Recording devices and vehicle information processing devices, etc.

Abstract

To provide a video recorder capable of preventing an increase in cumulative time during which recording is not performed even in the case of repeating frequent start and stop of power supply to an electric system of a vehicle.SOLUTION: A video recorder is mounted on a vehicle for use. The video recorder detects a first state where a vehicle's electrical system has not been powered or the vehicle has stopped operating, and continues to be powered on even after detecting the first state.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to a recording device, a vehicle information processing device, and the like. [[Background Art]]

[0002] Recording devices such as drive recorders that are mounted on a vehicle and record the surroundings of the vehicle while it is traveling are known. Generally, this recording device receives power supply from the vehicle and performs recording during a period when a switch for starting and stopping power supply to the electric system of the vehicle (hereinafter referred to as a main switch) is turned on. When the main switch is turned off, the power supply from the vehicle to the recording device is stopped, and recording also stops. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2017-132298 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] In work vehicles such as forklifts, the main switch may be frequently switched on and off in accordance with the driver getting on and off the vehicle. In general recording devices, after the main switch of the vehicle is turned on and power supply is started, a delay time occurs before recording actually starts. Therefore, no recording is performed during the period from when the main switch is turned on until this delay time elapses. If the main switch is frequently switched on and off, the cumulative time of periods in which no recording is performed becomes long.

[0005] For example, when using a forklift for cargo handling, after loading cargo into the loading area, the driver needs to get out of the driver's seat to confirm that the cargo is properly loaded. When getting out of the driver's seat, it is recommended to turn off the forklift's main switch for safety reasons. With conventional recording devices, when the forklift's main switch is turned off and power to the recording device is cut off, recording also stops. For example, if the delay time between power supply starting and recording starting is about 10 seconds, and the operation involves repeatedly turning the main switch on for about 30 seconds, then turning the main switch off in between, then only about 20 seconds of the approximately 30 seconds when the main switch is on will be recorded.

[0006] A single vehicle may be equipped with multiple cameras, resulting in the recording of multiple video data sets from these cameras. While it is possible to play back these multiple video data sets in a time-synchronized manner using a playback device, managing and associating the multiple video files stored from the video data acquired by each camera is cumbersome.

[0007] An object of the present invention is to provide a recording device, etc., that can suppress the accumulation of unrecorded time even when the power supply to the vehicle's electrical system is frequently started and stopped. Another object of the present invention is to provide a vehicle information processing device, etc., that can easily handle video files containing video data acquired by multiple cameras.

[0008] The purpose of the present invention is not limited thereto, and the applicant intends to obtain rights through divisional applications, amendments, etc., for configurations that aim to obtain the effects derived from the components of the configuration disclosed in this specification and the drawings, etc. For example, problems that can be described as "can be achieved" in this specification are disclosed here by reinterpreting them as "the problem is...". Each problem is described independently, and the applicant intends to obtain rights to the configurations for solving these problems individually through divisional applications, amendments, etc. Even if a problem is implicitly understood from the description in the specification, the applicant intends to include a part of the configuration described in this specification in the claims through amendment or divisional application. Furthermore, problems that combine these independent problems are also disclosed. [Means for solving the problem]

[0009] (1) The recording device is installed and used in a vehicle and detects when a first state occurs, which is when no power is supplied to the vehicle's electrical system or when the vehicle has stopped operating, and continues to remain powered on even after detecting that the first state has occurred.

[0010] If the recording device is powered on at the same time that power is supplied to the vehicle's electrical system or the vehicle starts operating, the time elapsed before recording begins will be long because various preparatory processes, such as capacitor charging and data initialization, must be performed before recording can start. In contrast, with this recording device, the power remains on even after the vehicle enters the first state, so if a recording request is made during the period when the power is maintained, recording can start in a short time.

[0011] Examples of vehicles equipped with recording devices include forklifts, which are material handling vehicles equipped with liftable and tiltable forks on their body. Examples of forklifts equipped with recording devices include electric forklifts (battery forklifts), internal combustion engine forklifts, and internal combustion engine / electric combined forklifts. In internal combustion engine forklifts, the power required for vehicle movement, mast tilting, and fork lifting is supplied by the output of the internal combustion engine. The power from the battery installed in an internal combustion engine forklift is used for the starter motor for starting the internal combustion engine, sensors, the electronic control unit for the internal combustion engine, lighting, etc. In contrast, in electric forklifts, the power required for vehicle movement, mast tilting, and fork lifting is supplied by the output power from the battery installed in the forklift. For this reason, the capacity of the battery installed in an electric forklift is considerably larger than the capacity of the battery installed in an internal combustion engine forklift.

[0012] If the vehicle is an electric forklift, the vehicle's electrical system includes an electronic control unit, travel motor, various sensors, lighting fixtures, etc. The state in which power is not supplied to the vehicle's electrical system may include, for example, a state in which neither movement nor raising or lowering of the forks occurs even when the operating lever is operated. The state in which power is supplied to the vehicle's electrical system may include a state in which movement and raising / lowering of the forks can be performed by operating the operating lever.

[0013] If the vehicle is an internal combustion engine forklift, the vehicle's electrical system includes an electronic control unit, starter motor, various sensors, lighting fixtures, etc. A state where no power is supplied to the vehicle's electrical system may include, for example, a state where neither movement nor raising / lowering of the forks occurs even when the operating levers are operated, and the engine does not start. A state where power is supplied to the vehicle's electrical system may include a state where the starter motor can be activated and the engine can be started by operating the start key. With the engine running, movement and raising / lowering of the forks can be performed by operating the operating levers. A state where power is supplied to the vehicle's electrical system is equivalent to, for example, the state where the accessory switch on a normal engine-powered vehicle is turned on.

[0014] The state in which the vehicle is stopped may include, for example, a state in which neither the forks are being raised or lowered nor the vehicle is moving.

[0015] The recording device should be in a state where it receives power from the vehicle's battery and can start recording immediately if necessary, after the recording device has detected that the vehicle has entered the first state. A state in which recording can start immediately is, for example, when the process of temporarily storing video data acquired by the camera in the ring buffer has been executed, but the process of writing from the ring buffer to non-volatile memory such as a removable recording medium has not yet been executed. Alternatively, a state in which recording can start immediately is when the process of reading video data from the camera has been executed, but the process of writing to the ring buffer has not yet been executed.

[0016] It is preferable to continue recording during the period when the power is turned on after the recording device detects that the vehicle has entered the first state. This allows for recording of the cargo inspection work performed by the driver while the vehicle is in the first state after dismounting from the forklift. If an accident occurs during this inspection work, the video footage recorded during the inspection work will provide valuable information for identifying the cause of the accident. If the vehicle on which the recording device is installed is an electric forklift, the vehicle is equipped with a large-capacity battery. Therefore, even if power is supplied directly from the vehicle's battery during the period when the vehicle is in the first state, the impact on the power consumption of the vehicle's battery is small. In addition, in workplaces where electric forklifts are introduced, charging can be done on-site. Therefore, the process of continuing recording by receiving power from the vehicle's battery during the period when the vehicle is in the first state can be easily implemented, especially with electric forklifts. Accordingly, it is particularly preferable to install this recording device on an electric forklift and to receive power from the electric forklift's battery.

[0017] (2) The vehicle is equipped with a switching means that supplies power to the electrical system when turned on and stops supplying power to the electrical system when turned off, and the first state is a recording device in which the switching means of the vehicle is turned off.

[0018] Even in the first state where the vehicle's switching mechanism is turned off, as long as the power remains on, the delay time from the time a recording start request is made to the start of recording can be shortened compared to the period when the power is off. This switching mechanism is equivalent to, for example, the accessory switch (ACC switch) in a typical engine-powered vehicle.

[0019] The recording device should have a function that starts recording when it detects that the vehicle's switching mechanism has been turned on. If the switching mechanism is turned on while the power is continuously on, recording can start with a short delay. This reduces the period during which video data is missing.

[0020] When it is detected that the switching means has been turned off, it is preferable to maintain the power-on state and stop recording. This can prevent the storage area for recording video data from being consumed by low-importance video data.

[0021] (3) The recording apparatus may preferably be connected to a terminal that supplies power from the vehicle battery to the outside independently of the on / off state of said switching means.

[0022] Power can be supplied from the vehicle battery to the recording apparatus without mounting a large-capacity battery on the recording apparatus. A power source that can draw power from the vehicle battery independent of the on / off state of the switching means is generally referred to as a +B power source. In contrast, a power source that can only draw power when the switching means is turned on is called an accessory power source (ACC power source). The recording apparatus may preferably determine the on / off state of the switching means based on whether power is supplied from the ACC power source.

[0023] (4) The recording apparatus may preferably further comprise an acceleration sensor that detects acceleration occurring in the vehicle, and determines whether the vehicle is in a stopped state based on the measurement result of said acceleration sensor.

[0024] It is preferable to determine that the vehicle is in a stopped state when no acceleration is generated in the vehicle, that is, when only gravity and normal reaction force act on the vehicle. Even in such a state, by keeping the recording apparatus powered on, recording can be started immediately from the time when any impact applied to the vehicle is detected. This video data provides useful information for investigating the cause of the impact.

[0025] (5) Duration information specifying the period for which the power-on state is to be maintained after detecting that the first state has been entered is stored, and the recording apparatus may preferably cut off power after the period specified by said duration information has elapsed from the time when the entry into the first state is detected.

[0026] If a request for starting recording is received before the period specified by the duration information elapses, recording can be started with a short delay time. Further, after the period specified by the duration information elapses, power consumption can be suppressed by turning off the power.

[0027] The duration information is preferably stored in a removable recording medium mounted to the recording apparatus, and the recording apparatus preferably reads the duration information from the removable recording medium.

[0028] After the recording apparatus detects that the vehicle has entered a first state, the recording apparatus preferably continues recording until the period specified by the duration information elapses. Particularly in a case where sufficient storage capacity is secured in a medium that records moving image data, it is preferable to continue recording in this manner. Accordingly, moving image information useful for analyzing the cause of an accident or an abnormality that occurs after the vehicle has entered the first state can be retained.

[0029] The duration information is preferably specified by an elapsed time from a time point when detection that the first state has been entered is performed. Until a specified fixed time elapses after a driver turns off a main switch, a state in which recording can be immediately started or a state in which recording is continued can be maintained.

[0030] Alternatively, the duration information is preferably specified by a time at which a power-on state is ended. For example, as the duration information, an end time of working hours of a work site where a vehicle operates (for example, 7 p.m.) is preferably specified. In this case, during working hours, a state in which the recording apparatus can immediately start recording or a state in which recording is continued is maintained. The recording apparatus is preferably equipped with a clock that indicates a current time. Power for this clock is preferably supplied from a +B power source of the vehicle or a built-in battery.

[0031] The recording device should have a function to specify the start time for the period during which it will remain powered on. The recording device should also have a function to automatically power on at the specified start time. In this case, when the driver turns on the main switch after the specified start time, recording can begin immediately with a short delay. This start time should be set to the start time of working hours at the workplace where the vehicle operates (for example, 8:00 AM).

[0032] The recording device should have a function that allows it to continue recording from the moment it detects the first state until the first duration has elapsed, then stop recording and maintain the power on until the second duration, which is longer than the first duration, has elapsed, and then cut off the power when the second duration has elapsed. This would allow for the retention of video data that is likely to contain highly important information immediately after the vehicle enters the first state. By stopping recording when the second duration has elapsed, the storage space for video data can be saved.

[0033] The recording device should have a function to automatically turn off its power between the end time specified in the duration information and the start time the following day. In this case, the clock for the current time should still be running.

[0034] (6) The recording device should have power consumption during the period when the power remains on after detecting that the first state has been reached is less than the power consumption during recording.

[0035] Power consumption can be reduced during periods when the power is continuously on. For example, power consumption can be reduced by having a function that reads video data from the camera but does not write to the ring buffer. Alternatively, power consumption can be reduced by having a function that reads video data from the camera and writes to the ring buffer, but does not record the video data to non-volatile memory such as a removable recording medium.

[0036] (7) Furthermore, the recording device has a function to detect whether or not the driver is seated in the driver's seat of the vehicle, records while the driver is seated in the driver's seat, stops recording when it is detected that the driver is not seated, and continues to remain powered on.

[0037] Recording stops when it is detected that the driver is not seated, but since the power remains on, recording can start with a short delay when a request to start recording is received. Whether or not the driver is seated can be determined by analyzing the images acquired by the camera that films the driver's seat.

[0038] When recording stops upon detection that the driver is not seated, the recording device should ideally have a function that continues recording for a certain period of time from the moment the driver's absence is detected, and then stops recording after that period has elapsed. In this way, the recorded images can be used to investigate the cause of accidents or incidents that occurred within a certain period of time after the driver left the driver's seat.

[0039] The recording device should have a function to continue recording until a certain period of time has elapsed after detecting that the driver is not seated, and then stop recording once that period has elapsed. Alternatively, it should have a function to stop recording if the distance from the vehicle to the driver exceeds a certain threshold. The recording device should also have a function to resume recording or continue recording once it detects that the driver is seated.

[0040] The recording device should include a camera that films the area around the vehicle. A downward-facing hemispherical camera is suitable for this purpose. If the vehicle is a forklift, the camera's field of view should include the area used to verify whether the cargo has been loaded correctly during loading operations. Furthermore, a camera should be installed to film the rear of the vehicle. This allows for the determination of whether the driver or other individuals are behind the vehicle.

[0041] The criteria for determining whether to continue powering on the device should include the distance from the vehicle to the driver. Alternatively, the criteria should include whether or not a person has been detected near the vehicle. The recording device should have a function to continue recording if a driver or other person is detected near the vehicle. The video data acquired at this time will be useful information for investigating the cause of an accident if an accident occurs involving a person near the vehicle. As a criterion for determining whether or not a person is near the vehicle, it is advisable to store a threshold value for the distance from the vehicle to the person in the recording device.

[0042] (8) The vehicle is used in a workplace where multiple reference marks are installed. The recording device may further have a function to analyze the image in which the aforementioned reference mark is visible and to determine the speed of the vehicle.

[0043] Since the vehicle speed can be determined from the information acquired by the recording device, the vehicle speed can be determined without installing a dedicated sensor or other device to detect the vehicle speed. To determine the vehicle speed, a stereo camera can be used to photograph a reference mark, the distance to the reference mark can be measured from the obtained image, and the vehicle speed can be determined from the change in distance over time. It is possible to determine whether a common reference mark is captured in the images taken by two cameras mounted on the vehicle, and if a common reference mark is captured, the distance can be calculated from the two images acquired by the two cameras. For example, a hemispherical camera installed in front of the driver's seat and a wide-angle camera that captures the area behind the driver's seat can be used as the two cameras.

[0044] It is best to determine the distance to a reference mark from the size of the image of the reference mark whose size is known. The vehicle speed can then be determined from the change in this distance over time. As a reference mark, it is best to use a shape such as a circle or a sphere, where the reference length does not change regardless of the viewing direction as long as the distance is constant. Lighting fixtures installed on the ceiling of a warehouse can be used as a reference mark. Multiple lighting fixtures can be installed at equal intervals, and the interval between the lighting fixtures can be used as the reference length.

[0045] Alternatively, the vehicle's position can be determined using a GPS receiver mounted on the vehicle, and the vehicle speed can be calculated from the change in this position over time. To determine the vehicle speed, a Doppler sensor can be mounted on the vehicle. Alternatively, a sensor that detects the rotation speed of the tires can be mounted. A light-based distance measuring device called LIDAR can be mounted on the vehicle. When mounting LIDAR on the vehicle, a map of the work area in which the vehicle operates can be created by scanning with a laser beam for distance measurement.

[0046] (9) Furthermore, the recording device may be equipped with a function to photograph the floor or ground around the vehicle, and a function to detect the optical flow of the photographed floor or ground and determine the speed of the vehicle based on the detection result.

[0047] The relative velocity of a vehicle with respect to the floor or ground can be determined. Not only can the translational motion of the vehicle be calculated, but the rotational velocity during rotational motion can also be determined. For example, if the distance from the camera to the floor is known, and the optical flow (number of pixels moved in a given time) of the floor's feature points is known, the relative velocity of the camera with respect to the floor can be determined. It is recommended to place reference markers in a line and use these reference markers as feature points for the optical flow.

[0048] In particular, it is advisable to install a camera (e.g., a wide-angle camera) that films downwards from the ceiling of the forklift to capture the forklift's body, the driver, and the floor or ground surrounding the vehicle. As the forklift moves relative to the floor or ground, the direction and speed of movement can be determined from the optical flow of the floor or ground texture around the forklift (asphalt or concrete patterns, pebbles, tape, cardboard placed around it, etc.).

[0049] A forklift can move only by rotation while remaining in the same place without translational movement. For example, when a forklift rotates, an arc-shaped optical flow is obtained around the axis of rotation. The camera should be positioned so that the center of rotation during this rotational movement coincides with the center of the camera's image. If the center of the camera's image does not coincide with the center of rotation, it is advisable to have a function that effectively aligns the image center with the center of rotation through calibration. The same camera positioning is recommended when using a hemispherical camera. By positioning the camera in this way, the rotation of the forklift can be easily detected.

[0050] If the aspect ratio of the camera image is not 1:1, for example, when using a typical camera with a rectangular shooting area, it is best to position the camera so that the front-to-back direction of the forklift corresponds to the long side of the shooting area, and the left-to-right direction corresponds to the width of the shooting area.

[0051] For example, when moving forward and turning left, the velocity vector on the right side of the forklift will be greater than the velocity vector on the left side. It would be beneficial for the video data viewer to display the optical flow itself with arrows, etc., and also to have a function to display the speed numerically for each part of the vehicle, such as the left and right sides.

[0052] The optical flow of feature points on the floor or ground, and objects placed on the floor or ground, will be opposite to the direction of the forklift's movement. For example, the optical flow can be displayed using arrows that distinguish between a start and end point, with the start and end points being opposite to the direction of the optical flow. Displaying it in this way allows users to intuitively understand the direction of the forklift's movement by looking at the arrows displayed on the screen. In particular, it is good to display the starting points of the arrows at the points where the edges of the forklift's body intersect in a plan view. For example, if the forklift's body is displayed as a roughly rectangular shape, the four vertices of the rectangle can be used as the starting points of the arrows.

[0053] Since the area where the inside of the forklift is captured in the image will also capture people, steering wheels, control levers, etc., it would be beneficial for the viewer to have a function to detect the optical flow of people's movements. The viewer should also have a function to recognize the movement of people, etc., separately from the optical flow of the forklift itself. For example, it would be beneficial to be able to distinguish and recognize arrows indicating the movement of people and arrows indicating the movement of the forklift. For example, it would be beneficial to represent the movement of people with green arrows and the movement of the forklift with blue arrows. The optical flow of people's movements can be used, for example, to determine the normality of the operation, whether or not they are turning their heads to point and call out, etc.

[0054] The recording device should ideally have a function to calculate the average speed of the forklift by integrating the optical flow data.

[0055] When moving objects such as people or automated guided vehicles (AGVs) are present around a forklift, partial optical flow will occur within the video footage. It would be beneficial to have a function to exclude such partially occurring optical flow from the calculation of speed. In other words, optical flow that occurs only in a portion of the forklift's surroundings should be treated as not being caused by the forklift's movement when calculating the vehicle speed.

[0056] When playing a video in the viewer, it would be beneficial to distinguish optical flow that occurs only in a portion of the image from optical flow caused by the movement of the forklift. For example, arrows indicating optical flow that occurs only in a portion of the image and arrows indicating optical flow caused by the movement of the forklift could be displayed in different colors. This would make it easier to recognize the movement of a person moving near the forklift. For example, the movement of the forklift could be displayed with a blue arrow, and optical flow that occurs only in a portion of the image around the forklift could be displayed with a red arrow to represent the movement of a person moving around the forklift.

[0057] The video viewer can be implemented as a PC application program or a smartphone application program. Alternatively, a display device can be installed on the recording device mounted on the forklift, and this recording device can be equipped with viewer functionality. Furthermore, it is advisable to include a function that uses optical flow to provide warnings for abnormal forklift movement, abnormal operation or driver behavior, and dangerous situations such as the presence of people around the forklift. Abnormal forklift movement can be detected by checking whether the magnitude of the translational speed or rotational speed, determined from the optical flow corresponding to the forklift movement, is abnormal. Abnormal operation or driver behavior can be detected by determining, for example, whether the driver is following driving rules such as performing pointing and calling.

[0058] The area surrounding the forklift can be divided into two zones: a nearby zone (Zone 1) where people or other objects do not normally enter during operation, and a slightly more distant zone (the area further than Zone 1 within the surrounding area) where people or other objects may enter. The optical flow within Zone 1 should be used as the basis for calculating the forklift's movement speed.

[0059] (10) The vehicle is a forklift equipped with a mast with a variable tilt angle and forks that move up and down along the mast, The recording device may include a marker camera mounted to photograph multiple markers on the mast, and further includes a function to analyze the images of the multiple markers to determine the tilt angle of the mast.

[0060] If the forks are not horizontal when transferring cargo, it can lead to accidents such as cargo falling off. The position of the forks changes by changing the tilt angle of the mast, to which the forks are mounted so that they can be raised and lowered. In this recording device, it is possible to determine whether the position of the forks is normal by determining the tilt angle of the mast. By attaching multiple markers to the mast and detecting the position of the markers in the image, information about the tilt angle of the mast can be easily obtained. The operator can safely transfer cargo by confirming that the tilt angle of the mast is perpendicular to the horizontal plane, that is, that the forks are horizontal. Since the camera is mounted on the vehicle body rather than on movable parts such as the mast or forks, damage to the camera during operation can be suppressed.

[0061] It would be beneficial to attach markers to the forks and have a recording device that can determine the fork's lifting and lowering speed from the optical flow of the markers attached to the forks. The marker camera should be mounted in a position that allows it to photograph the mast from the side. For example, the marker camera that photographs the left mast should be mounted on the right-side support column of the vehicle.

[0062] (11) A main unit including an electronic circuit board, a housing for housing the electronic circuit board, and a lid for closing the opening of the housing, Camera and, A first cable electrically connects the camera and the main unit. A recording device having the following features would be preferable.

[0063] The main unit can be mounted in a location different from the camera's mounting location. Conversely, the camera can be mounted in a desired location depending on the shooting range, without being restricted by the main unit's mounting location.

[0064] (12) The housing is provided with an opening for media, The aforementioned main unit is A media mounting section for mounting a removable recording medium through the aforementioned media opening, A waterproof cover with a waterproof structure that seals the media opening, A security cover having a structure that seals the media opening on the outside of the waterproof cover and can be opened and closed using a corresponding specific tool, A recording device having the following features would be preferable.

[0065] This method ensures waterproofing of the media opening and provides the excellent benefit of making removable storage media less susceptible to theft. For example, an SD card is suitable as the removable storage media. "Specific tools" refers to tools other than common Phillips or flathead screwdrivers. For example, the security cover can be secured with Torx screws, and a Torx screwdriver can be used as the specific tool.

[0066] For a waterproof cover, a gasket made of an elastic material such as rubber may be used. For example, a circumferential groove may be formed on the inner surface of the media opening, and the waterproof cover may be attached by fitting the outer circumference of the waterproof cover into this groove.

[0067] A security cover can be secured to the casing by providing an elongated hole in the cover, passing a special screw such as a Torx screw through the hole, and then sliding the cover along the longitudinal direction of the hole to close the media opening and tightening the screw. By loosening the special screw and sliding the security cover, it is possible to allow the security cover to rotate freely around the location of the special screw. With the security cover rotated and the media opening open, removable recording media can be inserted and removed. Since the media opening can be opened simply by loosening the special screw, the security cover can be prevented from falling off.

[0068] The option of whether or not to install a security cover should be left to the user. When using the recording device in an environment where security is not a concern, the user can choose not to use the security cover.

[0069] A suitable security cover would be made by bending a flat plate into an L-shape. The flat plate portion on one side of the bend would cover the media opening, and the other flat plate portion would be screwed and secured to a surface perpendicular to the surface of the enclosure where the media opening is located. Depending on where the main unit is attached to the forklift, access to the surface where the media opening is located may be difficult. In such cases, the security cover can be easily secured by accessing the surface perpendicular to the surface where the media opening is located.

[0070] When the waterproof cover is attached to the media opening, it is preferable to provide a convex handle on the waterproof cover that protrudes outward from the opening surface of the media opening. It is preferable to provide an opening in the security cover and allow this handle to protrude outward through the opening in the security cover. It is preferable to configure the waterproof cover and the security cover so that they do not easily separate due to the elasticity of the waterproof cover. Even when the screws that secure the security cover are removed, the security cover is supported by the housing via the waterproof cover, so the detachment of the security cover can be suppressed.

[0071] The removable recording medium should be inserted into the housing to a depth where it can be pushed in with the pad of your thumb. For example, when the removable recording medium is inserted into the media opening, it should protrude about 0.4 mm from the opening surface of the media opening, and the installation should be completed by pushing the removable recording medium in with the pad of your thumb.

[0072] (13) A recording device in which a driven component driven by the electronic circuit board is attached to the lid, a second cable electrically connects the electronic circuit board and the driven component, a string connects the housing and the lid, and the second cable is kept loose when the lid is moved away from the housing until the string is taut.

[0073] Even when the lid is removed and moved away from the housing, the second cable is not subjected to excessive tension, thus suppressing damage such as breakage of the second cable. The driven component is, for example, a speaker. When there is no space to mount the speaker in the housing, it is advisable to mount the speaker in the lid. Also, generally, the housing is mounted on the vehicle body in a position where the lid faces a wide space so that the lid can be easily removed. When the speaker is mounted in the lid, the speaker faces a wide space, ensuring good sound radiation characteristics.

[0074] A clamp for cables should be provided on the lid. One end of a relatively thick cable should be secured with this clamp, and the other end should be connected to the enclosure. The speaker and the thick cable should then be connected with a relatively thin cable. If the thick cable has sufficient mechanical strength, the string may be omitted. In this case, the thick cable serves to provide an electrical connection between the speaker and the enclosure circuit, as well as to prevent the lid from falling off.

[0075] (14) The main unit includes a partition member that separates a space for housing the electronic circuit board from a space for housing a battery that powers the clock on the electronic circuit board, and the electronic circuit board is equipped with a battery connector that connects to the battery, and when the lid is open, the electronic circuit board is located behind the partition member and the space for housing the battery is located in front of the partition member, in a recording device.

[0076] This design allows for easy battery replacement while maintaining limited access to the electronic circuit board. Normally, electronic circuit boards are kept inaccessible to users. Therefore, if the battery is directly fixed to the circuit board, users cannot replace it. When the battery is depleted and needs replacing, users must contact maintenance personnel or bring the main unit to the device's maintenance department. In this recording device, users can replace the battery themselves while maintaining limited access to the electronic circuit board. This improves user convenience.

[0077] For example, even if a user opens the cover that seals the opening of the enclosure, a partition should be used to prevent the user from seeing any part of the electronic circuit board other than the battery connector.

[0078] It is advisable to provide a recess in the partition member for housing the battery, and to house the battery in the recess. It is also advisable to adopt a structure in which multiple electronic circuit boards are stacked, mounting relatively tall components on the relatively lower boards and only relatively short components on the top board. With this configuration, it is possible to adopt an arrangement that reduces the height difference between the bottom of the battery recess and the surface of the top board on which the battery connector is mounted. By adopting this arrangement, it is possible to make it easier for the user to access the battery connector compared to an arrangement where the battery connector is located in a deep position.

[0079] Furthermore, it would be beneficial to incorporate a fuse into the electronic circuit board and adopt a structure that allows the user to access the fuse mounting area. For example, a hole could be drilled in the inner case of the fuse mounting area, allowing the fuse to be replaced using a thin-tipped tool such as needle-nose pliers.

[0080] (15) The housing is provided with an opening for cables and a spare hole for a waterproof structure, The aforementioned enclosure is provided with multiple connectors for connecting cables. The recording device is configured such that the tube is attached to the housing so that the space inside and outside the housing is connected through the cable opening and the space inside the tube, the attachment point of the tube is waterproof, and some of the cables connected to the connectors are pulled out from inside the housing to the outside through the cable opening and the space inside the tube.

[0081] Cables can be inserted into the enclosure through the cable opening and the space inside the tube, and then connected to the connector. The number of cables to be connected varies depending on whether or not various optional functions of the recording device are used. If the number of cables to be connected increases, cables can be routed through the spare holes. A configuration that allows cables to be routed from two locations on the enclosure has the effect of making it easier to route cables inside the enclosure. Since the spare holes are waterproof, the waterproofness of the enclosure can be maintained even when cables are not routed through the spare holes.

[0082] It is advisable to use waterproof knockout holes as spare holes. Alternatively, it is advisable to use openings and waterproof gaskets to seal them as spare holes. When using high-strength materials for the housing that make it difficult to create knockout holes, it is effective to make the spare holes consist of an opening and a gasket.

[0083] The tube is preferably made of an elastic material such as silicone. By tightening the tube with a cord, cable tie, etc., with the cable passed through it, water ingress into the housing can be suppressed. If the cross-sectional area of ​​the tube is large, it becomes more difficult to suppress water ingress. If there are two cable exit points from the housing and two tubes are used, the cross-sectional area of ​​each tube can be made smaller. Therefore, even if the number of cables increases, it does not become more difficult to suppress water ingress.

[0084] If there are only a few cables, it is best to keep the spare holes sealed rather than opened. This will help maintain sufficient waterproofing.

[0085] It is preferable to separate the wireless LAN module from the main unit and connect the main unit and the wireless LAN module with a cable. If the wireless LAN module is housed in the main unit, the main unit and the wireless LAN antenna must be connected with an antenna cable. Using a thin antenna cable will increase signal attenuation, and to suppress this attenuation, an expensive antenna cable must be used. The main unit and the LAN module can be connected with a less expensive cable such as a USB cable, thus reducing costs.

[0086] It is a good idea to write the name of the cable to be connected near each of the multiple connectors inside the enclosure. For example, you can attach a sticker with the name written on it near the connector. This will allow the user to easily identify which connector to connect the cable to.

[0087] (16) The recording device may be provided with a camera that has both a clamping mechanism for clamping the first cable and a hole for securing the first cable with a cable tie.

[0088] The thickness of the first cable connecting the camera and the main unit varies depending on the model of the forklift on which it is mounted. If a thin cable is used as the first cable, it is best to clamp the first cable with the clamping mechanism. If the first cable is too thick to be clamped with the clamping mechanism, it is best to secure the first cable with a cable tie using the hole for the cable tie.

[0089] The clamping mechanism is preferably formed from resin integrally molded with the housing, and the first cable is clamped by elastically deforming the resin. When securing the first cable with a cable tie, the resin clamping mechanism can be cut off and removed from the housing.

[0090] (17) A function to acquire multiple video files of videos taken by multiple cameras mounted on the vehicle, A function to specify the start and end points from which to extract video clips, This function extracts video clips from multiple video files from a specified start to end point, synchronizes the extracted clips along a timeline, and creates and saves a single video file that can be viewed simultaneously. A vehicle information processing device equipped with the following features would be preferable.

[0091] Without having to perform the cumbersome procedure of synchronizing and playing multiple video files in time, it is possible to view virtually the same content as if multiple video files were being played by simply playing a single video file. It would be beneficial if the vehicle information processing device had a function to specify the start and end points for extracting video clips while playing one of the multiple video files. This would allow for easy setting of the start and end points for the single video file to be generated. For example, a single video file combining multiple video files would be convenient for use in educational settings.

[0092] Multiple video files, and a single combined video file, should ideally be in the format of an AVI file. These video files should also be compressed video-based files. The combined video file should display the video from multiple files within a single screen. For example, it could be in picture-in-picture, side-by-side, or matrix formats.

[0093] Since recording creates multiple video files, you can freely decide how to combine them into a single video file. For example, you can display particularly important footage larger on the screen and less important footage smaller. You can decide which video files are important when creating the single video file.

[0094] (18) A function to specify a portion of an image from a video file consisting of circular images obtained by shooting with a 360-degree camera, A function that expands a specified area and generates a video file consisting of rectangular images. It would be preferable to have a vehicle information processing device that further includes the following features.

[0095] Video files consisting of rectangular images can be played using general video playback programs. It would be beneficial to have a function that allows users to specify the area to be expanded into a regular rectangular image while playing a video acquired with a 360-degree camera. For example, during playback of a video file acquired with a 360-degree camera, it would be good to have a function that allows users to specify the area currently displayed on the screen as the area to be expanded into a rectangular image. It would also be good to have a function to save the video file consisting of rectangular images as an AVI file.

[0096] If a vehicle is equipped with multiple cameras, one of which is a 360-degree camera, it is desirable to have a function that generates a single video file using the function described in (17) above, based on a video file consisting of rectangular images generated by unfolding a portion of the images in the video file acquired by the 360-degree camera, and video files acquired by the other cameras.

[0097] (19) A function to create a map of the workplace based on information acquired at the workplace where the vehicle is operating, A function to detect when a situation equivalent to a near-miss occurs with respect to a vehicle operating in the aforementioned workplace, A function to create a near-miss map that associates the aforementioned map with the location where the near-miss incident occurred. It would be preferable to have a vehicle information processing device that further includes the following features.

[0098] Near-miss maps provide valuable information for reducing accidents in the workplace. For map creation, technologies such as LiDAR can be used. Near-miss incidents can be detected using measurement results from acceleration sensors, gyroscopes, etc., mounted on vehicles. Alternatively, video information acquired by cameras mounted on vehicles can be analyzed to detect near-miss incidents.

[0099] Location information for near-miss incidents can be obtained, for example, from a GPS receiver installed in the vehicle. The location on the near-miss map should be associated with latitude and longitude information.

[0100] (20) A function to acquire time information of when the switching means is turned on from a vehicle equipped with a switching means that supplies power to the electrical system when turned on and stops the supply of power to the electrical system when turned off, The vehicle information processing device may further include a function that issues an alarm based on the cumulative time that the switching means has been turned on.

[0101] If the vehicle is an electric forklift, the remaining battery life can be predicted from the cumulative time the switching mechanism is turned on. Users can predict when the battery needs replacing based on the alarms issued. Furthermore, users can benefit from the ability to manage multiple electric forklifts under their control using a single vehicle information collection device.

[0102] The time information regarding when the switching mechanism is turned on should be obtained from the in-vehicle equipment via a removable recording medium (e.g., an SD card). The in-vehicle equipment should have a function to record the time when the switching mechanism is turned on and off, as well as vehicle identification information (vehicle ID), on the removable recording medium. In addition, the in-vehicle equipment and the vehicle information processing device should be equipped with a data communication function via wireless LAN, so that the vehicle information processing device can obtain the time information regarding when the switching mechanism is turned on from the in-vehicle equipment via wireless LAN.

[0103] The alarm should ideally be triggered when the cumulative time exceeds a predetermined percentage (50%, 80%, 90%, etc.) of the vehicle battery's operating life. Alternatively, the alarm could be triggered every certain period of time, for example, every 1000 hours.

[0104] (21) A function to acquire vehicle information from multiple types of vehicles, A function that displays different vehicle information on the display device depending on the type of vehicle. It would be preferable to have a vehicle information processing device that further includes the following features.

[0105] Information can be collected from different types of vehicles, such as automobiles and forklifts, into a common vehicle information processing device, and information appropriate to the type of vehicle can be displayed. For example, for automobiles, it would be good to display GPS information (date and time information, location information, speed information, etc.), acceleration information acquired by an acceleration sensor, turn signal operation information, speed pulse information, etc. For forklifts, it would be good to display GPS information, acceleration information acquired by an acceleration sensor, angular velocity information acquired by a gyro sensor, etc.

[0106] The vehicle type should be recorded by the in-vehicle equipment on a removable recording medium, and read from the removable recording medium by the vehicle information processing unit.

[0107] (22) The vehicle information processing device may further include a function to read the firmware version from a removable recording medium attached to an in-vehicle device installed in the vehicle, on which the firmware version of the in-vehicle device is recorded, and, if a newer version of the firmware exists, to store the newer version of the firmware on the removable recording medium.

[0108] Users can obtain new firmware versions without having to determine whether a new version of the in-vehicle device's firmware has been released. The in-vehicle device should have a function to read the firmware version stored on the installed removable storage medium and, if a newer version of firmware than the current one is stored on the removable storage medium, read the firmware from the removable storage medium and update the firmware. Having this function in the in-vehicle device would save users the trouble of updating the firmware and allow them to always operate the device with the latest firmware version. The in-vehicle device should also have a function to erase the firmware from the removable storage medium after reading it.

[0109] In-vehicle devices should have a function that prevents firmware updates if a removable storage medium containing firmware for a different model is installed. Conversely, they should also have a function that updates the firmware if a removable storage medium previously installed in an in-vehicle device from a different vehicle is newly installed, provided the in-vehicle device model is the same.

[0110] It is preferable to provide a program that causes a computer to execute the functions of the vehicle information processing device described in (17) to (22) above.

[0111] The inventions described in (1) to (22) above are intended to be protected as separate components. In particular, invention (11) should be a component that does not include the other components, such as (1). The inventions described in (1) to (22) can be combined in any way. For example, a component may be created by adding at least part of the components of at least one of the inventions (2) to (16) to all or part of the components of invention (1). In particular, an invention may be created by adding at least part of the components of at least one of the inventions (2) to (16) to the invention shown in (1). Also, for example, a component may be created by adding the components described in other sections to the component described in (11). Also, for example, a component may be created by adding at least part of the components of at least one of the inventions (18) to (22) to all or part of the components of invention (17). In particular, an invention may be created by adding at least part of the components of at least one of the inventions (18) to (22) to the invention shown in (17). Furthermore, any configuration may be extracted from the inventions described in (1) to (22), and the extracted configurations may be combined. The applicant of this application intends to obtain rights to inventions that include these configurations. [Effects of the Invention]

[0112] Since the power remains on even after the vehicle enters the first state, if the recording device is powered on at the same time that power is supplied to the vehicle's electrical system or the vehicle starts operating, the time elapsed before recording begins will be long due to the need for various preparatory processes, such as capacitor charging and data initialization. In contrast, with this recording device, if a recording request is received during the period when the power is maintained on, recording can begin in a short time.

[0113] The effects of the present invention are not limited thereto, and the effects produced by the components of the structure disclosed in this specification and the drawings are also disclosed. The present invention intends to obtain rights to the components that produce such effects through divisional applications, amendments, etc. For example, the phrases "can do..." in this specification are descriptions that specify the effects produced, and there are components that produce effects even without such descriptions. Furthermore, there are effects that can be grasped by the component even without such descriptions. [Brief explanation of the drawing]

[0114] [Figure 1] Figure 1A is a schematic side view of an electric forklift, which is an example of a vehicle equipped with a recording device according to the first embodiment, and Figure 1B is a block diagram of the recording device according to the first embodiment. [Figure 2] Figures 2A to 2C are the top view, front view, and bottom view, respectively, of the recording device according to the first embodiment, when a relatively thick cable is connected to the camera. [Figure 3] Figures 3A to 3D are the left side view, front view, right side view, and rear view, respectively, of the recording device according to the first embodiment, when a relatively thick cable is connected to the camera. [Figure 4] Figures 4A to 4C are the top view, front view, and bottom view, respectively, of the recording device according to the first embodiment, where a relatively thin cable is connected to the camera. [Figure 5] Figures 5A to 5D are the left side view, front view, right side view, and rear view, respectively, of the recording device according to the first embodiment, when a relatively thin cable is connected to the camera. [Figure 6] Figures 6A to 6F are the top view, left side view, front view, right side view, bottom view, and rear view, respectively, of the GPS receiver of the recording device according to the first embodiment. [Figure 7] Figures 7A to 7E are the top view, left side view, front view, right side view, bottom view, and rear view, respectively, of the main unit of the recording device according to the first embodiment. [Figure 8]Figure 8 is a front view of the main unit with the cover (Figure 7C) removed. [Figure 9] Figure 9A is a perspective view of the main unit with the cover (Figure 7C) removed, and Figure 9B is a perspective view of the main unit with the cables connected to the connector and the cover (Figure 7C) removed. [Figure 10] Figures 10A and 10B are perspective views of the main unit with the media opening closed and open. [Figure 11] Figures 11A and 11B are perspective views of the main unit in a modified state with the media opening closed. [Figure 12] Figure 12 is a perspective view of the main unit with the cover removed from the casing. [Figure 13] Figure 13A is a perspective view of the connection between the housing and the string, and Figure 13B is a perspective view of the connection between the lid and the string. [Figure 14] Figure 14A is a front view of the reference mark installed in the workshop, and Figure 14B is a floor plan of the workshop. [Figure 15] Figure 15 is a schematic diagram showing an example of an image captured by a camera. [Figure 16] Figure 16A is a schematic side view of the forklift, and Figure 16B shows the relative positional relationship between the marker and the marker camera. [Figure 17] Figure 17 is a block diagram of a vehicle information processing device according to the second embodiment. [Modes for carrying out the invention]

[0115] [First Embodiment] A recording device according to the first embodiment will be described with reference to Figures 1A to 12. Figure 1A is a schematic side view of an electric forklift, which is an example of a vehicle equipped with a recording device according to the first embodiment. A mast 21 is attached to the front of the forklift 20, and the forks 22 are raised and lowered along the mast 21 by the operator's control. The mast 21 can also be tilted forward and backward by the operator's control.

[0116] The forklift 20 is equipped with a steering wheel 25, a main switch 26, an operating lever 27, and pedals 28. The recording device mounted on the forklift includes a main unit 41, a camera 42, a GPS receiver 43, an acceleration sensor 44, a gyro sensor 45, and a wireless LAN module 46. The main unit 41 and the camera 42 are mounted, for example, on the head guard 23 of the forklift 20. The GPS receiver 43, acceleration sensor 44, gyro sensor 45, and wireless LAN module 46 are mounted, for example, on the support column 24 of the head guard 23.

[0117] Figure 1B is a block diagram of a recording device 40 according to the first embodiment. The main unit 41 includes a processing unit 61, a storage unit 62, an SD card reader 63, and a speaker 64. The storage unit 62 stores computer programs for the processing unit 61 to realize various functions. The processing unit 61 includes a microcomputer and realizes various functions by executing the programs stored in the storage unit 62.

[0118] When the main switch 26 of the forklift 20 is turned on, power is supplied to the electrical system of the forklift 20, such as the electronic control unit, travel motor, various sensors, and lighting fixtures. With power supplied to the vehicle's electrical system, the driver can operate the operating lever 27 and pedal 28 to move the forklift and raise and lower the forks 22. Furthermore, DC power is supplied to the recording device 40 from the switch-linked power terminal 30.

[0119] Conversely, when the main switch 26 is turned off, no power is supplied to the electrical system of the forklift 20, and for example, operating the control lever 27 or pedal 28 will not cause the forklift to move or raise / lower the forks 22. No DC power is supplied to the recording device 40 from the switch-linked power terminal 30. However, DC power is constantly supplied to the recording device 40 from the battery of the forklift 20 via the +B terminal 29, regardless of whether the main switch 26 is on or off.

[0120] The processing unit 61 has the function of continuously recording video captured by the camera 42 onto an SD card inserted in the SD card reader 63. Furthermore, if it determines, based on the measurement results of the acceleration sensor 44 and the gyro sensor 45, that some kind of impact has been applied to the forklift 20 (an event has occurred), it has the function of recording video for a predetermined period including the time the impact occurred, separately from the continuous recording.

[0121] The processing unit 61 also has an internal real-time clock and corrects the time of the real-time clock based on the current time information obtained from the GPS receiver 43. It also has a function to record the current location information obtained from the GPS receiver 43 along with the video onto the SD card. The wireless LAN module 46 communicates data with the management center server via wireless LAN.

[0122] The processing unit 61 detects that the main switch 26 has been turned off and the power supply from the switch-linked power terminal 30 has stopped. Even after detecting that the power supply from the switch-linked power terminal 30 has stopped, the recording device 40 continues to receive power from the +B terminal 29 and remains powered on until a predetermined time has elapsed. This predetermined time is specified by the duration information stored on the SD card.

[0123] When the main switch 26 is turned off and the power is on, the processing unit 61 reads image data from the camera 42 and writes the read image data to the ring buffer in the processing unit 61, but does not record it to the SD card (does not record). Therefore, the power consumption of the recording device 40 during the period when the power of the recording device 40 remains on after the main switch 26 is turned off is less than the power consumption during recording.

[0124] When the recording device 40 detects that the main switch 26 of the forklift 20 has been turned on by the start of power supply from the switch-linked power terminal 30, it starts recording image data to the SD card.

[0125] Next, we will describe the excellent effects of the first embodiment. When the main switch 26 is turned off, the power to the recording device 40 is also turned off, and when the main switch 26 is turned on, the power to the recording device 40 is turned on. In this case, when recording starts when the main switch 26 is turned on, various preparatory processes, such as charging the capacitor and initializing the data, are performed, which increases the time it takes for recording to start. In contrast, in the first embodiment, even after the main switch 26 of the forklift 20 is turned off, the power to the recording device 40 remains on and image data is written to the ring buffer. Therefore, if a recording request is made during this period, for example, when the main switch 26 is turned on, recording to the SD card can start immediately after a short elapsed time. This reduces the period during which video data is missing.

[0126] In the first embodiment, since the vehicle on which the recording device 40 is installed is an electric forklift, the forklift 20 is equipped with a large-capacity battery. Therefore, even if power is supplied directly from the battery of the forklift 20 via the +B terminal 29 during the period when the main switch 26 is off, the impact on the power consumption of the battery installed in the forklift 20 is small. Furthermore, in workplaces where electric forklifts are introduced, charging can be performed on-site. Accordingly, the process of continuing recording by receiving power from the battery installed in the forklift 20 during the period when the main switch 26 is off can be easily implemented, especially in electric forklifts.

[0127] In the first embodiment, the wireless LAN module 46 and the main unit 41 are connected by a USB cable. When the wireless LAN module is housed in the main unit, the main unit and the wireless LAN antenna must be connected by an antenna cable. If the antenna cable is made thinner, the attenuation will increase, and to suppress the attenuation, an expensive antenna cable must be used. In contrast, in the first embodiment, the wireless LAN module 46 is separate from the main unit 41, and the two are connected by a USB cable, which is cheaper than an antenna cable, thus reducing costs.

[0128] Next, a modified example of the first embodiment will be described regarding the functions described above. In the first embodiment, recording to the SD card is stopped during the period when the recording device 40 is powered on after the main switch 26 of the forklift 20 is turned off. However, in this modified example, recording to the SD card continues. This allows, for example, the driver to turn off the main switch 26 and get off the forklift 20 to record the cargo inspection work. If an accident occurs during this inspection work, the video footage recorded during the inspection work will provide useful information for identifying the cause of the accident.

[0129] In contrast, in the first embodiment, recording stops when it is detected that the main switch 26 has been turned off, thus preventing the storage space on the SD card from being consumed by low-priority video data when the main switch is off. Whether or not to stop recording should be determined by the need for the video after the main switch 26 is turned off and the recording capacity of the SD card.

[0130] The recording device 40 according to the first embodiment has a function to keep the power on even when the main switch 26 is turned off. In addition, the processing unit 61 has a function to detect when the forklift 20 has stopped operating, and it would be preferable for the recording device 40 to keep the power on even when the forklift 20 has stopped operating. The state in which the forklift 20 has stopped operating may include, for example, a state in which neither the raising or lowering of the forks 22 nor the movement of the vehicle is being performed. The processing unit 61 would be preferable to have a function to determine whether or not the forklift 20 has stopped operating based on the measurement results of the acceleration sensor 44.

[0131] It is appropriate to determine that the forklift 20 is stationary when no acceleration is occurring in the forklift 20, that is, when only gravity and normal force are acting on the vehicle. Even in this state, by keeping the power of the recording device 40 on, recording can be started immediately from the moment any impact on the forklift 20 is detected. This video data provides useful information for investigating the cause of the impact.

[0132] In the first embodiment, the recording device 40 is mounted on an electric forklift (battery forklift), but it may also be mounted on an internal combustion engine forklift, an internal combustion engine combined electric forklift, etc. In an internal combustion engine forklift, the power required for vehicle movement, mast tilting, and fork lifting is supplied by the output of the internal combustion engine.

[0133] If the forklift 20 is an internal combustion engine type forklift, its electrical system includes an electronic control unit, starter motor, various sensors, lighting fixtures, etc. When the main switch 26 of the forklift 20 is off, for example, operating the control lever will not cause the forklift to move or raise / lower its forks, nor will it start the engine. When the main switch 26 is on, the starter motor can be operated by operating the start key, and the engine can be started. Once the engine is running, the forklift can move and raise / lower its forks by operating the control lever. The state of the main switch 26 being on is equivalent to, for example, the state of the accessory switch being on in a normal engine-powered automobile.

[0134] The battery power installed in an internal combustion engine forklift is used for the starter motor for starting the internal combustion engine, sensors, the electronic control unit for the internal combustion engine, lighting, etc. When a recording device 40 is installed in an internal combustion engine forklift, the capacity of the forklift 20's battery is insufficient to continuously supply power to the recording device 40 from the forklift 20's battery while the internal combustion engine is stopped. For this reason, it is advisable to install an auxiliary battery to supply power to the recording device 40.

[0135] In contrast, in an electric forklift, the power required for vehicle movement, the tilting motion of the mast 21, and the raising and lowering motion of the forks 22 is supplied by the power output from a battery mounted on the forklift. For this reason, the capacity of the battery mounted on an electric forklift is sufficiently larger than the capacity of the battery mounted on an internal combustion engine forklift. Therefore, when mounting the recording device according to the first embodiment on an electric forklift, there is no need to install an auxiliary battery other than the battery of the forklift 20.

[0136] In the first embodiment, after the main switch 26 of the forklift 20 is turned off and the recording device 40 is powered on, the process of temporarily storing the video data acquired by the camera 42 in the ring buffer of the processing unit 61 is executed, and the process of writing from the ring buffer to the SD card is not performed. However, for example, the process of reading the video data from the camera 42 may be executed, but the process of writing to the ring buffer may not be executed. This can further reduce power consumption.

[0137] The recording device 40 should have a function that continues recording from the moment the main switch 26 is turned off until a first duration has elapsed, and then stops recording for a second duration that is longer than the first duration, maintaining the power on state, and then turns off the power when the second duration has elapsed. This makes it possible to retain video data that is likely to contain highly important information immediately after the main switch 26 is turned off. By stopping recording when the second duration has elapsed, the storage space for video data can be saved.

[0138] In the first embodiment, the duration information is specified as the elapsed time from the moment the main switch 26 is turned off. Alternatively, the duration information may be specified as the time when the power-on state ends. For example, the duration information may be the end time of the workday at the workplace where the forklift 20 is operating (e.g., 7 PM). In this case, during workdays, the recording device 40 will be in a state where it can immediately start recording or will continue recording. The recording device 40 may obtain the current time information from a real-time clock. The power supply for this real-time clock may be supplied from the vehicle's +B power supply or from a built-in battery.

[0139] The recording device 40 should have a function to specify the start time for the period during which it remains powered on. The recording device 40 should also have a function to automatically switch on when the specified start time arrives. In this case, when the driver turns on the main switch 26 after the specified start time, recording can begin immediately with a short delay. This start time should be set to the start time of working hours at the workplace where the vehicle operates (for example, 8 a.m.).

[0140] The recording device 40 should have a function to turn off its power from the end time specified as the duration information until the start time of the following day. In this case as well, the real-time clock for the current time should be kept running.

[0141] In other variations, the processing unit 61 may have a function to detect whether or not a driver is seated in the driver's seat of the forklift 20, record while the driver is seated in the driver's seat, and stop recording when it is detected that the driver is not seated, while continuing to keep the recording device 40 powered on.

[0142] Recording stops when it is detected that the driver is not seated, but since the power remains on, recording can start with a short delay when a request to start recording is made. Whether or not the driver is seated can be determined by installing a camera that films the driver's seat and analyzing the images acquired by this camera.

[0143] The recording device 40 should have a function to continue recording until a certain period of time has elapsed after detecting that the driver is not seated, and to stop recording once that period of time has elapsed. Alternatively, it should have a function to stop recording when the distance from the forklift 20 to the driver exceeds a certain threshold. The recording device 40 should have a function to resume recording or continue recording when it detects that the driver is seated.

[0144] The recording device 40 may include a camera that films the area around the vehicle. A downward-facing hemispherical camera may be used for this camera. The camera's field of view should include the area used to verify whether the cargo has been loaded correctly during loading and unloading operations. Furthermore, a camera that films the rear of the vehicle may be provided. This allows for the determination of whether the driver or other persons are behind the vehicle.

[0145] The criteria for determining whether to continue powering on the recording device 40 should include the distance from the forklift 20 to the driver. Alternatively, the criteria should include whether or not a person has been detected near the forklift 20. The recording device 40 should have a function to continue recording if a driver or other person is detected near the forklift 20. The video data acquired at this time will be useful information for investigating the cause of an accident if an accident occurs involving a person near the forklift 20. As a criterion for determining whether or not a person is near the forklift 20, it is advisable to store a threshold value for the distance from the forklift 20 to the person in the recording device.

[0146] [Camera on recording device] Next, with reference to Figures 2A to 5D, the camera 42 of the recording device according to the first embodiment will be described.

[0147] Figures 2A to 2C show the top, front, and bottom views of camera 42, respectively, and Figures 3A to 3D show the left side, front, right side, and rear views of camera 42, respectively. Figures 2B and 3B are the same figure. Figures 4A to 4C show the top, front, and bottom views of camera 42, respectively, and Figures 5A to 5D show the left side, front, right side, and rear views of camera 42, respectively. Figures 4B and 5B are the same figure. Note that Figures 4A to 5D show a state in which a thinner cable is connected to camera 42 compared to the state shown in Figures 2A to 3D.

[0148] The camera 42 includes a camera case 70, a wide-angle lens 71, and a mounting member 72. The camera case 70 is provided with a clamping mechanism 73 (Figures 5A to 5C) and holes 74 for cable ties.

[0149] The camera 42 is attached to the forklift 20 by screwing the mounting member 72 to a component of the forklift 20. The camera case 70 is rotatable within an angular range around one axis of rotation relative to the mounting member 72 and can be fixed in any position within the rotatable angular range.

[0150] The thickness of the cable 75 connecting the camera 42 and the main unit 41 varies depending on the model of the forklift 20 on which it is mounted. When using a relatively thin cable 75 (Figures 4A to 5D), it is advisable to clamp the cable 75 with the clamping mechanism 73. If the cable 75 is too thick to be clamped with the clamping mechanism 73 (Figures 2A to 3D), it is advisable to secure the cable 75 with a cable tie using the cable tie hole 74.

[0151] The clamp mechanism 73 is preferably formed from resin integrally molded with the camera case 70, and is configured to clamp the cable 75 by elastically deforming the resin. When securing the cable 75 using a cable tie, the resin clamp mechanism 73 can be cut off and removed from the camera case 70.

[0152] Since the camera 42 and the main unit 41 are connected by a cable 75, the main unit 41 can be mounted in a location different from where the camera 42 is mounted. Conversely, the camera 42 can be mounted in a desired location depending on the range to be captured, without being restricted by the mounting location of the main unit 41.

[0153] [GPS receiver for recording device] Next, with reference to Figures 6A to 6F, the GPS receiver 43 of the recording device according to the first embodiment will be described.

[0154] Figures 6A to 6F are the top view, left side view, front view, right side view, bottom view, and rear view of the GPS receiver 43, respectively. The GPS receiver 43 has a thin, rectangular housing, and a cable for connecting to the main unit 41 is routed from one side of the housing.

[0155] [Main unit of the recording device] Next, the main unit 41 according to the first embodiment will be described with reference to Figures 7A to 12.

[0156] Figures 7A to 7F are the top view, left side view, front view, right side view, bottom view, and rear view of the main unit 41, respectively. The main unit 41 includes a housing 79 and a lid 80. In the front view (Figure 7C), the housing 79 has a depth dimension that is smaller than its height and width dimensions, and is open towards the front. The depth direction of the housing 79 is referred to as the height direction. The surface opposite the open portion is called the bottom surface, and the surfaces rising from the bottom surface are called sides. The lid 80 closes the open portion of the housing 79.

[0157] A media opening 81 for inserting an SD card is provided on one side of the housing 79 (the side shown in the top view of Figure 7A). Two cable openings 84 and 85 for cable routing are provided on the other side of the housing 79 (the side shown in the bottom view of Figure 7E). Tubes 82 and 83 are attached to the cable openings 84 and 85, respectively. The space inside the housing 79 is connected to the space inside the tubes 82 and 83 via the cable openings 84 and 85. The attachment points of the tubes 82 and 83 to the housing 79 are waterproof.

[0158] Cables are routed from inside the housing 79 to the outside through cable openings 84 and 85 and tubes 82 and 83. In the initial state, one end of one cable opening 85 is a waterproof knockout and is sealed. If there are few cables and it is possible to route them through only one cable opening 84, the other cable opening 85, which is a knockout, remains sealed and waterproof. If there are many cables and it is difficult to route all of them through only one cable opening 84, the knockout is opened and cables are routed through the other cable opening 85 as well.

[0159] The lid 80 is provided with a hole 99 for allowing sound from the speaker to pass through. This hole 99 is covered by a waterproof speaker, thus maintaining waterproofness.

[0160] Next, we will explain the excellent effects that can be obtained by adopting the structures shown in Figures 7A to 7F.

[0161] Cables can be inserted into the housing 79 through the cable openings 84 and 85 and the internal space of tubes 82 and 83, and connected to the connectors. The number of cables to be connected varies depending on whether or not the various optional functions of the recording device 40 are used. If the number of cables to be connected increases, knock holes can be opened to pull the cables out. By configuring the housing 79 to allow cables to be pulled out from two locations, the effect of making it easier to route the cables inside the housing 79 is obtained. Since the knock holes are waterproof, the waterproofness of the housing can be maintained even when the knock holes are not opened.

[0162] Tubes 82 and 83 are preferably made of an elastic material such as silicone. By tightening the tubes with a cord, cable tie, etc., with the cable passed through them, water ingress into the housing 79 can be suppressed. If the cross-sectional area of ​​tubes 82 and 83 is large, it becomes more difficult to suppress water ingress. If there are two cable exit points from the housing 79 and two tubes 82 and 83 are arranged, the cross-section of each tube 82 and 83 can be made smaller. Therefore, even if the number of cables is large, it does not become more difficult to suppress water ingress. If the number of cables is small, it is best to keep the knock holes sealed without opening them. This allows sufficient waterproofing to be maintained.

[0163] Instead of using a waterproof knockout hole as a pre-hole, it is preferable to use an opening and a waterproof gasket to seal the opening. When using a high-strength material for the housing 79 that makes it difficult to create a knockout hole, it is effective to make the pre-hole a structure consisting of an opening and a gasket.

[0164] Figure 8 is a front view of the main unit 41 with the cover 80 (Figure 7C) removed. Figure 9A is a perspective view of the main unit 41 with the cover 80 (Figure 7C) removed, and Figure 9B is a perspective view of the main unit 41 with cables connected to the connector and the cover 80 (Figure 7C) removed.

[0165] A partition member 86 is positioned inside the housing 79. The partition member 86 divides the space inside the main unit 41 into a space for housing the electronic circuit board and a space for housing the battery that powers the clock on the electronic circuit board. With the lid 80 (Figure 7C) open, the electronic circuit board is positioned behind the partition member 86, and the space for housing the battery 88 is positioned in front of the partition member. A battery connector 87 is mounted on the electronic circuit board. With the lid 80 (Figure 7C) that covers the opening of the housing 79 removed, the partition member 86 prevents the user from seeing any part of the electronic circuit board other than the battery connector 87.

[0166] The partition member 86 is provided with a recess for housing the battery 88, and the battery 88 is housed in this recess. The battery 88 is connected to the battery connector 87.

[0167] The partition member 86 further divides the space within the main unit 41 into a side space 89 to which tubes 82 and 83 are attached, and a space 90 on the opposite side. The electronic circuit board is located in space 90. The partition member 86 includes a partition wall that separates one space 89 from the other space 90, and a number of connectors 91 are attached to this partition wall. A number of cables 92 are introduced into space 89 through the space within tubes 82 and 83, and through cable openings 84 and 85, and connected to these connectors 91.

[0168] Next, we will explain the excellent effects obtained by adopting the structure of the main unit 41 shown in Figures 8 to 9B.

[0169] By adopting the structure of the main unit 41 shown in Figures 8 to 9B, the battery 88 can be easily replaced while maintaining a state where access to the electronic circuit board is difficult. Normally, the electronic circuit board is kept in a state where it cannot be easily accessed by the user. Therefore, if the battery is fixed directly to the electronic circuit board, the user cannot replace the battery. If the battery is depleted and needs to be replaced, the user must contact the device maintenance personnel or bring the main unit to the device maintenance department. In the recording device 40 according to the first embodiment, the user can replace the battery 88 themselves while maintaining a state where access to the electronic circuit board is difficult for the user. Therefore, convenience for the user is improved.

[0170] Next, we will describe a modified example of the structure of the main unit 41 shown in Figures 8 to 9B. A structure in which multiple electronic circuit boards are stacked is adopted, with relatively tall components mounted on the lower boards and only relatively short components mounted on the top board. With this configuration, it is possible to adopt an arrangement that reduces the height difference between the bottom of the recess for the battery and the surface of the top board on which the battery connector 87 is mounted. By adopting this arrangement, it is possible to make it easier for the user to access the battery connector 87 compared to an arrangement where the battery connector 87 is located in a deep position.

[0171] Furthermore, it would be beneficial to incorporate a fuse into the electronic circuit board and adopt a structure that allows the user to access the fuse mounting area. For example, a hole could be drilled in the inner case of the fuse mounting area, allowing the fuse to be replaced using a thin-tipped tool such as needle-nose pliers.

[0172] It is advisable to write the name of the cable 92 to be connected near each of the multiple connectors 91 inside the housing 79. For example, a sticker with the name written on it can be attached near the connector 91. This allows the user to easily identify which connector 92 to connect to.

[0173] [Media opening on the main unit of the recording device] Next, the media opening 81 of the main unit 41 according to the first embodiment will be described with reference to Figures 10A to 10B.

[0174] Figures 10A and 10B are perspective views of the media opening 81 in a closed and open state. A media mounting section for inserting an SD card through the media opening 81 is provided on the electronic circuit board. The media opening 81 is double-closed by a waterproof cover with a waterproof structure and a security cover 93 that closes the media opening on the outside of the waterproof cover. Torx screws 94 are inserted into screw holes in the housing 79 through elongated holes provided in the security cover 93.

[0175] Loosening the Torx screw 94 allows the security cover 93 to slide along the side of the housing 79 in the longitudinal direction of the elongated hole and to rotate around the Torx screw 94. When the security cover 93 is fitted into the stopper 95 provided on the housing 79 and the Torx screw 94 is tightened, the security cover 93 is fixed to the housing 79. Loosening the Torx screw 94 and sliding the security cover 93 away from the stopper 95 allows the security cover 93 to rotate. Rotating the security cover 93 exposes the media opening 81.

[0176] A gasket made of an elastic material such as rubber is used as a waterproof cover. A circumferential groove is formed on the inner surface of the media opening 81, and the waterproof cover is attached by fitting the outer circumference of the waterproof cover into this groove. By rotating the security cover 93 to open the media opening 81 and removing the waterproof cover, it becomes possible to insert and remove the SD card.

[0177] Next, we will explain the excellent effects that can be obtained by adopting the structures shown in Figures 10A and 10B.

[0178] To open the security cover 93, a Torx screwdriver is required; it cannot be opened with a regular Phillips or flathead screwdriver. This provides the excellent benefit of making the SD card less susceptible to theft. The media opening 81 can be opened simply by loosening the Torx screw 94, thus preventing the security cover 93 from falling off. Furthermore, the waterproof cover ensures the waterproofing of the media opening 81.

[0179] The option of whether or not to install the security cover 93 should be left to the user. When using the recording device 40 in an environment where security is not a concern, the user can choose not to use the security cover 93.

[0180] The depth to which the SD card is inserted into the housing 79 should be such that it can be pushed in with the pad of the thumb. For example, when the SD card is inserted into the media opening 81, it should protrude about 0.4 mm from the opening surface of the media opening 81, and the installation should be completed by pushing the SD card in with the pad of the thumb.

[0181] Next, with reference to Figures 11A to 11B, other configuration examples of the media opening 81 of the main unit 41 according to the first embodiment will be described.

[0182] Figures 11A and 11B are perspective views showing the media opening 81 in a closed state. A security cover 93 is made by bending a flat plate into an L-shape. One side of the bent portion of the flat plate closes the media opening 81, and the other side of the flat plate is fixed to the bottom surface perpendicular to the side surface where the media opening 81 is provided by screwing it with a Torx screw 94.

[0183] With the waterproof cover attached to the media opening 81, a convex handle 96 is provided on the waterproof cover that protrudes outward from the opening surface of the media opening 81. The security cover 93 has an opening, and this handle 96 protrudes outward through the opening of the security cover 93. Due to the elasticity of the waterproof cover, the waterproof cover and the security cover 93 are configured not to separate easily.

[0184] Next, we will explain the excellent effects that can be obtained by adopting the structures shown in Figures 11A and 11B.

[0185] Depending on where the main unit 41 is attached to the forklift 20, access to the surface with the media opening 81 may be difficult. In such cases, the security cover 93 can be easily secured by accessing the bottom surface perpendicular to the side surface with the media opening 81. Note that the side surface with the media opening 81 and the bottom surface where the security cover 93 is secured with Torx screws 94 do not need to be perpendicular; the same excellent effect can be obtained even if the two intersect.

[0186] Even with the Torx screws 94 securing the security cover 93 removed, the security cover 93 is still supported by the housing 79 via the waterproof cover, thus preventing the security cover 93 from falling off.

[0187] [Main unit housing and cover of the recording device] Next, referring to Figures 12 and 13, the configurations related to the housing 79 and lid 80 of the main unit 41 of the recording device 40 according to the first embodiment will be described.

[0188] Figure 12 is a perspective view of the main unit 41 with the lid 80 removed from the housing 79. A speaker 64 is attached to the lid 80. The speaker 64 is electrically connected to an electronic circuit board inside the housing 79 via a cable 98. The housing 79 and the lid 80 are mechanically connected by a string 97. The length of the string 97 and the cable 98 is adjusted so that when the lid 80 is moved away from the housing 79 until the string 97 is taut, the cable 98 is slack. For example, the string 97 is shorter than the cable 98.

[0189] Next, we will explain the excellent effects that can be obtained by adopting the structure shown in Figure 12. Even if the lid 80 is removed from the housing 79 and moved away from the housing 79, the cable 98 will not be subjected to excessive tension, thus preventing damage such as breakage of the cable 98. When there is not enough space to mount the speaker 64 on the housing 79, it is advisable to mount the speaker 64 on the lid 80. Also, generally, the housing 79 is mounted on the vehicle body in a position where the lid 80 faces a wide space, so that the lid 80 can be easily removed. When the speaker 64 is mounted on the lid 80, the speaker 64 faces a wide space, ensuring good sound radiation characteristics.

[0190] As another example of configuration, a clamp for the cable 98 can be provided on the lid 80, one end of the relatively thick cable can be secured with this clamp, and the other end can be connected to the housing side, and the speaker 64 and the thick cable can be connected with a relatively thin cable. If the thick cable has sufficient mechanical strength, the string 97 may be omitted. In this case, the thick cable serves to provide an electrical connection between the speaker 64 and the circuit on the housing 79 side, as well as to prevent the lid 80 from falling off.

[0191] Figure 13A is a perspective view of the connection between the housing 79 and the string 97. A gate-shaped fastening section 110 is provided on the inner surface of the housing 79. A hollow silicone rubber string is used as the string 97. By fastening the fastening section 110 and the string 97 together with a cable tie 111, one end of the string 97 is fixed to the housing 79.

[0192] When the gate-shaped binding section 110 is viewed from the front, a step 112 of approximately the same height as the binding section 110 is provided on the rear side of the binding section 110. A recessed section 113 is provided on the step 112 at a position corresponding to the binding section 111, where the step portion recedes in the direction away from the binding section 110. If the recessed section 113 is not provided, when the binding band 111 is passed through the binding section 110, the tip of the binding band 111 will hit the step 112, making the binding work complicated. In this embodiment, since the recessed section 113 is provided on the step 112, when the binding band 111 is passed through the binding section 110, the tip of the binding band 111 enters the recessed section 113. If the binding band 111 is pushed further in, the tip will lift up due to the flexibility of the binding band 111. Therefore, the binding work with the binding band 111 can be performed easily.

[0193] Figure 13B is a perspective view of the connection between the lid 80 and the string 97. A plate-shaped projection 120 is provided on the inner surface of the lid 80. An opening 121 is provided in the plate-shaped projection 120. Part of the opening 121 is large enough for the string 97 to pass through with ease, while another part of the opening 121 is narrower than the string 97. When attaching the string 97 to the lid 80, the string 97 is first passed through the relatively large portion of the opening 121. Then, the string 97 is moved to the narrower portion. At this time, the string 97 is compressed in the thickness direction to match the width of the opening 121. The restoring force of the string 97, which is made of hollow silicone rubber, generates a frictional force between the string 97 and the edge of the opening 121. This frictional force fixes the end of the string 97 to the lid 80. This makes it possible to easily fix the end of the string 97 to the lid 80 without performing any work such as tying knots.

[0194] As for the string 97, in addition to a hollow silicone rubber string, it is preferable to use a string made of a material with sufficient elasticity. Also, the connection structure between the housing 79 and the string 97 (Figure 13A) may be used to connect the lid 80 and the string 97. Conversely, the connection structure between the lid 80 and the string 97 (Figure 13B) may be used to connect the housing 79 and the string 97.

[0195] [Vehicle speed measurement function of the recording device] Next, with reference to Figures 14A and 14B, the vehicle speed measurement function of the recording device according to the first embodiment will be described. This vehicle speed measurement function is effective when the forklift 20 equipped with the recording device 40 according to the first embodiment is used in a workplace where reference marks are installed.

[0196] Figure 14A is a front view of reference mark 50 installed in the workshop. Reference mark 50 has a circular outline and is divided into four equal sectors with right angles at the center. Adjacent sectors are colored differently.

[0197] Figure 14B is a plan view of the workshop. Multiple aisles 51 are defined in the workshop for forklifts 20 to travel on. At least one reference mark 50 is placed in front of the forklifts 20 traveling on the aisles 51. The multiple reference marks 50 are all the same size, and the size of the reference marks 50 is stored in advance in the storage unit 62 (Figure 1B) of the recording device 40.

[0198] The processing unit 61 of the recording device 40 has the function of analyzing the image in which the reference mark 50 is captured to determine the speed of the forklift 20. For example, the distance to the reference mark 50 is determined from the size of the reference mark 50 captured in the image. The speed of the forklift 20 is determined from the change in this distance over time.

[0199] Next, we will explain the excellent effects of the functions described in Figures 14A and 14B. Since the vehicle speed can be determined from the information acquired by the recording device 40, the vehicle speed can be determined without installing a dedicated sensor or other device to detect the vehicle speed. Because the outer shape of the reference mark 50 is circular, the diameter (reference length) of the reference mark 50 can be accurately determined even when the reference mark 50 is photographed from an oblique angle.

[0200] Next, we will describe other configuration examples for the vehicle speed measurement function. To determine the vehicle speed, a stereo camera can be used to photograph the reference mark 50, the distance to the reference mark 50 can be measured from the resulting image, and the vehicle speed can be determined from the change in distance over time. Alternatively, it can be determined whether a common reference mark 50 is captured in the images taken by two cameras mounted on the vehicle. If a common reference mark 50 is captured, the distance can be calculated from the two images acquired by the two cameras. For example, a hemispherical camera mounted in front of the driver's seat and a wide-angle camera capturing the area behind the driver's seat can be used as the two cameras. In this case, any shape can be used as the reference mark 50.

[0201] Lighting fixtures installed on the warehouse ceiling can be used as reference markers. Multiple lighting fixtures should be installed at equal intervals, and the spacing between them can be used as a reference length for calculating vehicle speed.

[0202] In addition, the position of the forklift 20 can be determined using the GPS receiver 43 mounted on the forklift 20, and the vehicle speed can be determined from the change in this position over time. To determine the vehicle speed, it is advisable to mount a Doppler sensor on the forklift 20. Alternatively, a sensor that detects the rotation speed of the tires can be mounted. It is advisable to mount a light-based distance measuring device called LIDAR on the forklift 20. When mounting LIDAR on the vehicle, it is advisable to create a map of the work area where the forklift 20 operates by scanning with a laser beam for distance measurement.

[0203] [A function that uses optical flow to determine vehicle speed] Next, referring to Figure 15, we will explain the function of determining vehicle speed using optical flow.

[0204] The recording device 40 includes a camera that photographs the floor or ground around the forklift 20, and a function that detects the optical flow of the photographed floor or ground and determines the speed of the forklift 20 based on the detection results.

[0205] Figure 15 is a schematic diagram showing an example of an image 55 captured by a camera. The body of the forklift 20 and its forks 22 are visible in the center of the image 55. The floor or ground 56 is visible around them.

[0206] This function allows you to determine the relative speed of the forklift 20 with respect to the floor or ground 56. It can calculate not only the translational movement of the forklift 20, but also its rotational speed. For example, if the distance from the camera to the floor or ground 56 is known, and the optical flow (number of pixels moved in a given time) of the feature points on the floor or ground 56 is known, the relative speed of the camera with respect to the floor or ground 56 can be determined. It is recommended to place reference markers in a row and use these reference markers as feature points for the optical flow.

[0207] In particular, a camera (e.g., a wide-angle camera) is installed to photograph the area below the head guard 23 of the forklift 20, capturing images of the forklift 20's body, the driver, and the floor or ground 56 surrounding the body. As the forklift 20 moves relative to the floor or ground 56, the direction and speed of movement can be determined from the optical flow of the texture of the floor or ground 56 surrounding the forklift 20 (asphalt or concrete patterns, pebbles, tape, cardboard placed around it, etc.).

[0208] The forklift 20 can remain in the same location without translational movement and only perform rotational movement. For example, when the forklift 20 rotates, an arc-shaped optical flow is obtained around the axis of rotation. The camera should be positioned so that the center of rotation during this rotational movement coincides with the center of the camera's image. If the center of the camera's image does not coincide with the center of rotation, it is advisable to have a function that effectively aligns the image center with the center of rotation through calibration. The same camera positioning is recommended when using a hemispherical camera. By positioning the camera in this way, the rotation of the forklift 20 can be easily detected.

[0209] If the aspect ratio of the camera image is not 1:1, for example, when using a general camera with a rectangular shooting area, it is best to install the camera so that the front-to-back direction of the forklift 20 corresponds to the long side direction of the shooting area, and the left-to-right direction corresponds to the width direction (short side direction) of the shooting area.

[0210] For example, when moving forward and turning left, the velocity vector on the right side of the forklift 20 will be greater than the velocity vector on the left side. It would be beneficial for the video data viewer to display the optical flow itself with arrows, etc., and also to have a function to display the speed numerically for each part of the vehicle, such as the left and right sides.

[0211] The optical flow of feature points on the floor or ground 56, objects placed on the floor or ground 56, etc., is opposite to the direction of movement of the forklift 20. For example, the optical flow can be displayed with arrows that distinguish between a start point and an end point, and the start and end points should be opposite to the direction of the optical flow. Displaying it in this way allows users to intuitively understand the direction of movement of the forklift 20 by looking at the arrows displayed on the screen. In particular, it is good to display the starting point of the arrow at the point where the edges of the outer shape of the forklift 20's body intersect in a plan view. For example, if the outer shape of the forklift 20's body is displayed as an approximate rectangle, the four vertices of the rectangle should be used as the starting points of the arrow.

[0212] Since the area where the inside of the forklift 20 is captured in the image also includes people, steering wheels, and control levers, it would be beneficial for the viewer to have a function to detect the optical flow of people's movements. The viewer should also have a function to recognize the movement of people, etc., separately from the optical flow of the forklift 20 itself. For example, it would be beneficial to be able to distinguish and recognize arrows indicating the movement of people and arrows indicating the movement of the forklift 20. For example, it would be beneficial to represent the movement of people with green arrows and the movement of the forklift 20 with blue arrows. The optical flow of people's movements can be used, for example, to determine the normality of the operation, whether or not they are turning their heads to point and call out, etc.

[0213] The recording device 40 should be equipped with a function to calculate the average speed of the forklift 20 by integrating the optical flow.

[0214] If there are moving objects such as people or automated guided vehicles (AGVs) around the forklift 20, partial optical flow will occur in the video. It would be beneficial to have a function to exclude such partially occurring optical flow from the calculation of speed. In other words, optical flow that occurs only in a part of the forklift 20 should be treated as not being caused by the movement of the forklift 20 when calculating the vehicle speed.

[0215] When playing a video in the viewer, it is desirable to distinguish optical flow that occurs only in a portion of the image from optical flow caused by the movement of the forklift 20. For example, it is desirable to display arrows indicating optical flow that occurs only in a portion of the image and arrows indicating optical flow caused by the movement of the forklift 20 in different colors. In this way, it is possible to easily recognize the movement of a person moving near the forklift 20. For example, it is desirable to have a function that displays the movement of the forklift 20 with a blue arrow, and displays optical flow that occurs only in a portion of the image around the forklift 20 as the movement of a person moving around the forklift 20 with a red arrow.

[0216] The video viewer can be implemented as a PC application program, a smartphone application program, or the like. Alternatively, a display device can be provided on the recording device 40 mounted on the forklift 20, and this recording device 40 can be equipped with viewer functionality. Furthermore, it is advisable to provide a function that uses optical flow to alert the driver to abnormal movements of the forklift 20, abnormalities in operation or driver behavior, or the presence of people around the forklift 20 that pose a danger. Abnormal movements of the forklift 20 can be detected by determining whether the magnitude of the translational speed or rotational speed, determined from the optical flow corresponding to the movement of the forklift 20, is abnormal. Abnormalities in operation or driver behavior can be detected by determining, for example, whether the driver is following driving rules such as performing pointing and calling.

[0217] The area surrounding the forklift 20 is divided into a nearby area (first area) where people or other objects do not normally enter during operation, and a slightly more distant area (the area of ​​the surrounding area that is further than the first area) where people or other objects may enter. The optical flow within the first area is used as the optical flow that forms the basis for calculating the movement speed of the forklift 20.

[0218] [Function to detect the tilt angle of the mast] Next, with reference to Figures 16A and 16B, the function of the recording device according to the first embodiment for detecting the tilt angle of the mast will be described.

[0219] Figure 16A is a schematic side view of the forklift 20. The forks 22 move up and down along a mast 21 with a variable tilt angle. Multiple markers 31 are provided on the mast 21. A marker camera 47 is attached to the support column 32 of the head guard 23. The marker camera 47 is mounted on the support column 32 so that multiple markers 31 are within its field of view. The processing unit 61 of the recording device 40 (Figure 1B) has a function to analyze the image showing multiple markers 31 and determine the tilt angle of the mast 21.

[0220] Figure 16B shows the relative positional relationship between the markers 31 and the marker camera 47. Multiple markers 31 are provided on the left mast 21 of the forklift 20, and the marker camera 47 is mounted on the right support column 32. The marker camera 47 is mounted on the support column 32 facing the left side of the forklift 20, and can capture images of multiple markers 31.

[0221] Next, we will explain the excellent effects that can be obtained by adopting the configuration shown in Figures 16A and 16B.

[0222] If the forks 22 are not horizontal when transferring cargo, it can lead to accidents such as cargo falling off. The posture of the forks 22 changes by changing the inclination angle of the mast 21 to which the forks 22 are mounted so as to be able to move up and down. In the recording device 40 according to the first embodiment, it is possible to determine whether the posture of the forks 22 is normal or not by determining the inclination angle of the mast 21. By detecting the relative positional relationship of the multiple markers 31 attached to the mast 21 in the image, information regarding the inclination angle of the mast 21 can be easily obtained. The driver can safely transfer cargo by confirming that the inclination angle of the mast 21 with respect to the horizontal plane is right, that is, that the forks 22 are horizontal. Since the marker camera 47 is attached to the support column 32 of the vehicle body rather than to movable parts such as the mast 21 or forks 22, damage to the marker camera 47 during operation can be suppressed.

[0223] It would be preferable for the recording device 40 to have a function that allows it to attach a marker 31 to the fork 22 and determine the lifting speed of the fork 22 from the optical flow of the marker attached to the fork 22.

[0224] [Second Example] Next, with reference to Figure 17, a vehicle information processing device according to the second embodiment will be described. Figure 17 is a block diagram of the vehicle information processing device 100 according to the second embodiment. The vehicle information processing device 100 processes vehicle information such as video data acquired by a recording device 40 mounted on a forklift 20 (Figures 1A and 1B) and recording devices mounted on other vehicles.

[0225] The vehicle information processing device 100 includes a processing device 101, a display 102, a storage device 103, a communication device 104, an SD card reader 105, a pointing device 106, and a keyboard 107. The processing device 101 includes, for example, a microcomputer and realizes various functions by executing a computer program stored in the storage device 103.

[0226] Furthermore, the processing unit 101 displays the processing results on the display 102. It also displays information on the display 102 that prompts the user to input commands or data. The communication device 104 communicates data with the recording device 40 and other devices installed in the vehicle. An SD card containing vehicle information recorded by the recording device 40 (Figures 1A and 1B) is inserted into the SD card reader 105, and the reader provides the function of reading vehicle information from the SD card and writing various data to the SD card. The pointing device 106 is operated by the user to move the position of the pointer displayed on the display 102 and to select buttons displayed on the display 102. The keyboard 107 is operated by the user to input commands and data to the processing unit 101.

[0227] [Video file generation function] The processing unit 101 has the function of acquiring multiple video files of videos taken by multiple cameras mounted on the vehicle, the function of specifying the start and end points from which to extract the video, and the function of extracting the video from the specified start and end points from the multiple video files, synchronizing the extracted videos along the time axis, and generating and saving a single video file that can be viewed simultaneously.

[0228] This feature eliminates the cumbersome process of synchronizing and playing multiple video files in time. By simply playing a single video file generated by this feature, users can view virtually the same content as if they were playing multiple video files.

[0229] The processing unit 101 has a function that allows the user to specify the start and end points for extracting video while playing one video file from among multiple video files. This makes it easy to set the start and end points for the single video file to be generated. For example, a single video file created by combining multiple video files is convenient for use in educational settings.

[0230] Multiple video files, and a single video file that combines them, can be, for example, an AVI file. These video files are also video-based compression files. The combined video file contains the video from multiple files arranged within a single screen. For example, this could be in picture-in-picture, side-by-side, or matrix formats.

[0231] Since recording creates multiple video files, you can freely decide how to combine them into a single video file. For example, in the combined video file, you can display particularly important footage larger on the screen and less important footage smaller. You can decide which video files are important when creating the single video file.

[0232] [A function that generates a video file of a rectangular image from a circular image.] The processing unit 101 reads a video file consisting of circular images obtained by capturing images with a 360-degree camera, has a function to allow the user to specify a portion of the image, and has a function to expand the specified area and generate a video file consisting of rectangular images.

[0233] A video file consisting of rectangular images can be played using a general video playback program. The processing unit 101 has a function to specify the area to be expanded into a regular rectangular image while playing the video acquired by the 360-degree camera using a program capable of playing the video. For example, it would be good to have a function to specify the area currently displayed on the screen as the area to be expanded into a rectangular image while playing a video file acquired by the 360-degree camera. It would also be good to have a function to save the video file consisting of rectangular images as an AVI file.

[0234] If a vehicle is equipped with multiple cameras, one of which is a 360-degree camera, it would be beneficial to have a function that generates a single video file using a video file generation function, based on a video file consisting of rectangular images generated by unfolding a portion of the images from the video file acquired by the 360-degree camera, and video files acquired by the other cameras.

[0235] [Near Miss Map Creation Function] The processing unit 101 has the following functions: a function to create a map of the workplace based on information acquired at the workplace where the vehicle is operating; a function to detect when a situation equivalent to a near-miss incident occurs with respect to a vehicle operating at the workplace; and a function to create a near-miss map that associates the map with the location where the near-miss incident occurred.

[0236] Near-miss maps provide valuable information for reducing accidents in the workplace. These maps are created using, for example, LiDAR. The processing unit 101 detects the occurrence of situations corresponding to near-miss incidents based on measurement results from acceleration sensors, gyro sensors, etc., mounted on the vehicle. Additionally, it would be beneficial to have a function that detects the occurrence of situations corresponding to near-miss incidents by analyzing video information acquired by cameras mounted on the vehicle.

[0237] Location information of the site where a near-miss incident occurred is obtained via an SD card, for example, by recording location information acquired by a GPS receiver 43 mounted on the vehicle, associating it with video data and acceleration data. The location on the near-miss map is associated with latitude and longitude information. The processing unit 101 identifies the location where the near-miss incident occurred on the near-miss map based on the location information acquired from the GPS receiver 43 and the location information on the near-miss map.

[0238] [Battery remaining life prediction function] The vehicle information obtained from the vehicle includes time information of the time the switching means is turned on, in vehicles equipped with a switching means that supplies power to the electrical system when turned on and stops the supply of power to the electrical system when turned off. The processing unit 101 has a function to issue an alarm based on the cumulative time the switching means is turned on.

[0239] If the vehicle is an electric forklift, the remaining battery life can be predicted from the cumulative time the switching mechanism is turned on. Users can predict when the battery needs replacing based on the alarms issued. Furthermore, users can benefit from the ability to manage multiple electric forklifts under their control using a single vehicle information collection device.

[0240] The time information regarding when the switching mechanism is turned on should be obtained from an in-vehicle device such as a recording device 40 via an SD card. The in-vehicle device should have a function to record the time when the switching mechanism is turned on and off, as well as vehicle identification information (vehicle ID), on the SD card. In addition, the in-vehicle device and the vehicle information processing device should be equipped with a data communication function via wireless LAN, so that the vehicle information processing device can obtain the time information regarding when the switching mechanism is turned on from the in-vehicle device via wireless LAN.

[0241] The alarm should ideally be triggered when the cumulative time exceeds a predetermined percentage (50%, 80%, 90%, etc.) of the vehicle battery's operating life. Alternatively, the alarm could be triggered every certain period of time, for example, every 1000 hours.

[0242] [Vehicle Information Display Function] The vehicle information processing device 100 has a function to acquire vehicle information from multiple types of vehicles, and a function to display different vehicle information on the display device depending on the type of vehicle.

[0243] This function allows information to be collected from different types of vehicles, such as automobiles and forklifts, into a common vehicle information processing device, and information appropriate to the type of vehicle can be displayed. For example, for automobiles, it would be good to display GPS information (date and time information, location information, speed information, etc.), acceleration information acquired by an accelerometer, turn signal operation information, speed pulse information, etc. For forklifts, it would be good to display GPS information, acceleration information acquired by an accelerometer, angular velocity information acquired by a gyro sensor, etc.

[0244] The vehicle type should be recorded by the in-vehicle equipment on a removable recording medium, and read from the removable recording medium by the vehicle information processing unit.

[0245] [Firmware update function for in-vehicle devices] The in-vehicle equipment installed in the vehicle records the firmware version of the equipment onto an SD card. The vehicle information processing device 100 has a function to read the firmware version from this SD card and, if a newer version of the firmware exists, to store the newer version of the firmware on the SD card.

[0246] Users can obtain new firmware versions without having to determine whether a new version of the in-vehicle device's firmware has been released. The in-vehicle device should have a function to read the firmware version stored on the installed SD card and, if a newer version is available, read the firmware from the SD card and update it. This function would save users the trouble of manually updating the firmware and allow them to always operate the device with the latest firmware version. The in-vehicle device should also have a function to erase the firmware from the SD card after reading it.

[0247] In-vehicle devices should have a function that prevents firmware updates if an SD card with firmware for a different model is inserted. Conversely, they should also have a function that updates the firmware if an SD card previously used in an in-vehicle device from a different vehicle is inserted, provided the in-vehicle device model is the same.

[0248] The scope of the present invention is not limited to the configurations explicitly described in the specification, but also includes combinations of various aspects of the present invention disclosed herein. While the configurations for which patent protection is sought are specified in the appended claims, the present invention intends to include configurations disclosed herein that are not currently specified in the claims in the future.

[0249] The present invention is not limited to the configuration described in the embodiments above. The components of each embodiment and modification described above may be arbitrarily selected and combined. Furthermore, any component of each embodiment and modification may be arbitrarily combined with any component described in the means for solving the invention or any component that embodies any component described in the means for solving the invention. We intend to obtain rights for these as well in amendments or divisional applications of this application.

[0250] Furthermore, the applicant intends to obtain rights to the overall design or a partial design by filing an application for amendment to the design application. The drawing depicts the entire device with solid lines, but it is a drawing that includes not only the overall design but also partial designs claimed for parts of the device. For example, it is a drawing that includes not only a partial design for a part of the device, but also a partial design for a part of the device regardless of whether it is a part or not. A part of the device may be a part of the device's components, or a part of a component. The applicant intends to obtain rights not only to the overall design, but also to a partial design in which any part of the solid lines in the drawing is represented by dashed lines. [Explanation of Symbols]

[0251] 20 forklifts 21 Mast 22 Forks 23 Headguard 24 Posts 25 Steering Wheel 26 Main switch 27 Operating lever 28 pedals 29 +B terminal 30 Switch-linked power terminals 31 Marker 32 Pillar 40 Recording device 41 Main Unit 42 cameras 43 GPS receivers 44 Accelerometer 45 Gyroscope Sensor 46 Wireless LAN module 47 Camera for marker 50 Reference mark 51 Pathway 55 Image 56 Floor or ground 61 Processing unit 62 Storage unit 63 SD card reader 64 Speaker 70 Camera case 71 Lens 72 Mounting member 73 Clamp mechanism 74 Hole for cable tie 75 Cable 79 Housing 80 Cover 81 Opening for media 82, 83 Tube 84, 85 Opening for cable 86 Partition member 87 Battery connector 88 Battery 89, 90 Space 91 Connector 92 Cable 93 Security cover 94 Torx screw 95 Stopper 96 Handle of waterproof cover 97 String 98 Cable 99 Hole 100 Vehicle information processing device 101 Processing device 102 Display 103 Storage device 104 Communication device 105 SD card reader 106 Pointing device 107 Keyboard 110 Binding part 111 Binding band 112 Level difference 113 Receding part 120 Plate-like protrusion 121 Opening

Claims

1. Information acquired in a workplace where a forklift is in operation, a function to create a map of the workplace based on distance measurement information acquired using LIDAR, The function detects the presence of a person around the forklift operating in the aforementioned workplace, which poses a danger, by analyzing video information acquired by a camera mounted on the forklift, and detecting optical flow, which occurs only in a portion of the image around the forklift, as the movement of a person moving around the forklift. A function to create information that associates the aforementioned map with the location identified based on the location information obtained for the forklift, where the danger has been detected. A vehicle information processing device equipped with the following features.

2. The position information is information recorded on a recording medium in association with the video information by an in-vehicle device mounted on the forklift, The vehicle information processing device according to claim 1, further comprising a function for acquiring the location information via the recording medium.

3. The area surrounding the forklift is divided into a nearby area where people do not normally enter during operation and a slightly more distant area where people may enter, The vehicle information processing device according to claim 1 or 2, further comprising a function to adopt the optical flow within the vicinity as the basis for calculating the movement speed of the forklift.

4. The camera is a camera that takes pictures of the area below the head guard of the forklift, The vehicle information processing device according to any one of claims 1 to 3, wherein the video information includes images of the body of the forklift and the floor or ground surrounding the forklift.

5. A function to determine the speed of the forklift based on the optical flow generated on the floor or ground around the forklift, The vehicle information processing device according to any one of claims 1 to 4, further comprising a function to exclude optical flow occurring only in a portion of the image surrounding the forklift from the target for determining the speed of the forklift.

6. The vehicle information processing device according to any one of claims 1 to 5, further comprising a function to distinguish optical flow occurring only in a part of the image surrounding the forklift from optical flow caused by the movement of the forklift and display it on a display device.

7. A program for a computer to implement the functions of the vehicle information processing device described in claims 1 to 6.

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