JP7519705B2 - Imaging device, system, and forklift equipped with the system - Google Patents

Description

The present invention relates to, for example, an imaging device, an imaging system, and a forklift or the like equipped with this system, and more particularly to an imaging device and system that are suitable for being equipped on loading and transporting machinery such as a forklift and for recording the position and movement, etc. of people or objects, and a forklift or the like equipped with the system.

Conventionally, imaging devices have been known in which the camera's mounting means has been devised to allow the camera's shooting direction to be changed in various ways. In this case, changing the shooting direction can sometimes cause the inconvenience of parts of the camera mounting mechanism plate or other parts located around the camera appearing in the image.

On the other hand, a method is known in which the camera is mounted in a cylindrical camera holder and the cylindrical camera holder is rotated back and forth to allow the camera to rise and fall in a fixed position (for example, see Patent Document 1 below).

JP 2010-105530 A

However, the method disclosed in Patent Document 1 has the disadvantage that the entire imaging device tends to become large in size and is difficult to transport and maintain because the entire camera is stored inside a cylindrical camera holder.

Furthermore, since the mounting member is attached to a portion of the outer periphery of the cylindrical camera holder and protrudes from the outer periphery, there is a disadvantage that, depending on the fixing position of the mounting member, a portion of the mounting member may get inside the lens surface of the camera.

The present invention aims to improve upon the disadvantages of the conventional examples described above, for example, and to provide an imaging device that effectively prevents the attachment member for the imaging camera from getting into the image captured by the imaging camera and allows for an overall smaller size, a system that uses this imaging device, and a forklift equipped with this, which are easier to use than conventional devices.

(1) The imaging device is
The present invention includes a wide-angle camera and an attachment member disposed on a rear side of the wide-angle camera for attaching the wide-angle camera to another structure,

It is preferable to equip this attachment member with a tilt-and-rise setting mechanism that connects and holds the wide-angle camera and allows the wide-angle camera to be tilted and swiveled and fixes and integrates it at any tilt-and-rise position.

In this way, since the attachment member is disposed on the rear side of the wide-area camera, even if the wide-area camera captures a wide range of information within its shooting range, the possibility that structures attached to the camera, such as the attachment member, will appear in the captured image can be reduced, making it possible to capture a maximum range of areas other than structures related to the camera with a single camera.

In this way, it is possible to reduce the possibility that structures attached to the camera, such as attachment members, will get in the way, making it impossible to capture, for example, people getting on and off or some actions other than those for moving people, such as forklifts, particularly in vehicles where people get on and off frequently or vehicles that perform actions other than those for moving people (such as moving the vehicle forward and backward), and it is also possible to reduce the need to be aware of such problems during installation work, and installation can be done easily and quickly.

The wide-angle camera may preferably have an angle of view exceeding 180°. For example, the wide-angle camera may preferably have an angle of view exceeding 180° in the diagonal direction, and more preferably have an angle of view exceeding 180° in all directions.

The wide-angle camera is preferably a camera equipped with a fisheye lens. The wide-angle camera may be a camera equipped with a diagonal fisheye lens, but is particularly preferably a camera equipped with a circular fisheye lens.

The wide-area camera may be a camera capable of capturing an image of a hemispherical area, and may be a camera equipped with a lens (referred to as a hemispherical lens in this specification and claims (not a term that refers to a hemispherical lens)) that forms an image of the hemispherical area on an imaging means such as an image sensor.

The hemispherical lens should be a lens that can capture the entire sky (for example, a total field of view of approximately 180 degrees) within an image circle of a specified size on the imaging means. It may be configured so that the diameter of the field of view circle fits the diagonal of the screen, and a diagonal fisheye lens that captures the entire field of view in the diagonal direction of the imaging area of the imaging means may be used, but a particularly excellent effect is achieved if the entire field of view circle fits within the short side of the imaging area of the imaging means and a full-circle fisheye lens is used. It is particularly effective if the entire circumference of the field of view circle is captured.

Images captured by such cameras and lenses are often projected so that the area of the image portion of a subject of the same size taken in the overall image varies depending on the position within the image, for example by strongly compressing the center of the screen and less compressing the periphery. In such images, if a structure attached to the camera, such as an attachment member, is captured particularly on the periphery of the image, the structure will be widely projected on the periphery of the captured image. However, according to the present invention, it is possible to reduce the possibility that a structure attached to the camera, such as an attachment member, will be widely projected in the captured image, making it possible to capture a wide range of areas other than the structure related to the camera with a single camera.

In particular, it is effective when used with a camera having a lens that performs projection other than the central projection method that keeps the shape of the subject and the shape of the image similar. For example, it is effective when used with a camera that forms an image on the imaging means using a lens of the stereoscopic projection method or the equi-solid angle projection method. The hemispherical lens is preferably a lens having an angle of view of more than 180°, for example, a lens having an angle of view of about 210°.
The lens may be made up of a plurality of lenses.
The range of any desired undulating rotation may be, for example, a rotation range from 0° to a predetermined angle, and in particular, the predetermined angle may be, for example, 90°.

The relationship between the angle of view and position of the wide-area imaging camera and the position and shape of the fastening member for fastening the wide-area imaging camera to another structure should be set so that the imaging range of the wide-area imaging camera does not include the fastening member for fastening the wide-area imaging camera to another structure throughout the entire rotation range. The relationship between the rotation range, the angle of view of the wide-area imaging camera, and the range of possible positions of the fastening member should be set so that no part of the fastening member is captured within the angle of view of the wide-area imaging camera at any position within the rotation range.

The fastening member may include a part or other member (hereinafter referred to as a simultaneous rotation member) that moves with the rotation. As such a part or member, a cable fastener for fastening a cable connected to the wide-area imaging camera may be provided. The position and shape of the simultaneous rotation member may also be set in relation to the angle of view and position of the wide-area imaging camera so that the simultaneous rotation member does not enter the imaging range of the wide-area imaging camera over its entire rotation range. The simultaneous rotation member may include a cable holding portion, which will be described later.

The wide-angle camera itself may be configured to hold a portion of it directly, without being stored inside a cylindrical case or the like. This allows for further miniaturization of the entire imaging device. For example, if a lens with an angle of view exceeding 180° is configured as a camera type that is stored inside a conventional cylindrical case as described above, there is a problem that a portion of the cylindrical case or a connection cable extending axially from the center of the cylindrical case is reflected in the image, but this configuration makes it easy to solve this problem.

For example, the wide-area imaging camera may have a flat surface portion on the back and a surface portion of the attachment member that is attached to another structure, and the elevation and rotation setting mechanism may be configured so that the angle between the two surfaces is within a range from 0° to a specified angle. The specified angle may be 90°.

The rotation can be infinitely variable, but it is advisable to provide a latch or similar device that semi-fixes the rotation at every predetermined angle. It is even better to provide a mechanism, such as a screw mechanism, that changes the semi-fixed state to a fixed state. It is particularly advisable to provide serrations that mesh at every predetermined angle. For example, it is advisable to configure the undulating rotation position to be set at any angle increment within a range of 5° to 10°.

(2) The elevation and rotation setting mechanism may be configured to include a cylindrical body that is disposed along the upper end of the wide-angle photography camera and is integrally molded with the attachment member, and a connecting mechanism that is rotatably incorporated into the inner diameter portion of the cylindrical body and engages with a camera-side locking part that is previously installed on the upper end of the wide-angle photography camera to fix and integrate the camera-side locking part with the cylindrical body.

In this way, for example, when the wide-angle camera is installed with the top end facing up, the wide-angle camera is stably held hanging down from the attachment member. This means that the size and shape of the attachment member can be freely set. For example, when mounting the camera on a forklift, the attachment member can be freely formed and processed to match the structure of the forklift, and the mounting position and lens orientation can always be set in an optimal state, which has the advantage of increasing versatility.

Here, the cylindrical body integrally molded with the fastening member and the camera-side fastening part pre-installed on the upper end of the wide-angle camera may be a cylindrical body integrally molded with the upper end of the wide-angle camera and a fastening-member-side fastening part pre-installed on the fastening member.

(3) A connection cable for outputting image information captured by the wide-angle camera to the outside is removably provided, the attachment member is formed in a plate shape, and a cable holder for the connection cable is provided at the upper end of the attachment member.

This makes it easier to route the cable when installing, and has the advantage that when it is installed on a forklift during actual use, for example, the connecting cable will not swing around even when the forklift moves or rotates rapidly, making it less likely to come loose and eliminating the risk of it breaking.

Another advantage is that because the attachment member holds the cable, the initially set shooting direction of the wide-angle camera can be effectively maintained even when the forklift is moving rapidly.

Furthermore, since the cable is removable, wiring is easy and there is less risk of it breaking, and even if it does break, it can be operated by simply replacing the cable.

Here, the connection cable may be called a camera cable. The connection cable may be a type of cable that is capable of not only outputting image information but also supplying power to the imaging device.
(4) The cable holding portion is disposed so as to hold the connection cable along the mounting surface of the fastening member.

In this way, when the attachment member is installed on a forklift structure, for example, the connection cable can be routed along the surface of the structure, which has the advantage of preventing the connection cable from becoming detached from the structure and becoming easily caught.

(5) The imaging device may be an imaging device that can be attached to a forklift, and the system may include the imaging device and a recording device that records the images captured by the imaging device.

In this way, when this imaging device is equipped on the structure of a forklift, it is possible to capture images of a wide area including the front area, rear area, left and right areas, upper area, and some of the driver's seat area, which are necessary for investigating collision accidents and cargo collapse that may occur during the operation of the forklift, with a single imaging device, and record the captured images.
Moreover, since the imaging device is designed so that the structure of the imaging device and the like do not enter the field of view, the widest possible range can be photographed and recorded.

(6) The recording device may be a system that associates the captured image with environmental information related to the captured image and records the associated image as image information.
This has the advantage that the captured and collected image information can be used more effectively according to the purpose by displaying the image on the screen of the display device.

Here, the environmental information related to the captured image may be, for example, the type of forklift equipped with a wide-area camera, vehicle speed, acceleration, angular velocity, camera installation location, shooting conditions, time, audio, shooting direction, etc.

(7) The recording device is characterized in that the captured image is recorded as an image including both the area in front of the forklift and other areas adjacent to the area in front of the forklift.

This has the advantage that not only is it possible to record the area in front of the forklift where many forklift collisions and cargo collapses occur, but also other areas, i.e. the area above the forklift's cargo lifting device, the area below the forks when the cargo lifting device is operated to lift cargo on the forks, the left and right areas of the forklift, the driver's seat area, and in some cases the rear area, can be recorded as a continuous image in the forward area.

In addition, forklifts are not operated by company employees, but rather, in many cases, for example, the driver of the truck that transported the cargo rents a forklift and drives it to unload the cargo. There are many types of truck drivers, some of whom drive roughly and may make holes in the cargo (e.g., cardboard boxes) with their toes. Even fast, experienced drivers may make holes in the cargo or bump into the cargo when they are pressed for time or are not paying attention. In addition to making holes in the cargo with their toes, when lifting the lifting device, part of the lifting device or the cargo may hit the ceiling.

In addition to the collision, recording images of the driver's facial expression and eye direction, the position of the steering wheel, whether or not they checked their fingertips, the driver's name written on their helmet, and other information will be useful in identifying the cause of the accident and considering future countermeasures. By understanding the overall situation of the accident, it will be possible to predict danger, and this can be used for education on how to prevent serious accidents.

For example, it would be a great advantage to equip a forklift with a system capable of photographing and recording accidents that occur over such a wide range, using the system disclosed in (5) above.
(8) The system is equipped on a forklift,

The forklift may be characterized in that the imaging device is installed facing forward in the upper front area of the forklift via the attachment member provided on the imaging device.

For example, it is preferable to configure the system to collect image information over a wide area including a range of about 180 degrees to 210 degrees in the forward direction of the forklift. In particular, it has the advantage that a single imaging device can collect image information including images of not only the area in front of the forklift, but also the area above and to the left and right of the forklift, especially the area in the high area in front. In addition, by using the collected image information, it is possible to reliably and effectively grasp and manage the work results in front of the forklift after the work is completed.
(9) The imaging device may be installed in an upper central area of the forklift, facing downward, via the fastening member provided on the imaging device.

This system has the advantage that it can collect image information from the entire 360-degree area around the forklift in the direction of movement, and in particular, it can collect not only the area in front of the forklift, but also the driver's seat area, rear area, and back area of the forklift, i.e., the entire area around the forklift, with a single imaging device. In addition, by using this collected image information, it has the advantage that the work results around the forklift after work can be reliably and effectively understood and managed.

Here, "facing downward" does not necessarily have to be pointing straight down; for example, even if the vehicle is slightly tilted backwards, as long as the luggage on the forks at the front of the vehicle and/or the area around the handlebars in the driver's seat are within the field of view, this can also be considered "facing downward."
The configurations (1) to (9) may be arbitrarily combined. The components (1) to (9) may also be arbitrarily combined.

In addition to (1) to (9), or in combination with any of (1) to (9), or in combination with any of the components, the following may be configured:

(A) An imaging device for capturing video of a predetermined imaging range in a vehicle, the imaging device having an angle of view for capturing a single image in which multiple monitored objects in different directions are included in the predetermined imaging range, and an attachment means for attaching the imaging device to a position where it can be attached to the vehicle so that the multiple monitored objects in different directions are included in the predetermined imaging range.

In this way, it is easy to capture multiple monitoring targets in different directions at the mounting position on the vehicle so that they are included in one image. Therefore, it is possible to realize a more user-friendly device than before. In the past, in order to capture multiple monitoring targets in different directions, multiple imaging devices were provided, and each image was obtained from the multiple imaging devices, and the images were synthesized into one image. However, it is no longer necessary to provide multiple imaging devices or a device that synthesizes the images from each imaging device into one image as in the past. Therefore, it is possible to shorten the installation work time on the vehicle and to capture multiple monitoring targets in different directions so that they are included in one image at a lower cost than before.

The vehicle may be a vehicle that moves forward or backward, such as a passenger car, truck, bus, etc., but it is particularly preferable that the vehicle is a vehicle that moves not only forward or backward but also in a turning direction, such as a forklift. The different directions may include at least two directions, such as forward, backward, and turning directions.

Although at least a portion of each of the multiple monitored objects may be included in the specified imaging range, it is preferable that each of the monitored objects is entirely included in the specified imaging range, and it is especially preferable that all of the monitored objects are entirely included in the specified imaging range.

The multiple monitoring target ranges in different directions may be, for example, a range for capturing images of accidents that occur when the vehicle is traveling, and a range for capturing images of a monitoring target other than the images of accidents that occur when the vehicle is traveling. For example, an imaging device that captures images of a specified imaging range in a vehicle may be configured to include imaging means having an angle of view such that images in the direction in which the vehicle is traveling and images in directions other than the direction in which the vehicle is traveling are included in the specified imaging range, and an installation means for installing the camera on the vehicle so that images in the direction in which the vehicle is traveling and images in directions other than the direction in which the vehicle is traveling can be captured within the angle of view.

(B) The multiple monitored objects in different directions may be, for example, two of the following: monitoring of accidents occurring as the vehicle moves, monitoring of the driver's driving operations, and monitoring of accidents occurring as movable parts attached to the vehicle move.
(C) The different directions may be, for example, directions in which the largest angle formed by the respective central directions of a plurality of monitoring ranges exceeds 90 degrees.

If the angle between the outer limits of two monitored ranges that are the furthest apart among multiple monitored ranges in different directions is X degrees, the angle of view may be set to be greater than X degrees, for example. In this way, multiple monitored targets in different directions can be photographed, increasing the possibility of photographing multiple monitored targets.

(D) It is particularly preferable that the angle of view and the lens for obtaining the angle of view are configured as described in (1). In this way, it is possible to increase the possibility that all of the multiple monitoring ranges, such as (C), are captured compared to the conventional case.
The imaging means may be a wide-angle camera, and the mounting means may include an attachment member and a lifting and rotating mechanism.

The mounting means may be provided on the side opposite the imaging direction of the housing having the imaging means, and may be configured, for example, to include a flat portion provided on the back of the housing having the imaging means on the front side and an attachment member for attaching the flat portion directly to the vehicle, but it is preferable to use the attachment means as shown in (E).

(E) The mounting means includes a mounting member having a flat portion that can face a flat portion at a position where the mounting member can be attached to the vehicle, and an imaging direction adjustment means that can adjust the imaging direction of the imaging means when the mounting member is attached to the vehicle so as to face the flat portion at the position where the mounting member can be attached to the vehicle, and it is preferable that the mounting member and the imaging direction adjustment means set the relationship between the angle of view and the range of the adjustable imaging direction so that the mounting member and the imaging direction adjustment means do not fall within the angle of view of the imaging means over the entire range of the adjustable imaging directions of the imaging direction adjustment means.

In this way, no part of the mounting means will be visible in the image captured in the imaging range regardless of the adjustment position, making it easier to install and adjust the device on the vehicle than ever before.

The mounting member may be, for example, a mounting plate, with the imaging direction adjustment means provided on one side of the mounting plate, and the other side facing a flat surface at a position where the mounting can be performed on the vehicle, and the opposing surfaces may be bonded together with an adhesive such as double-sided tape. The flat surfaces can be firmly bonded together.

The imaging direction adjustment means may be configured as a ball joint between an arm extending from the mounting member and an arm extending from a housing having the imaging means, but it is particularly preferable to use the means as in (F) to (J).

(F) The imaging direction adjustment means may be a hinge mechanism provided between the mounting member and a housing having the imaging means, and may be configured to be capable of opening and closing the space between the mounting member and the housing about the axis of the hinge from a predetermined minimum angle to a predetermined maximum angle, and may be configured to include an angle fixing means capable of fixing the angle at the user's desired angle.

(G) The hinge mechanism may be provided between a position protruding from the surface opposite the surface having the flat portion that can face the flat portion at the position where the hinge mechanism can be attached to the vehicle, and a position protruding from the housing in a direction perpendicular to the imaging direction of the housing having the imaging means.

The hinge mechanism may be provided, for example, between the center of the rear surface of the housing having the imaging means and the surface opposite to the surface having the flat portion that can face the flat portion at the position where the device can be attached to the vehicle, but in this case, the more the hinge is opened, the higher the possibility that the housing will hit the vehicle or the like increases. If the hinge mechanism is provided as in (G), this possibility is extremely low. For example, as shown in FIG. 3(C) of the embodiment, the hinge mechanism may be provided between a position that protrudes upward from the case having the camera and a position that protrudes from the surface opposite to the mounting surface 4A of the attachment member 4. In particular, the configuration of (G) may be adopted, and the surface that has the flat portion that can face the flat portion at the position where the device can be attached to the vehicle may be provided across the hinge axis of the hinge mechanism. In this way, the possibility that the flat portion that can face the flat portion at the position where the device can be attached to the vehicle will come off when the angle of the hinge is changed after the flat portion is attached to the vehicle, for example. For example, as shown in FIG. 3(C) of the embodiment, the mounting surface 4A of the fastening member 4 may be formed to have mounting surfaces on the upper and lower sides straddling the axis of the hinge located on the rear side.

(H) The imaging direction of the imaging means may be configured to be approximately parallel to a direction opposite to the normal direction of the mounting surface of the mounting member to the vehicle when the hinge mechanism is closed.

In this way, simply by attaching the imaging means to the vehicle with the hinges closed, the imaging direction can be set to a direction approximately normal to the flat surface at the mounting position on the vehicle. Even if the user attaches the imaging means to the vehicle without being aware of the direction in which the center of the lens of the imaging means faces, the direction in which the center of the lens faces can be set to a direction approximately perpendicular to the mounting surface of the vehicle if the hinges are closed. In addition, the range based on the flat surface at the mounting position on the vehicle can be easily set to the predetermined imaging range. For example, particularly when the imaging means is configured as a circular fisheye camera, the direction of the center of the captured circular image can be easily set to a direction approximately perpendicular to the mounting surface of the vehicle.

(I) The imaging direction of the imaging means may be configured to be approximately parallel to a direction perpendicular to the normal direction of the mounting surface of the mounting member to the vehicle when the hinge mechanism is fully open.

Even if a user installs the imaging means on a vehicle without being aware of the direction in which the center of the lens of the imaging means faces, the direction in which the center of the lens faces can be made substantially parallel to the mounting surface of the vehicle simply by opening the hinge to the maximum extent. For example, particularly when the imaging means is configured as a circumferential fisheye camera, it is easy to make the center of the captured circular image substantially parallel to the mounting surface of the vehicle.
(J) The mounting member may be provided with a simultaneous rotation member as described above. For example, a cable holding portion may be provided.

(K) A device that includes a video signal connector for connecting a video signal line from an imaging device and a connector for connecting other signal lines, includes at least one of the video signal connectors or the connectors in plurality, and performs processing based on the connected video signal connectors and signals from the connected connectors. The device includes a housing having a waterproofing mechanism that can be attached to a location in a vehicle where water may splash on the device, and a tube that is pulled out from the housing and is waterproofed against the housing. The connector is provided within the housing, and the video signal line and the other signal lines can be pulled out from inside the housing to outside the housing through the tube.

In this way, it is not necessary to make the connectors waterproof, and the number of failures due to water intrusion can be reduced more reliably and easily than in the past. In particular, even if the number of imaging devices and other devices connected to this device can be various (for example, various overall system configurations can be adopted), the entire device can be easily waterproofed by simply passing all the signal lines through this tube. The number of tubes may be multiple, but it is particularly preferable to use one. The length of the tube should be a length that can prevent the intrusion of water caused by precipitation and car washing into the vehicle. For example, the length of the tube should be longer than the length of the tube in the extension direction (the short side in FIG. 6(A)) of the surface of the housing that receives water (for example, the surface on the side shown in FIG. 6(A) in the embodiment). The tube should be a bundling member that is bundling around the circumference and is deformed when it is narrowed, narrowing the space between the opening of the tube, the video signal line, other signal lines, and the inner diameter of the tube. The tube should be made of a deformable material, and the housing should be made of a non-deformable material. This allows the housing to be more securely fixed to the vehicle, and the cable can be easily routed along the vehicle.
The housing of this device is provided with a removable portion for a recording medium for recording images from the imaging device, and the removable portion preferably has a structure that is waterproof when the recording medium is attached.

(L) A program for causing a computer to realize a function for displaying an image captured by the imaging device, the program having a display mode for displaying the captured image as is, and a plurality of display modes for displaying the captured image by converting the coordinates thereof, the program having a function for displaying a selection unit for selecting which display mode to use, the selection unit having an image representing the display method in each display mode, the selection unit having a first selection unit that displays an image representing the display method in each display mode in a state in which the entirety of the displayed image is visible, and a second selection unit that displays, for each display mode, the title of the display mode, a description of the display mode, and the image representing the display method in the display mode, the second selection unit being displayed when a display button that allows the entirety of the displayed image to be viewed is pressed.

In this way, the second selection section, which is displayed when a display button that allows the entire displayed image to be viewed is pressed, shows an explanation of the display method of each display mode and its image at a glance, allowing even first-time users to intuitively select the display mode they want to view, and once the user has seen the display in the second selection section and can understand the relationship between the display method of the display mode and the image representing the display method, they can simply make their selection in the first selection section without pressing the display button that displays the second selection section.
(M) The configurations (A) to (L) may be arbitrarily combined. The components (A) to (L) may also be arbitrarily combined.

The present invention can provide a device that is easier to use than conventional devices. For example, it can improve the inconveniences of conventional devices. For example, no matter how the mounting angle of the imaging camera in the imaging device is variably set, it is possible to configure the device so that the attachment member for the imaging camera is prevented from entering the image captured by the imaging camera more reliably than conventional devices, and it is also possible to achieve an overall smaller size compared to when multiple narrow-area cameras are used.

1A is a front view, FIG. 1B is a left side view, FIG. 1C is a right side view, FIG. 1D is a plan view, FIG. 1E is a bottom view, FIG. 1F is a rear view, and FIG. 1G is a perspective view showing an imaging device in a first embodiment of the present invention. 2(A) is a cross-sectional view showing an imaging device of a first embodiment of the present invention, FIG. 2(A) is a cross-sectional view taken along line A-A in FIG. 1(A), FIG. 2(B) is a cross-sectional view taken along line B-B in FIG. 1(A), FIG. 2(C) is an explanatory diagram showing mainly the internal imaging element substrate with the front portion of FIG. 1(A) removed, and FIG. 2(D) is an explanatory diagram showing mainly the internal connector and connector substrate with the front portion removed as in FIG. 2(C) and the imaging element substrate removed. 3A is a detailed external view showing the imaging device of the first embodiment shown in FIG. 1, FIG. 3A is a front view, FIG. 3B is a left side view, FIG. 3C is a right side view, FIG. 3D is a plan view, and FIG. 3E is a bottom view. 4A and 4B are perspective views showing the image pickup apparatus of the first embodiment shown in FIG. 1, with FIG. 4A being a perspective view seen from the front side, and FIG. 4B being a perspective view seen from the rear side. 5A is a diagram showing a sensor unit used by being connected to the imaging device of the first embodiment shown in FIG. 1 , FIG. 5(A) is a front view, FIG. 5(B) is a front view, FIG. 5(C) is a left side view, FIG. 5(D) is a right side view, and FIG. 5(E) is a rear view. 6A to 6F are diagrams showing a recording device that is connected to the imaging device of the first embodiment shown in FIG. 1 for use, with FIG. 6A being a front view, FIG. 6B being a left side view, FIG. 6C being a right side view, FIG. 6D being a plan view, FIG. 6E being a bottom view, and FIG. 6F being a perspective view. 7A and 7B are external perspective views showing a main unit (recording device) of the recording device shown in FIG. 6 when the recording device is made dustproof/waterproof, and FIG. 7A shows a case where the protective cover is formed from a non-transparent material, and FIG. 7B shows a case where the protective cover is formed from a transparent material. 8A is a perspective view showing the appearance of the recording device shown in FIG. 7, illustrating a method for inserting and removing an SD card, and FIG. 8B is a view showing a state in which the cover is open, and FIG. 8C is a view showing a state in which the SD card is inserted and removed. 7 is an explanatory diagram showing an example in which the imaging device of FIG. 1 and the main unit (recording device) of FIG. 6 are mounted on a forklift as a system; Fig. 10 is an explanatory diagram showing an example of a case where the imaging device of Fig. 1 is installed on a forklift, Fig. 10(A) is a plan view showing a conventional example, Fig. 10(B) is a front view of the same, Fig. 10(C) is a plan view showing an example of a case where the imaging device of Fig. 1 is installed on the ceiling part of the driver's seat of a forklift, Fig. 10(D) is a front view of Fig. 1(C), and Fig. 10(E) is a front view showing an example of a case where the imaging device of Fig. 1 is installed on the upper part in front of the driver's seat of a forklift. 1A is an explanatory diagram showing another example of the case where the imaging device of FIG. 1 is mounted on a forklift, FIG. 11B is an explanatory diagram showing the imaging range when the imaging device of FIG. 1 is mounted on the upper part of the driver's seat of a forklift facing downward, FIG. 11C is an explanatory diagram showing each imaging range when the imaging device of FIG. 1 is mounted on the upper part of the front side of the driver's seat of a forklift and a conventional camera is mounted on the upper part of the outside back of the driver's seat, and FIG. 11D is an explanatory diagram showing each imaging range when the imaging device of FIG. 1 is mounted on the upper part of the front side of the driver's seat of a forklift and the same imaging device is mounted on the upper part of the driver's seat facing downward and tilted slightly backward. 12A and 12B are explanatory diagrams showing further examples of the imaging range when the imaging device of FIG. 1 is installed on a forklift, and FIGS. 12(A) and 12(B) are explanatory diagrams showing an example of the imaging range when one imaging device of FIG. 1 is installed on the upper outside of the front of the driver's seat facing forward, and a conventional imaging camera is installed on the upper outside of the back of the driver's seat facing slightly downward, and FIGS. 12(C) and 12(D) are explanatory diagrams showing an example of the imaging range when two imaging devices of FIG. 1 are installed in the same positions as in FIGS. 12(A) and 12(B). 13A shows an example of a specific captured image when the imaging device of FIG. 1 is installed on a forklift, FIG. 13(A) shows an example of a captured image obtained when capturing an image under the same conditions as in FIG. 11(B), FIG. 13(B) shows an example of an captured image obtained when the capturing location is set within an office under the same conditions as in FIG. 13(A), and FIG. 13(C) shows an example of the image of FIG. 13(B) after flattening and displaying it. 14A and 14B are diagrams showing examples of a display screen for a captured image obtained by mounting the imaging device of FIG. 1 on a forklift, in which FIG. 14A shows a list of a plurality of display methods, and FIG. 14A shows an example of a specific selected display method. FIG. 15 is an explanatory diagram showing an enlarged list of display methods displayed in the main part of FIG. 14(A); FIG. 16A is a diagram showing an example of a captured image displayed on the display screen when normal display is specified in the list shown in FIG. 15, and FIG. 16B is a diagram showing an example of a captured image displayed in normal display. These figures show an example of a captured image that is displayed on the display screen when panoramic display is specified in the list shown in Figure 15, where Figure 17 (A) is a figure showing a guidance display screen, Figure 17 (B) is a figure showing an example of a captured image displayed in panoramic display, and Figure 17 (C) is a figure showing a partial enlarged display screen obtained when specified in Figure 17 (B). 18A and 18B are diagrams showing an example of a captured image displayed on the display screen when ring-shaped display is specified in the list shown in FIG. 15, where FIG. 18A is a diagram showing a guidance display screen, and FIG. 18B is a diagram showing an example of a captured image displayed in ring-shaped display. 19A and 19B are diagrams showing an example of a captured image displayed on the display screen when dome-type display is specified in the list shown in FIG. 15, where FIG. 19A is a diagram showing a guidance display screen, and FIG. 19B is a diagram showing an example of a captured image displayed in dome-type display. 20A and 20B are diagrams showing an example of a captured image displayed on the display screen when flat display is specified in the list shown in FIG. 15, where FIG. 20A is a diagram showing a guidance display screen, and FIG. 20B is a diagram showing an example of a captured image displayed in flat display.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an imaging device, a system, and a forklift equipped with a camera according to the present invention will be described with reference to the accompanying drawings.
(Imaging device)
First, the configuration of an image capturing apparatus 1 according to this embodiment will be described.

1 to 4, the imaging device 1 includes a wide-angle camera 2 equipped with a hemispherical lens 2A, and a device body 3 that houses and holds the wide-angle camera 2. The device body 3 includes, for example, a CMOS image sensor 13 as a signal conversion unit that sends signals to a recording device 6, which will be described later.
(Wide-angle camera and device body)

The wide-angle camera 2 is configured as a hemispherical camera 2 equipped with a hemispherical lens 2A. This hemispherical lens 2A has a configuration in which the lens is housed in a lens barrel made of aluminum die casting.

Here, in this embodiment, the hemispherical lens 2A is a lens with an angle of view exceeding 180°, and more specifically, the angle of view (VIEW AREA, field of view, field of vision) of the hemispherical camera 2 is set to approximately 210°. The dashed dotted line in FIG. 1(C) indicates the angle of view (field of view) of this imaging device 1 (and therefore hemispherical camera 2), and the range to the left of the dashed dotted line is within that field of view. Similarly, the area below the dashed dotted line in FIG. 1(C) indicates the field of view of the imaging device 1.

The hemispherical lens 2A has a barrel supported by the edge 3A of the lens projection hole in the device body 3 and by a lens holder 3B disposed inside the device body 3. Here, support by the lens holder 3B is achieved by screwing a screw thread 2B formed near the rear side of the barrel into a screw thread 3B' of the lens holder 3B.

In this way, the hemispherical lens 2A is held by the lens holder 3B in a state where it protrudes somewhat from the front surface of the device body 3. In addition, the periphery of the edge 3A has an outer shape that is rounded and inclined toward the rear surface as it moves away from the hemispherical lens 2A in the lens radial direction.

For this reason, a hemispherical camera 2 equipped with a hemispherical lens 2A prevents the periphery of the hemispherical lens 2A from being reflected in the field of view, even if the angle of view is around 210°.

In this way, the hemispherical camera 2 of this embodiment has the ability to capture a wide area in its field of view, including not only the area toward the front side of the camera (the area 180° toward the front side), but also some of the area toward the rear side (see Figure 1 (D)).

The CMOS image sensor board 14 carrying the CMOS image sensor 13 is disposed on the inner surface of the device body 3 so that the CMOS image sensor 13 is positioned on the rear side of the hemispherical lens 2A and at the position where an image is formed by the hemispherical lens 2A as the signal conversion unit.

In addition, the device body 3 also has a connector board 15, which is approximately the same size as the CMOS image sensor board 14 and is electrically connected to it, arranged on the inner side of the back side of the CMOS image sensor board 14.

In this way, by separating the CMOS image sensor board 14 from the connector board 15, which is approximately the same size, and arranging these boards in two layers, front and back, on the rear side of the hemispherical camera 2, it is possible to miniaturize the device body 3 so that the case housing these structures does not enter the field of view of the hemispherical lens 2A.
(Attachment member, elevation rotation setting mechanism)

The rear side of the device body 3 is equipped with an attachment member 4 for attaching the hemispherical camera 2 to another structure (for example, the body and head girder of a forklift, as described below). In this embodiment, the attachment member 4 is formed in a substantially rectangular plate shape. Furthermore, as shown in FIG. 4(B), the attachment member 4 has a screw hole 4C.

For this reason, in this embodiment, the hemispherical camera 2 is structured so that it can be easily attached to various other structures via this attachment member 4 (for example, this attachment can be achieved by attaching double-sided tape to the mounting surface 4A of the attachment member 4 and then further attaching this to the other structure).

Therefore, with the imaging device 1 described above, the attachment member 3 is disposed on the rear side of the hemispherical camera 2, so that many structures that hold the imaging device 1 are not positioned within the field of view of the hemispherical camera 2. Therefore, even if the hemispherical camera 2 according to this embodiment captures images over a wide range with an angle of view exceeding 180°, structures such as the attachment member 4 are never captured in the image.

In addition, because the hemispherical camera 2 is not stored inside a conventional cylindrical case but is instead partly held directly inside, the overall size of the imaging device 1 can be reduced, which has the advantage of making it easier to install on a forklift, for example.

Furthermore, the aforementioned hemispherical camera side of the attachment member 4 is equipped with a vertical rotation setting mechanism 5 that connects and holds the hemispherical camera 2 and fixes and integrates the hemispherical camera 2 so that it can be freely raised and lowered and at any desired vertical rotation position.

Specifically, as shown in Figs. 1(B) and 3(B), the elevation and rotation setting mechanism 5 is configured to include a cylindrical body 5A that is integrally molded with the upper end of the hemispherical camera 2 and protrudes forward (to the right in Fig. 1(B)) from the fastening member 4 that is arranged along the hemispherical camera 2, and a connecting mechanism 5B that is rotatably incorporated into the inner diameter portion of the cylindrical body 5A and engages with camera side fastening parts 5a, 5b that are previously installed at the upper end of the hemispherical camera 2 to fix and integrate the camera side fastening parts 5a, 5b with the cylindrical body 5A.

In this embodiment, the connecting mechanism 5B is configured as a connecting screw mechanism consisting of a bolt and a nut. Therefore, the desired elevation and rotation position can be set by tightening the tubular body 5A and the camera side locking parts 5a and 5b with this bolt and nut.

In this embodiment, the desired pivot position is set in 10° increments within the range of 0° to 90° when expressed using the opening angle range of the attachment member relative to the rear surface of the device body 1, as shown in FIG. 1(B).

The distance from the position of the engaging member 4 at the base of the bolt of the connecting mechanism 5 to the position of the upper end of the engaging member 4 (and the cable holding part 4B described later) is set to a length such that even when the engaging member 4 rotates around the bolt axis of the connecting mechanism 5 and the upper end of the engaging member 4 (and the cable holding part 4B described later) moves forward (to the right in Fig. 1(B)) as a result, the structure near the upper end of the engaging member 4 does not enter the field of view of the wide-area camera (hemispherical camera) 2. Therefore, it is possible to prevent the engaging member 4 from blocking the field of view of the wide-area camera (hemispherical camera) 2 (the area in front of the dashed line in Fig. 1(C)) regardless of the rotational position (opening angle) of the engaging member 4 between 0 and 90 degrees.

In addition, in the imaging device 1, because the elevation and rotation setting mechanism 5 is mounted on the upper end of the hemispherical camera 2, when the hemispherical camera 2 is installed with its upper end facing up, the hemispherical camera 2 is stably held hanging down by the attachment member 4. Therefore, in practice, the size and shape of the attachment member 4 can be freely set, so that when it is mounted on a forklift, for example, the attachment member 4 can be freely formed and processed to match the structure of the forklift, and the mounting position and lens orientation can always be set in an optimal state, thereby enhancing versatility in this respect.
(Cable connection mechanism)

Next, the cable connection mechanism 3C provided in the imaging device 1 of this embodiment will be described. Here, the connection cable 7 is a cable for externally outputting image information captured by the hemispherical camera 2 to a recording device 6 that is separately and removably provided and described later, and one end is provided with a cable side connector 7A for connecting to an imaging device side connector 32 (described later) provided on the device body 3 of the imaging device 1. The cable connection mechanism 3C removably receives this connection cable 7 in the device body 3.

Now, to describe the structure of this cable connection mechanism 3C in detail, in this embodiment, the cable connection mechanism 3C is configured to include a cylindrical connector receiving portion 31 that is a protruding portion of the right side surface of the device body 3 and has an opening on the right side surface, and an imaging device side connector 32 that receives the terminal of the cable side connector 7A inserted from the opening of this connector receiving portion 31. Here, the imaging device side connector 32 is fixed near the right end portion of the connector board 15 in a state where it is electrically connected to the connector board 15.

As shown in FIG. 3B, the cable side connector 7A has coaxial projections 7C and 7D that protrude separately from its front and rear surfaces. The projections 7C and 7D have rounded tips and are made of elastic rubber. On the other hand, the connector receiving section 31 has a through hole 3D that receives the projection 7C in the center area near the left end in FIG. 3A of the front side portion of the connector receiving section 31 that forms part of the front surface of the device main body 3. Similarly, as shown in FIG. 3B, a through hole (not shown) that receives the projection 7D of the cable side connector 7A is formed in the rear side portion of the connector receiving section 31 with a depth similar to that of the through hole 3D.

By fitting the protrusions 7C, 7D into the through holes 3D located at the front and rear, it is possible to prevent the cable side connector 7A from coming loose in the upward and leftward directions in FIG. 3(A).

As shown in Figures 3(A) to (D), the connection cable 7 extends upward from the upper end near the left end (in Figure 3(A)) of the cable-side connector 7A, then diagonally turns horizontally toward the rear and extends so as to be held by the cable holder 4B, which will be described later.

Furthermore, the cable connector 7A is composed of an input/output terminal to be inserted into the imaging device connector 32 described later, and a molded part having the input/output terminal in the central region on the right side in Fig. 2B. Of these, the molded part has a molded part side step formed by cutting out its lower right part (see Fig. 2B). Therefore, as described later, this molded part side step abuts against a corresponding connector receiving part side step of the connector receiving part 31 that receives the cable connector 7A, and when the cable connector 7A is fully inserted, it can be determined that the outer surface of the cable connector 7A protrudes from the device main body 1 by an amount that is not noticeable, and preferably, that the cable connector 7A does not protrude at all (see Fig. 3A, etc.).
Next, a waterproofing mechanism provided in the cable connection mechanism 3C will be described.

The cable side connector 7A is provided with a waterproof ring member 7B around its entire circumference. Meanwhile, a groove 33 corresponding to the shape of the ring member 7B is formed on the inner surface of the connector receiving portion 31 so as to go around the inner surface at a specific distance from the opening.

When the cable side connector 7A is inserted into the connector receiving portion 31, the waterproof ring member 7B on the cable side connector 7A elastically deforms and fits into the groove of the connector receiving portion 31, thereby providing waterproofing. By fitting these properly, the cable side connector 7A is prevented from slipping out in the left direction in FIG. 2(B).

The device body 3 is provided with a connector receiving portion 31, and this connector receiving portion 31 is formed with a groove 33 into which the waterproof ring member 7B of the cable side connector 7A fits. This allows the connection cable 7 to be attached and detached to the device body 3, and when the imaging device 1 is installed on any structure and the connection cable 7 is connected to the imaging device 1, it can be easily and simply routed.

In addition, while the cable side connector 7A of the connection cable 7 is connected within the connector receiving portion 31, this connection area is waterproof, so there is no need to worry about water getting into the imaging device 1 even when cleaning with water or in the rain.
(Cable holding part)
Next, the cable holder 4B for holding the connection cable, which is provided at the upper end of the engaging member 4, will be described.
The fastening member 4 is formed in a plate shape as described above, and is provided at the upper end thereof with a cable holding portion 4B for holding a connection cable.

As a result, the captured image information is output externally via the connection cable 7, and at the same time, the cable holding portion 4B of the attachment member 4 is provided, which makes it easier to route the connection cable 7 during installation. Also, when the device is actually used, for example when it is mounted on a forklift, the attachment member 4 holds the connection cable 7 even when the forklift moves or rotates rapidly, so the connection cable 7 does not swing around, making it less likely to come loose and eliminating the risk of it breaking.

In addition, because the attachment member 4 holds the connection cable 7, there is the advantage that the initially set shooting direction of the wide-angle camera 2 can be effectively maintained even when the forklift is moving rapidly.

In addition, even if the connection cable 7 breaks due to a problem during use, the camera device main body 3 and the connection cable 7 can be removed, so operation can be resumed by simply replacing the connection cable 7, providing peace of mind even in the event of a sudden problem. In addition, even if the connection cable 7 breaks due to a problem during use, the camera device main body 3 and the connection cable 7 can be removed, so operation can be resumed by simply replacing the connection cable 7, providing peace of mind even in the event of a sudden problem.

Furthermore, the cable holding portion 4B is oriented to hold the connection cable 7 so as to hold the connection cable 7 along the mounting surface 4A of the fastening member 4.

The cable holding portion 4B is provided to hold the connection cable 7 parallel to the plate-shaped attachment member 4, so that when the attachment member 4 is installed on a forklift structure, for example, the connection cable 7 can be routed along the surface of the structure, which has the advantage of preventing the connection cable 7 from coming off the structure and becoming easily caught.

Therefore, the imaging device 1 in this embodiment is designed so that the connection cable 7 is difficult to come loose, and even the routing of the connection cable 7 is taken into consideration, and further has the advantage that even if the connection cable 7 is broken, it can be easily removed and replaced.
(Sensor unit)
Next, the configuration of the sensor unit 8, which is used by being connected to a main unit (to be described later) via a sensor cable 9, will be described.

5, the sensor unit 8 is configured in a substantially flat rectangular parallelepiped shape (e.g., dimensions are 35 mm wide, 26 mm deep, and 10.7 mm high). This sensor unit 8 includes, for example, an acceleration sensor (not shown) for measuring the acceleration of a vehicle (in this embodiment, a forklift) on which the imaging device is to be installed, and a gyroscope (not shown) for measuring the angular velocity of the forklift on which the imaging device is to be installed.
Here, the sensor unit 8 simultaneously detects four items: acceleration (x (left and right), y (front and back), z (up and down)) and gyro (ω (horizontal rotation axis)) (the cord length is 3 m). The sensor unit 8 is also IP55 compliant (dustproof and waterproof). The cord length is 4 m.

As shown in FIG. 5(A), a triangular mark 8A is drawn on the outer surface of the sensor unit 8 to determine the forward direction (travel direction) of the forklift. In other words, the triangular mark 8A indicates the direction in which the sensor unit 8 should be affixed when the user actually attaches the sensor unit 8 to the forklift. Furthermore, a horizontal line 8B is also drawn on the same outer surface of the sensor unit 8 to determine the horizontal direction (side direction) of the forklift.

As a result, for example, if the sensor unit 8 is installed with the triangular mark 8A aligned with the direction of travel of a forklift and the horizontal line 8B aligned with the horizontal direction, the acceleration sensor can detect the acceleration of the forklift as acceleration information, and even when the forklift is turning by steering the rear wheels, the gyroscope can detect the angular velocity related to the forklift's turning motion as angular velocity information.

A sensor cable 9 for outputting acceleration information and angular velocity information detected by the acceleration sensor and gyroscope is provided on the rear side of the sensor unit 8. This sensor cable 9 is connected to a sensor cable terminal of the main unit 11, which will be described later.
(Main unit)
Next, the configuration of the main unit 11 incorporating the recording device 6 for recording image information input from the imaging device 1 will be described.
Here, the main unit 11 is a unit to which various units (imaging device 1, sensor unit 8) are connected, and an SD card as a recording medium is also inserted here (more specifically, recording device 6). This unit is the heart of the system. The main unit 11 is IP55 compliant (dustproof/waterproof). Here, the SD card is a dedicated SD card that can withstand the effects of a drive recorder that repeatedly writes data. The SD card has a capacity of, for example, 8 GB, 16 GB, or 32 GB.

As shown in Figures 6 to 8, the main unit 11 is composed of a base 11a, a main unit body (inner cover) 11A that covers (contains) the recording device 6 arranged on the base 11a and various connectors 12 electrically connected thereto, a protective cover 11B that covers the main unit body 11A waterproofly and dustproofly via a packing (not shown) attached to the base 11a, and a tube 11C that extends leftward from a partial area of the left side of the protective cover 11B (in Figure 5 (A)).

Of these, the recording device 6 is composed of a memory card reader/writer (in this embodiment, an SD card reader/writer) for recording images captured by the imaging device 1 on a removable recording medium. As will be described in more detail later, one side of the main unit body 11A is equipped with a card slot 11D, which is one of the components of the memory card reader/writer (see Figures 8(A) and (B)).

The recording device 6 also has various connectors 12, such as a camera cable connector 12A for connecting the connection cable 7 for transmitting image information (image signal) sent from the imaging device 1, as described above, a sensor cable connector 12B for connecting the sensor cable 8 for transmitting a sensor signal sent from the sensor unit 8, and a power cable connector 12C for a power cable.
The power cable is made of the same material as the conventional product, is connected to the battery of the forklift, and supplies power to the main unit. This power cable is 3 m long.

Here, when the engine of the forklift starts with the power cable 16 connected to the cigarette lighter socket of the forklift connected to the power cable connector 12C, power is supplied to the main unit 11, and power is supplied to the recording device 6, the sensor unit 8, and the imaging device 1. As will be described later, when power is supplied by starting the engine, the recording device 6 starts recording images captured by the imaging device 1, and continues this recording until the engine is turned off.
Furthermore, the recording device 6 can also record the sound generated during shooting together with the captured image by using a sound collecting microphone (not shown) provided inside the main unit body 11A.
Furthermore, the protective cover 11B is formed in a flattened, approximately rectangular parallelepiped shape (the dimensions of the product in this embodiment are, for example, 154 mm×94 mm×26 mm).

Next, the tube 11C is made of a resin such as silicone and has a hollow passage extending in the longitudinal direction of the tube 11C. An opening that is the same as or slightly smaller than the outer dimensions of the tube 11C is formed in a portion of the left side surface of the protective cover 11B (in FIG. 5(A)), and one end of the tube 11C is glued to this opening.

Therefore, the tube 11C can be connected to the various connectors 12 of the main unit body 11 by inserting various cables such as the connection cable 7 for the imaging device 1, the sensor cable 9, and the power cable 16. Furthermore, with the various cables inserted in this way, the flexible silicone tube can be tied with string, rubber, a tie wrap, or the like to prevent water from entering. Regarding the position of the tie, if tying in one place, it is preferable to tie in one place on the open end side (the side closest to where water enters). It is also preferable to tie in two places instead of one, and if tying in two places, it is preferable to tie in one place on the open end side and one place on the main unit body side.

In this case, this system (described in detail later) has connectors for connecting various external devices according to the system configuration, and various types and numbers of cables can be connected to these (for example, by configuring one, two, three, four, etc. cameras, the number of camera connection cables 7 can be one, two, three, four, etc. depending on whether the sensor unit 8 is connected or not, and the number of sensor cables 9 can be one or none depending on whether a cable connecting to a GPS is wired or not). Therefore, various numbers of various cables are wired to this main unit 11, and the connectors used for this wiring are different each time. Therefore, it is very troublesome to waterproof the various connectors individually. Therefore, instead of waterproofing each connector, it is possible to make it difficult for water to enter by passing various types of cables to be connected together through tube 11C regardless of the system configuration and bundling this tube.

Furthermore, a door 11E for inserting and removing an SD card is formed in an area of the protective cover 11B that faces the opening 11D for inserting and removing a card of the card slot of the main unit body 11A when the protective cover 11B is installed on the base 11a. Furthermore, when the door 11E is in the door closed position, the door 11E covers the opening 11D for inserting and removing a card of the main unit body 11A.
The surrounding structure is sealed via a packing.

Therefore, even when the protective cover 11B is in place, the SD card can be inserted and removed, and when the door 11E is in the closed state, waterproof and dustproof functions are realized.
The main unit is now waterproof and dustproof, making it easy to insert and remove SD cards for everyday use without the need for tools.

Therefore, if the free end side (i.e., the open end side) of this tube 11C is facing downward and installed, for example, on a vehicle body structure near the feet of a forklift driver, even if it gets wet due to rain or a car wash, the water can be prevented from entering the inside of the main unit 11 via the tube 11C. In addition, the protective cover 11B is sealed to the base 11a using a packing, and the door 11E is also sealed to the surrounding structure via a packing, so that the waterproof and dustproof properties of the main unit 11 are achieved in accordance with IP55 (dustproof/waterproof compatible).

Therefore, compared to conventional main units for imaging devices and forklift monitoring cameras, it has higher waterproof and dustproof functions, and therefore greater freedom in installation location (selection of installation location) (in some cases, water may get splashed under the seat when cleaning the forklift, but with this embodiment, there is no need to worry about the main unit breaking down).
(Example of installation position on a forklift)
Next, an example in which the imaging device 1 is installed on a forklift 20 and a forklift equipped with the imaging device 1 will be described.
9 to 12 show installation images of the imaging and recording system (drive recorder) according to this embodiment.

Here, the imaging and recording system is composed of an imaging device 1 that can be attached to a forklift 20, a sensor unit equipped with a sensor that measures the acceleration and/or angular velocity of the forklift 20, and a recording device 6 that records the images captured by this imaging device 1.
Here, this imaging recording system can be connected to an additional imaging device (additional sub-camera) (which is the same as the imaging device 1 described above) and an additional sub-camera (which is a unit equivalent to the imaging device attached to a conventional drive recorder (DR-800), and has a cord length of 3 m).
Here, the additional sub-camera has a recording resolution of 2 million pixels, a lens angle of view of 154.8° diagonally (121.3° horizontal, 62° vertical), the additional sub-camera has a lens angle of view of 154.8° diagonally (121.3° horizontal, 62° vertical), the maximum recorded image is 154.8° diagonally (121.3° horizontal, 62° vertical), the minimum subject illuminance is 1 Lux, the dimensions are 51 mm (W) x diameter 33 mm (diameter), and the weight is 40 g (including bracket).

The forklift 20 also includes a vehicle body, a head guard 21 that is installed on top of the vehicle body to protect the head of the occupant from falling objects, and forks that are attached via a lifting device that is provided at the front of the vehicle body 20.

In Figures 9 to 12, the areas depicted as sectors, semicircles, and circles with the imaging device 1 mounted on the forklift 20 at the center show the image of the field of view of this imaging device 1. However, the arc portions of these sectors, semicircles, and circular peripheries do not mean that the field of view does not extend beyond these.

The following (1) to (4) are shown as examples of installation of an imaging and recording system. A common feature of these installation examples is that a main unit 11 having a recording device 6 in this embodiment is installed under a seat, and the recording device 6 is connected to each imaging device 1 (hemispheric camera) by a connection cable 7.

(1) Installation example 1 is an example in which only one imaging device 1 (hemispherical camera) of this embodiment is installed facing downward in the central area of the ceiling part of the head guard 21 of the forklift 20 (see the upper left diagram in Figure 9, Figures 10(C) and (D), and Figure 11(B)).
Therefore, compared to the conventional (current) two-camera shooting (see FIG. 11A), a wider area can be confirmed with one camera.
If hemispherical (180°) photography were possible, the scope of photography would be expanded. On the other hand, if it were a full-sphere (360°) photography, it would be difficult to take pictures due to obstacles such as forklift poles, people, and luggage. Therefore, a hemispherical (180°) camera can be installed in the place you want to take pictures.

Here, "facing downward" does not necessarily have to be facing directly downward; for example, even if the camera is slightly tilted backwards, as long as the luggage on the forks at the front of the vehicle and/or the area around the handlebars of the driver's seat are within the field of view (see, for example, the example of the rear camera in Figure 11 (D)), this may also be considered "facing downward."

Moreover, the central area of the ceiling portion of the head guard 21 means the area approximately above the head of the driver's seat of the forklift 20. If the imaging device 1 (hemispherical camera) is installed in this central area, imaging will be performed near directly above the head of the operator of the forklift 20, so that an image can be recorded closer to the operator's line of sight.
However, in actual installation, it is possible to capture 360° of the surrounding area, even if it is not directly above the driver's seat, as long as it is installed facing downward from the ceiling.

(2) This is an example in which the imaging device 1 (hemispherical camera) of this embodiment is installed facing forward in the upper front area of the head guard 21 of the forklift 20 (see FIG. 10(E)).

Here, the upper front region of the head guard 21 is any area near the front side of the frame member that extends in the left-right direction at the front of the head guard 21, and is preferably near the center of the front side of the frame member that extends in the left-right direction at the front.

By installing the imaging device 1 (hemispherical camera) in this position, a wider forward field of view can be ensured, and even if a tall load is placed on the forks, the view is not obstructed by the load and the view in front of the forklift 20 can be effectively captured and recorded. In addition, the imaging device 1 (hemispherical camera) does not obstruct the operator's view.
In addition, this single camera can record images from all directions, so the driver can see the situation at a glance in the direction they are looking. Furthermore, by understanding the overall situation, it is possible to predict danger and use it for education on how to prevent serious accidents.
Furthermore, with just one camera, you can see the vertical situation, so by checking the situation at the end of the fork, the situation at the end of the fork, and the situation below the fork, you can verify what kind of dangers may be lurking.

(3) In addition to the imaging device 1 (hemispherical camera) of installation example (2), this is an example in which a conventional camera is installed facing slightly downward in the upper area on the rear side of the head guard 21 of the forklift 20 (see Figures 11 (C), 12 (A) and (B)).
In this case, it is possible to take pictures of luggage that is high up. Furthermore, it is possible to take pictures of the rear, but the driver does not take pictures.

(4) In addition to the imaging device 1 (hemispherical camera) of installation example (2), an additional imaging device 1' (hemispherical camera) of this embodiment is installed in the upper area on the rear side of the head guard 21 of the forklift 20 at an installation angle tilted slightly rearward from a downward orientation (see Figures 11 (C), 12 (C) and (D)).
In this case, it is possible to capture images of luggage that is in a high place. Furthermore, it is possible to capture images of the rear and the driver.

The installation angle that is tilted slightly backward from the downward direction is essentially the same as in installation example (1), and is an installation angle that allows the luggage on the forks at the front of the vehicle and/or the area around the handlebars in the driver's seat to be included in the field of view.

For comparison, an example is also shown in which two separate conventional cameras are installed in the upper rear area of the head guard 21 of the forklift 20, facing forward and downward (towards the driver's seat) and slightly downward (see Figures 10(A) and (B) and Figure 11(A)).
(Photos and playback software)
Next, the captured images and environmental information recorded by the recording device 6 and the software for reproducing them will be described with reference to FIGS.
This software is dedicated software (inside the SD card) and allows the captured images to be displayed and printed on a Windows 7/8 (Windows is a registered trademark) computer. Reports can also be output, making it possible to grasp the situation without having to check all the images.

Figure 13 (A) shows an example of a captured image obtained when the imaging device 1 (hemispheric camera) of this embodiment (1) is installed in the position shown in the above-mentioned installation example (1). This captured image shows the driver operating the forklift 20 in the driver's seat in the central area, and in front of the driver, the steering wheel and other items that the driver is operating. In addition, the four support pillars of the head guard 21 can be seen radiating out from the driver's seat on all four sides.

Furthermore, between the two front pillars of the head guard 21, the cargo loaded on the forks of the forklift 20 and part of the lifting device (e.g., the mast) used to raise and lower the cargo using the forks are also visible. In addition, the left and right areas and the rear area are also visible, connected to the forward area including the cargo. All of this can be confirmed in a single image.

Figure 13 (B) shows an image captured by the imaging device 1 (hemispheric camera) of this embodiment (1) when it is installed facing downward on the ceiling, and is displayed by launching dedicated captured image viewing software (hereinafter referred to as "PC viewer") running on a personal computer.

First, this PC viewer is downloaded by the user and used on the user's own personal computer. When the user executes the downloaded PC viewer program, the program is loaded into the computer's processing unit, and the following functions can be realized.

The display screen of the PC viewer is equipped with a captured image display area located in the upper left of Figures 13(B) and (C) that displays the contents of the captured image file loaded into the PC viewer, and a file data display area located in the upper right of the figures that displays the capture date and time, recording start time, recording time, etc. of each captured image file recorded on the recording medium. In addition, below the captured image display area, a timeline of the image and a cursor are displayed, and by moving this cursor on the screen with a mouse or the like, the image can be played back from the desired time.

Here, the captured image in Figure 13 (A) is displayed in the captured image display area, etc., by reading it as a video file into the PC viewer from the SD card that is removed from the main unit 11 and inserted into the slot of an SD card reader connected to the personal computer.

The display screen also includes, near the bottom center of the figure, an audio volume adjustment area, an area for operation buttons for rewinding, previous frame, reverse play, stop, play, next frame, and fast forwarding, a switching button area for selecting and switching between one of the four cameras with one click, a single screen button area, and a 16-split button area.

Furthermore, below and to the lower left of each operation button area, there are provided an acceleration/angular velocity graph display area and an acceleration/angular velocity numerical display area (for angular velocity display, see also Figures 14(A) and (B), etc.) that display the acceleration in the X-, Y-, and Z-axis directions recorded by the acceleration sensor and the angular velocity ω recorded by the gyroscope, as well as a speed display area for the forklift 20.

In addition, Figures 14(A) and (B) show illustrations showing the direction of travel, acceleration, and angular velocity axes of the forklift 20, helping the user understand the acceleration/angular velocity graph display area and the acceleration/angular velocity numerical value display area.

As can be seen clearly in Figure 14(A), icons with illustrations symbolizing various functions are displayed at the top of the display screen, and clicking on these icons allows the user to perform various functions such as file operations.

Among these, when the icon portion depicting a square and a dome shape, second from the left in Figure 14 (A), is pressed, it has the function of displaying a sub-screen that allows the user to select from a list of five display screens, which will be described below.

This sub-screen for selecting a display screen is shown enlarged in FIG. 15. In this embodiment, the PC viewer has (1) a normal display function (normal display mode) that displays an image captured (recorded) by a hemispherical camera (180° camera) as is (fisheye state) (FIG. 16), (2) a panoramic display function (panoramic display mode) that displays a single image in a horizontal 360° direction (it is also possible to enlarge a portion by zooming in, and it can be moved to any location by moving the scroll bar below) (FIG. 17), (3) a ring-shaped display function (ring-shaped display mode) that displays a panoramic image in a ring-shaped image (FIG. 18), (4) a dome-shaped display function (dome-shaped display mode) that displays a dome-shaped image (FIG. 19), and (5) a flat display function (flat display mode) that enlarges a portion of the dome-shaped image and displays it flat (FIG. 20).

The sub-screen for selecting the display screen displays, from left to right, the title of each display mode, a description that verbally explains how the titled display mode is displayed, and a selection button that displays an image showing how the titled display mode is displayed (in this embodiment, an illustration symbolizing each display function is drawn). These are arranged vertically for each display mode, allowing selection. As a result, the description of the display function and the illustration symbolizing the function are simultaneously visible to the user, making it easy for the user to intuitively find and select the desired display function.

The illustrations symbolizing the above display functions are also depicted on shortcut buttons that allow you to quickly execute each display function by simply clicking on them, as shown in the lower center of Figure 14 (B).

By using this button, each display screen can be switched in succession without going through the sub-screen for selecting the display screen, thereby speeding up the confirmation work.
As mentioned above, the above software is equipped with new functions that support 180° shooting, allowing you to check the image more intuitively. For example, by clicking on the icon with an illustration symbolizing each function at the top of the software's display screen, a diagnostic will be displayed and you can check the type of image processing you want to use. Also, once you get used to it, you can switch to the screen you want to check with one click, as there are shortcut buttons in the center of the software screen.
The screens in this embodiment described above are merely examples, and the PC viewer also has display areas and functions that are not included in the display areas and functions listed here.
〔how to use〕
(Installation of imaging devices, etc.)

First, a user (e.g., a manager of the forklift 20) installs one or more imaging devices 11 on any structure of the forklift 20 prior to actual use, as illustrated in Figs. 10 to 12. This installation is performed, for example, by attaching double-sided tape to the mounting surface 4a of the attachment member 4 and attaching this to any structure of the forklift 20. At this time, in order to determine the orientation of the imaging device 1, the elevation and rotation setting mechanism 5 is used to set the opening angle of the device body 3 relative to the attachment member 4. This opening angle is set in the range of 0 degrees to 90 degrees.

The sensor unit 8 is also placed in a position on the forklift 20 where the triangular mark 8A is aligned with the direction of travel of the forklift 20, preferably under the seat or in a location that is unlikely to get wet from rain or other sources.

Furthermore, for the main unit 11, the connectors at one end of the cable 7 connected to the imaging device 1, the sensor cable 9 from the sensor unit 8, and the power cable are passed through tubes 11C and then connected to various connectors 12 on the main unit body 11A. Meanwhile, the connectors at the other ends of the connection cable 7, sensor cable 9, and power cable are also connected to the respective connectors of the imaging device 1, the sensor unit 8, and the cigarette lighter socket (not shown).

When connecting the connection cable 7 to the imaging device 1, first, the terminal of the cable side connector 7A is inserted toward the imaging device side connector 32 until the molded part side step of the molded part of the cable side connector 7A abuts against the corresponding connector receiving part side step of the connector receiving part 31. When in this abutting position, the side part of the cable side connector 7A exposed to the outside of the device body 3 (the left side part of the cable side connector 7A in FIG. 2(B)) is installed in a state where it protrudes from the side of the device body 3 to an extent that it is barely noticeable, and preferably is set inward from the side of the device body 3. Because of this configuration, the cable side connector 7A is hidden on the back side of the device body 3, preventing it from entering the field of view of the imaging device 1.

Furthermore, when the connector 7A reaches the above-mentioned abutting position, the waterproof ring member 7B on the cable connector 7A fits into the groove of the connector receiving portion 31, thereby providing a waterproof function and preventing the cable connector 7A from slipping out to the side of the device body 3. Furthermore, the protrusions 7C and 7D of the cable connector 7A fit into the corresponding through holes provided at the front and rear (only one of the through holes, 3D, is shown in FIG. 3(A) and other figures), thereby preventing the cable connector 7A from slipping out to the side or upward of the device body 3.
(Recording of photographed images, etc.)

When the engine of the forklift 20 is started, power is supplied from the cigarette lighter socket to the main unit 11 , and power is then supplied from there to the imaging device 1 , the recording device 6 , and the sensor unit 8 .
When power is supplied in this manner, the imaging device 1, the recording device 6, and the sensor unit 8 start operating in cooperation with each other.

Specifically, the image capturing device 1 transmits the captured image to the recording device 6, which starts recording the transmitted captured image at one frame per second (if an event such as a collision occurs, the recording device 6 records the transmitted captured image at 30 frames per second before and after the event). At this time, the recording device 6 also associates each piece of sensor information transmitted by the sensor unit 8 with the captured image as environmental information related to the captured image, and records this as image information on the SD card.
This recording ends when the engine of the forklift 20 is shut off.
(Viewing recorded images using a PC viewer)

The user inserts the SD card removed from the main unit 11 into an SD card reader that is connected to a personal computer on which the PC viewer is installed. The user then operates the PC viewer to load the desired image information file into the personal computer, and displays the captured image and environmental information on the display screen of the PC viewer.

In this case, the user can switch between various display modes such as normal display mode and panoramic display mode as desired for viewing images obtained from one imaging device, or can view images obtained separately from multiple imaging devices side-by-side on the display screen.
(Effects of this embodiment)

As this embodiment is configured as described above, it is possible to provide an imaging device, a system, and a forklift using the same that can reliably prevent the attachment member for the imaging camera from entering the image captured by the imaging camera, regardless of how the mounting angle of the imaging camera in the imaging device is variably set, and that allows for an overall smaller size.

In addition, the system equipped with the imaging device can be attached to a forklift, so that, for example, if the imaging device is installed on the structure of the forklift, it is possible to capture and record images of a wide area including the front area, rear area, left and right areas, upper area, and driver's seat area, which are necessary for investigating collision accidents and cargo collapse that may occur during the operation of the forklift, with a single imaging device. Moreover, since the imaging device is designed so that the imaging device structure does not enter the field of view, it is possible to capture and record the widest possible area.

Furthermore, forklifts equipped with the above system can not only record the area in front of the forklift where forklift collisions and collapsed cargo often occur, but can also record other areas, i.e., the area above the forklift's cargo lifting device, the area below the forks when the cargo lifting device is operated to lift a cargo on the forks, the left and right areas of the forklift, the driver's seat area, and in some cases the rear area, as continuous images in the forward area. Furthermore, by utilizing this collected image information, the results of work on the front side of the forklift after the work is completed can be reliably and effectively understood and managed.
Other Embodiments
The connecting mechanism 5B of the elevation/retraction setting mechanism 5 may be configured with a quick lever mechanism or other mechanism instead of the connecting screw mechanism.
Furthermore, the elevation/relief rotation setting mechanism 5 may be configured to set the elevation/relief rotation position in increments of 10°, but may be configured to set the elevation/relief rotation position in increments of 5° or to be configured steplessly.

The cylindrical body 5A integrally molded with the fastening member 4 and the camera side fastening portions 5a, 5b pre-installed at the upper end of the hemispherical camera (wide-area photography camera) 2 may also be a cylindrical body 5A integrally molded with the upper end of the hemispherical camera (wide-area photography camera) and fastening member side fastening portions 5a, 5b pre-installed on the fastening member 4.

In addition, instead of attaching the hemispherical camera 2 to the mounting surface 4A of the attachment member 4 using double-sided tape, it may be attached with any adhesive. It may also be screwed to a structure (e.g., a forklift) by passing a screw through a screw hole formed in the attachment member 4. The hemispherical camera 2 may also be configured with a cable tie insertion hole. In this case, a cable tie is passed through the cable tie insertion hole to fasten it to any structure.

The imaging device 1 may be attached to the tip (claw) of the fork of the forklift 20 via the fastening member 4. The imaging device 1 may also be attached to the mast of a lifting device of the forklift 20, etc., facing forward.
Furthermore, the imaging device 1 may be attached to the side of the forklift, that is, to the side of the forklift body, the side of the head guard 21, or the like.
For example, depending on the contents of the cargo being transported by the forklift, the range that the camera can capture from its installation position can be important, providing a significant advantage in such cases.
Also, instead of the power cable 16, an external trigger/general-purpose input cable that can record general-purpose input information in addition to power when connected may be connected to the main unit 11 (when this is used, the power cable 16 is not used).

A two-way split function may be added to the screen display of the PC viewer, and images taken by a camera facing forward and a camera facing backward may be displayed side by side. In this case, the display size of the two images may be the same, or one may be larger than the other. This may make it easier to verify the details of the accident.
The components of the modified examples and the contents of each embodiment, and elements to which the elements and ideas described in the means for solving the problems are applied may be combined in any manner to form an embodiment.

1 Imaging device 2 Wide-area camera (hemispheric camera)
Description of the Reference Numerals 2A Hemispherical lens 2B Screw thread 3 Device body 3A Edge 3B Lens holding portion 3B' Screw thread 3C Cable connection mechanism 3D Through hole 4 Attachment member 4A Mounting surface 4B Cable holding portion 4C Screw hole 5 Raise and lower rotation setting mechanism 5a, 5b Camera side engaging portion 5A Cylindrical body 5B Linking mechanism 6 Recording device 7 Connection cable 7A Cable side connector 7B Waterproof ring member 7C Protrusion 7D Protrusion 8 Sensor unit 9 Sensor cable 11 Main unit 11a Base 11A Main unit body (inner cover)
11B Protective cover 11C Tube 11D Card slot 11E Door 12 Connector 12A Camera cable connector 12B Sensor cable connector 12C Power cable connector 13 CMOS image sensor 14 CMOS image sensor board 15 Connector board 16 Power cable 20 Forklift 21 Head guard 31 Connector receptacle 32 Imaging device side connector 33 Groove

Claims (9)

An imaging device for capturing an image of a predetermined imaging range in a vehicle, the imaging device comprising: imaging means having an angle of view for capturing an image in which a plurality of monitoring targets in different directions are included in the predetermined imaging range; and mounting means for mounting the imaging means at a mountable position on the vehicle such that the plurality of monitoring targets in different directions are included in the predetermined imaging range;
the mounting means includes a mounting member having a flat portion that can face a flat portion at a position where the mounting means can be attached to the vehicle;
The mounting member is provided with a screw hole, and configured to be screwed to the vehicle by passing a screw through the screw hole;
The imaging device according to the present invention is characterized in that the imaging means is provided with a cable tie insertion hole , and a cable tie is passed through the cable tie insertion hole so as to be fastened to an arbitrary structure . An imaging device for capturing an image of a predetermined imaging range in a vehicle, comprising: an imaging means; and an attachment means for attaching the imaging means to the vehicle;
the mounting means includes a mounting member having a flat portion that can face a flat portion at a position where the mounting means can be attached to the vehicle;
The mounting member is provided with a screw hole, and configured to be screwed to the vehicle by passing a screw through the screw hole;
The imaging device according to the present invention is characterized in that the imaging means is provided with a cable tie insertion hole , and a cable tie is passed through the cable tie insertion hole so as to be fastened to an arbitrary structure . 3. The photographing device according to claim 1, further comprising an imaging direction adjustment means for adjusting the imaging direction of the imaging means in a state in which the mounting member is attached to the vehicle so as to face a flat portion at an attachable position on the vehicle, and the mounting member and the imaging direction adjustment means have a relationship between the angle of view and a range of the adjustable imaging direction set so that the mounting member and the imaging direction adjustment means do not fall within the angle of view of the imaging means over the entire range of the adjustable imaging directions of the imaging direction adjustment means. The photographing device according to claim 3, characterized in that the imaging direction adjustment means is a hinge mechanism provided between the mounting member and a housing having the imaging means, and is capable of opening and closing the space between the mounting member and a housing having the imaging means from a predetermined minimum angle to a predetermined maximum angle about an axis of the hinge, and is further configured to include an angle fixing means capable of fixing the angle at a user's desired angle. The photographing device according to claim 4, characterized in that the hinge mechanism is provided between a position protruding from a surface opposite to a surface having a flat portion that can face a flat portion at a position where the device can be attached to a vehicle, and a position protruding from a housing having an imaging means in a direction perpendicular to an imaging direction of the housing. The photographing device according to claim 4 or 5, characterized in that the imaging direction of the imaging means is configured to be approximately parallel to a direction opposite to a normal direction of a mounting surface of the mounting member to the vehicle when the hinge mechanism is closed. 7. The photographing device according to claim 4, wherein the imaging direction of the imaging means is configured to be substantially parallel to a direction perpendicular to a normal direction of a mounting surface of the mounting member to the vehicle when the hinge mechanism is fully open. A device comprising a video signal connector for connecting a video signal line from an imaging device according to any one of claims 1 to 7, and a connector for connecting other signal lines, and comprising at least one of the video signal connectors or the connectors in plurality, and performing processing based on the connected video signal connectors and signals from the connected connectors, the device comprising a housing having a waterproofing mechanism that can be attached to a location in a vehicle where water may splash on it, and a tube that is pulled out from the housing and waterproofed against the housing, the connector is provided within the housing, and the video signal line and the other signal lines can be pulled out from inside the housing to outside the housing through the tube. A program for causing a computer to realize a function for displaying an image captured by an imaging device according to any one of claims 1 to 7, comprising a display mode for displaying the captured image as is, and a plurality of display modes for displaying the captured image by converting the coordinates thereof, and a function for displaying a selection unit for selecting which display mode to use, the selection unit comprising an image representing the display method in each display mode, the selection unit comprising a first selection unit that displays an image representing the display method in each display mode in a state in which the entirety of the displayed image is visible, and a second selection unit that displays, for each display mode, the title of the display mode, a description of the display mode, and the image representing the display method in the display mode, the second selection unit being a program that is displayed when a display button that allows the entirety of the displayed image to be viewed is pressed.