brakes 19 Driver's seat 20 Control Unit 22 Operation detection unit 24 Line of sight estimation part 240 First trained model 241 Second trained model 26 Position detection unit 28 Inattentiveness Judgment Department 30 Speed ​​change section 32 Stop part 34 Notification Department

Claims

1. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift, The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering a fork, The inattentiveness determination unit determines whether the driver is looking away based on whether the driver's line of sight is directed in the direction of the forks when the driver is operating the forks to raise or lower them. This is an inattentiveness prevention system.

2. The inattentive driving prevention system according to claim 1 , further comprising a position detection unit that detects the position of the fork.

3. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift; a load detection unit that detects whether a load is loaded on the fork, The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering the forks, The inattentiveness determination unit determines whether the driver is looking away based on whether the driver's line of sight is directed in the direction of the load loaded on the forks when the load is loaded and the driver is operating the forks to raise or lower. This is an inattentiveness prevention system.

4. 4. The inattentive driving prevention system according to claim 1, wherein the inattentive driving determination unit determines that the driver is looking at either or both of the fork and the load if the driver's line of sight is directed forward and the direction of the line of sight is within a predetermined angle horizontally from the center of the driver's seat.

5. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift; a position detection unit that detects the position of the load, The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering a fork, The inattentiveness determination unit determines whether the driver is looking away based on whether the driver's line of sight is directed in the direction of the load loaded on the forks while the driver is operating the forks to raise or lower them. This is an inattentiveness prevention system.

6. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift, The inattentive driving prevention system, wherein the inattentive driving determination unit determines that the driver is inattentive only when the driver is inattentive for a period of time equal to or longer than the inattentive driving allowable time.

7. The inattentive driving prevention system according to claim 6, wherein the allowable inattentive driving time is different for each operation of the forklift.

8. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; and an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift. The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering a fork, The inattentive driving prevention system further includes a speed change unit that slows down or stops the raising and lowering of the forks when it is determined that the driver is looking away while raising and lowering the forks.

9. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; and an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift. The operation of the forklift detected by the operation detection unit includes both or one of a traveling operation and a turning operation, The inattentive driving prevention system further includes a speed change unit that slows down or stops the driving of the forklift when it is determined that the driver is looking away while driving or turning the forklift.

10. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; and an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift. The forklift operations detected by the operation detection unit include both or either of a traveling operation and a turning operation, and a fork lifting and lowering operation, The inattentive driving prevention system is configured such that, when the forklift is being operated to raise or lower the forks and to travel or turn at the same time, if the forklift is loaded with a load, the inattentive driving judgment unit judges whether the driver is looking away based on whether the driver's line of sight is directed toward the load.

11. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift; a position detection unit that detects the position of the fork; a slide portion that slides the position of the fork left and right, The operation of the forklift detected by the operation detection unit includes a slide operation of the fork, The inattentive driving prevention system, wherein the inattentive driving determination unit determines whether the driver is looking away based on whether the driver's line of sight is directed in the direction of the fork while the driver is operating the fork to slide.

12. An imaging unit that captures an image of the driver's head and generates a head image; a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an operation detection unit that detects an operation of the forklift by the driver; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift; The inattentive driving prevention system includes a notification unit that notifies a predetermined location of inattentive driving when it is determined that the driver is inattentive.

13. A forklift equipped with the inattentive driver prevention system according to any one of claims 1 to 3 and 5 to 12.

14. 1. A forklift driver's inattentive driving prevention program, comprising: a photographing unit that photographs the driver's head and generates a head image; an operation detecting unit that detects the operation of the forklift by the driver; and a computer, The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering the forks, The anti-inattentive program The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; The inattentiveness prevention program is executed as an inattentiveness determination unit that determines whether the driver is looking away based on whether the driver's line of sight is directed in the direction of the fork when the driver is operating the fork to lift or lower.

15. A forklift driver's inattentive driving prevention program having a photographing unit that photographs the driver's head and generates a head image, an operation detecting unit that detects the operation of the forklift by the driver, and a computer, The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering the forks, The anti-inattentive program The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; The inattentiveness prevention program is executed as an inattentiveness determination unit that determines whether the driver is looking away based on whether the driver's line of sight is directed toward the load loaded on the forks when the driver is operating the forks to lift or lower.

16. A forklift driver's inattentive driving prevention program having a photographing unit that photographs the driver's head and generates a head image, an operation detecting unit that detects the operation of the forklift by the driver, and a computer, The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; The inattentiveness prevention program is executed as an inattentiveness determination unit that determines whether the driver is looking aside or not based on the estimated direction of the driver's line of sight and the detected operation of the forklift, and determines that the driver is looking aside only when the driver looks aside for more than an inattentiveness allowable time.

17. A forklift driver's inattentive driving prevention program having a photographing unit that photographs the driver's head and generates a head image, an operation detecting unit that detects the operation of the forklift by the driver, and a computer, The operation of the forklift detected by the operation detection unit includes an operation of raising and lowering a fork, The anti-inattentive program The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift; The inattentive driving prevention program is executed as a speed change unit that slows down or stops the raising and lowering of the forks when it is determined that the driver is looking away while the forks are being raised and lowered.

18. A forklift driver's inattentive driving prevention program having a photographing unit that photographs the driver's head and generates a head image, an operation detecting unit that detects the operation of the forklift by the driver, and a computer, The operation of the forklift detected by the operation detection unit includes both or one of a traveling operation and a turning operation, The anti-inattentive program The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; an inattentiveness determination unit that determines whether the driver is looking away based on the estimated direction of the driver's line of sight and the detected operation of the forklift; The inattentive driving prevention program is executed as a speed change unit that slows down or stops the driving of the forklift when it is determined that the driver is looking away while operating the forklift to travel or turn.

19. A forklift driver's inattentive driving prevention program having a photographing unit that photographs the driver's head and generates a head image, an operation detecting unit that detects the operation of the forklift by the driver, and a computer, The forklift operations detected by the operation detection unit include both or either of a traveling operation and a turning operation, and a fork lifting and lowering operation, The anti-inattentive program The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; When the forklift is loaded with a load while the fork lifting operation and the traveling operation or the turning operation are being performed simultaneously, the inattentiveness prevention program is executed as an inattentiveness determination unit that determines whether the driver is looking away or not based on whether the driver's line of sight is directed toward the load or not, if the forklift is loaded with a load while the fork lifting operation and the traveling operation or the turning operation are being performed simultaneously.

20. A forklift driver's inattentiveness prevention program for use in a forklift, the program comprising: a photographing unit that photographs the driver's head and generates a head image; an operation detecting unit that detects the operation of the forklift by the driver; a position detecting unit that detects the position of the fork; a sliding unit that slides the position of the fork left and right; and a computer, The operation of the forklift detected by the operation detection unit includes a slide operation of the fork, The anti-inattentive program The computer, a line-of-sight estimation unit that estimates a line-of-sight direction of the driver based on the head image; The inattentiveness prevention program is executed as an inattentiveness determination unit that determines whether the driver is looking away based on whether the driver's line of sight is directed in the direction of the fork when the driver is operating the fork to slide.

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