JP2017132298A - Imaging apparatus, system, and forklift equipped with the system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus, a system, and a forklift which effectively avoids that a locking member for an imaging camera enters a photographing image of the imaging camera, and can be miniaturized as a whole.SOLUTION: An imaging apparatus 1 is provided with: a wide area imaging camera 2 with a semispherical lens 2A; and a locking member 4 which is arranged on a rear surface side of the wide area imaging camera 2 to lock the wide area imaging camera 2 to other structure, in which the locking member 4 is equipped with a derricking rotation setting mechanism 5 for coupling, holding the wide area imaging camera 2, fixing and integrating the wide area imaging camera 2 to freely derrickably rotate and at an optional derricking rotation position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to, for example, an imaging device, an imaging system, and a forklift equipped with the system, and is suitable for recording the position and movement of a person or an object, for example, equipped on a cargo handling machine such as a forklift. The present invention relates to an imaging device, a system, and a forklift equipped with the system.

  2. Description of the Related Art Conventionally, there has been known an imaging apparatus configured to devise a camera mounting means so that various shooting directions of a camera can be changed. In this case, changing the shooting direction sometimes causes a disadvantage that a part of the camera mounting mechanism plate or the like located around the camera enters the image.

  On the other hand, for these, for example, a method is known in which a camera is mounted in a cylindrical camera holder and the camera is raised and lowered in a fixed position by reciprocatingly rotating the cylindrical camera holder (for example, Patent Document 1) below.

JP 2010-105530 A

  However, the method disclosed in Patent Document 1 has the disadvantages that the entire imaging apparatus is easily increased in size and poor in portability and maintainability because the entire camera is stored in a cylindrical camera holder.

  Furthermore, since the mounting member is mounted on a part of the outer periphery of the cylindrical camera holder so as to protrude from the outer peripheral surface, depending on the fixing position of the mounting member, it may be within the lens surface of the camera. There is an inconvenience that a part of the attachment member may enter.

  The present invention improves the disadvantages of the conventional example as described above, for example, effectively avoids the engaging member for the photographing camera from entering the photographed image of the photographing camera and reduces the overall size. An object of the present invention is to provide an image pickup apparatus that can perform the above, a system using the image pickup apparatus, a forklift equipped with the image pickup apparatus, and the like, which are more convenient than conventional ones.

(1). The imaging device
A wide-area camera, and an engaging member that is disposed on the back side of the wide-area camera and engages the wide-area camera with another structure;

  The engaging member is equipped with a undulation rotation setting mechanism for connecting and holding the wide-area shooting camera and fixing the wide-area shooting camera at an arbitrary undulation rotation position. It is good to take.

  In this way, since the engaging member is disposed on the back side of the wide area photographing camera, even if the wide area photographing camera captures a wide range of information existing in the photographing range, The possibility that the accompanying structure is reflected in the captured image can be reduced, and a wide range other than the structure related to the camera can be imaged to the maximum with one camera.

  In this way, for example, a forklift or the like, in particular, a vehicle in which people are frequently getting on and off, or a vehicle having an operation (for example, a loading / unloading operation) other than an operation for moving a person (for example, forward / backward movement of the vehicle). In addition, it is possible to reduce the possibility that a structure attached to the camera such as an engaging member may be in the way and, for example, a part of an operation other than a person getting on and off or a movement of a person cannot be photographed. Therefore, it is possible to reduce the necessity of being aware of such a problem during the mounting work, and the mounting can be performed easily and quickly.

  The wide area photographing camera is preferably a camera having an angle of view exceeding 180 °. For example, the camera may have a field angle exceeding 180 ° in the diagonal direction, and particularly a camera having a field angle exceeding 180 ° in all directions.

  The wide area camera is preferably a camera equipped with a fisheye lens. The wide area photographing camera may be a camera having a diagonal fisheye lens, but is particularly preferably a camera having an all-around fisheye lens.

  The wide-area photographing camera is preferably a camera capable of photographing a hemispherical region, and a lens that forms an image on the hemispherical region on an imaging means such as an image sensor (referred to as a hemispherical lens in the present specification and claims). (It is not a term indicating a hemispherical lens)).

  The hemispherical lens may be a lens that can capture the entire sky (for example, a total field of view of about 180 degrees) in an image circle (image circle) of a predetermined size with respect to the imaging means. It is possible to adopt a diagonal fisheye lens that captures the entire field of view in the diagonal direction of the imaging area of the imaging means, but the whole field circle fits within the short side of the imaging area of the imaging means. An all-round fisheye lens is particularly effective. It is particularly preferable that the entire circumference of the field circle is captured.

  The image captured by such a camera or lens, for example, compresses the central part of the screen strongly and loosens the compression of the peripheral part, for example, the area occupied by the entire image of the image part captured for a subject of the same size, for example, It is often projected differently depending on the position in the image. In such an image, in particular, when a structure attached to the camera such as an engaging member is projected on the periphery of the image, the structure is widely projected on the periphery of the captured image. According to the above, it is possible to reduce the possibility that structures attached to the camera such as the engaging member are widely projected in the captured image, and to capture a wide range other than the structure related to the camera with one camera to the maximum. It becomes possible to do.

In particular, an excellent effect is exhibited in a camera having a lens that performs projection that is not a central projection method that keeps the shape of the subject and the image similar. For example, an excellent effect is exhibited when the camera is formed on the imaging means by a lens of a stereoscopic projection system or an equisolid angle projection system. The hemispherical lens may be a lens having an angle of view exceeding 180 °, for example, a lens having an angle of view of around 210 °.
The lens may be composed of a plurality of lenses.
The range of arbitrary undulation rotation may be, for example, a rotation range from 0 ° to a predetermined angle. In particular, the predetermined angle may be 90 °, for example.

  The angle of view and position of the wide area imaging camera and the position of the engaging member so that the engaging member that engages the wide area imaging camera with another structure does not enter the imaging range of the wide area imaging camera over the entire rotation range. And the relationship with the shape may be set. At any position within the rotation range, the rotation range, the angle of view of the wide area imaging camera, and the engagement member can be adopted so that a part of the engagement member is not reflected within the angle of view of the wide area imaging camera. A relationship with the position range may be set.

  The engaging member may be provided with a portion that moves with rotation or another member (hereinafter referred to as a simultaneous rotation member). As such a portion or member, a cable fastening portion for stopping a cable connected to the wide area imaging camera may be provided. The relationship between the position and shape of the simultaneous rotation member and the angle of view and position of the wide area imaging camera may be set so that the simultaneous rotation member does not enter the imaging range of the wide area imaging camera over the entire rotation range. The simultaneous rotation member may be provided with a cable holding portion described later.

  For example, the wide area photographing camera itself may be configured to directly hold a part thereof without being stored inside a cylindrical case or the like. In this way, the entire photographing apparatus can be further downsized. For example, when a lens having an angle of view exceeding 180 ° is configured as a camera of a type that is housed inside a conventional cylindrical case as described above, it is axially extended from a part of the cylindrical case or the center of the cylindrical case. There is a problem that the extended connection cable is reflected in the image, but according to such a configuration, it can be easily solved.

  For example, the wide area imaging camera has a flat surface portion on the back surface and a surface portion to be engaged with another structure of the engaging member, and the undulation rotation setting mechanism has a predetermined angle from 0 ° between both surfaces. It is better to be in the range of the angle. The predetermined angle may be 90 °.

  Although it is good also as a structure which can be rotated steplessly, it is good to set it as the structure which provides a latch etc. and is semi-fixed for every predetermined angle, for example. It is even better to provide a mechanism for changing from a semi-fixed state to a fixed state, such as a screwing mechanism. In particular, it is preferable to provide serrations that mesh at every predetermined angle. For example, the undulation rotation position may be set in increments of any angle in the range of 5 ° to 10 °.

  (2) The undulation rotation setting mechanism is disposed on the upper end portion of the wide area shooting camera along the wide area shooting camera and integrally formed with the engaging member, and on the inner diameter portion of the cylindrical body. A connecting mechanism that is rotatably incorporated and engages with a camera-side locking portion that is installed in advance at the upper end of the wide-area shooting camera, and fixes and integrates the camera-side locking portion with the cylindrical body. It is good to have a configuration.

  In this way, for example, when this wide area photographing camera is installed with the upper end facing upward, the wide area photographing camera is suspended and held by the engaging member in a stable state. For this reason, practically, the size and shape of the engaging member can be freely set. For example, when mounting on a forklift, the engaging member can be freely formed and processed according to the structure of the forklift, and the equipment position and lens orientation can always be set in an optimal state. There is an advantage that versatility can be increased.

  Here, the cylindrical body integrally formed on the engaging member, and the camera-side locking portion installed in advance on the upper end of the wide area camera, the cylindrical body integrally formed on the upper end of the wide area camera, and It is good also as an engaging member side latching | locking part previously installed in the engaging member.

  (3). A connection cable for externally outputting image information photographed by the wide-area photographing camera is detachably provided, the engagement member is formed in a plate shape, and a cable for the connection cable is formed at the upper end of the engagement member. A holding portion is provided.

  In this way, the cable can be easily routed at the time of installation, and when the forklift is installed, for example, during actual use, the engaging member holds it even during rapid movement and rotation of the forklift. Therefore, there is an advantage that the connection cable is not swung, the cable is difficult to be disconnected, and there is no fear of disconnection.

  In addition, since the engaging member holds the cable, there is also an advantage that the photographing direction of the wide-area photographing camera that is initially set can be effectively maintained even when the forklift moves drastically.

  Further, since the cable can be removed, there is an advantage that the wiring is easy and the risk of disconnection is small, and even if the cable breaks, it can be operated only by replacing the cable.

Here, the connection cable may be called a camera cable. The connection cable may be a cable that not only outputs image information but also can supply power to the imaging apparatus.
(4) The cable holding portion is disposed so as to hold the connection cable along a mounting surface of the engaging member.

  In this way, when the engaging member is installed on a structure of a forklift, for example, the connection cable can be routed along the surface of the structure, and the connection cable is easily caught away from the structure. There is an advantage that can be prevented.

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

In this way, when equipped with this imaging device on the structure of the forklift, the front area, the rear area, the left and right areas, which are necessary for verification of collision accidents and load collapse that may occur due to the operation of the forklift, A wide range of images including some of the upper area and the driver's seat area can be imaged with one imaging device, and the captured image can be recorded.
In addition, since the imaging apparatus is configured such that the structure of the imaging apparatus does not enter the field of view, it is possible to capture and record the widest possible range.

(6). The recording device may be a system characterized by associating the photographed image with environmental information related to the photographed image and recording this as image information.
By doing so, there is an advantage that the image information collected and collected can be used more effectively in accordance with the purpose by being displayed on the screen of the display device.

  Here, the environmental information related to the captured image includes, for example, the type of forklift equipped with a wide-area camera, vehicle speed, acceleration, angular velocity, camera location, and shooting conditions. Time, voice, shooting direction, etc. should be used.

  (7) The recording apparatus records the photographed image as a photographed image including both a front region of the forklift and a region other than the front region.

  In this way, not only the forklift front region where forklift collision accidents and baggage collapse occur frequently is recorded, but the other region, that is, the upper region of the forklift's load lifting device, drives the load lifting device. When the load on the fork is lifted, there is an advantage that the lower area of the fork, the left and right direction area of the forklift, the driver's seat area, and in some cases the rear area can be recorded as a continuous image in the front area.

  Forklifts are not driven by company employees, but for example, truck drivers who have transported luggage often rent their own forklifts to unload their luggage. There are various people in such truck drivers, and some of them drive violently (maneuver), and sometimes they make holes in their luggage (for example, cardboard) with their toes. In addition, even a driver who is a veteran who is driving fast, when he / she is chased by time, or when he / she is out of hand, he / she may make a hole in the baggage, or may collide when he / she goes out between the baggage. In addition to making holes in the luggage with toes, when lifting the lifting device, a part of the lifting apparatus or the luggage may hit the ceiling.

  In addition to the collision, information such as the driver's facial expression, the direction of the line of sight, the position of the handle, the presence or absence of fingertip confirmation, the driver's name written on the helmet, etc. are recorded simultaneously as images. It is also a useful resource when investigating the cause of an accident and considering future countermeasures. Eventually, it is possible to predict the danger by grasping the entire situation of the accident, and it can be used for education to prevent a serious accident.

For example, using the system disclosed in the above (5), it is a great advantage to mount a system capable of photographing and recording accidents occurring in such a wide range on a forklift.
(8). Equipping the system with a forklift,

  The image pickup device may be a forklift characterized in that the image pickup device is installed in the front upper side region of the forklift through the engaging member provided in the image pickup device toward the front.

For example, it may be configured to collect image information over a wide area including a range of about 180 degrees to 210 degrees with respect to the front in the moving direction of the forklift. In particular, there is an advantage that image information including images of not only the front area of the forklift but also the upper area and the left-right area of the forklift, particularly the high area in front, can be collected by a single imaging device. Further, by using the collected image information, there is an advantage that the work result on the front side of the forklift after the work can be grasped and managed surely and effectively.
(9) The imaging device may be installed downward in an upper central region of the forklift via the engaging member included in the imaging device.

    The entire 360-degree region around the forklift moving direction is collected as image information. In particular, not only the front region of the forklift but also the driver seat region, the rear region, and the rear region of the forklift, that is, the entire periphery of the forklift is 1 There is an advantage that data can be collected by one imaging device. Further, by using the collected image information, there is an advantage that the work result of the entire periphery of the forklift after the work can be grasped and managed reliably and effectively.

Here, “downwardly” does not necessarily have to be directly downward. For example, even if the vehicle is slightly inclined to the back side, the luggage on the fork in front of the vehicle body and / or the vicinity of the handle of the driver's seat is included in the field of view. If it is within the range, this may also be “downward”.
The configurations (1) to (9) may be combined arbitrarily. In addition, the components (1) to (9) may be combined arbitrarily.

  In addition to (1) to (9), or any one of (1) to (9), a combination of these, or any of the components, the following configuration may be used.

  (A) An imaging device that captures an image of a predetermined imaging range in a vehicle, and an imaging unit having a field angle at which a plurality of monitoring targets in different directions capture one image included in the predetermined imaging range; It is preferable that the imaging unit includes an attaching unit that can be attached so that a plurality of monitoring targets in the different directions are included in the predetermined imaging range at a position where the imaging unit can be attached to the vehicle.

  In this way, it is possible to easily shoot a plurality of monitoring targets in different directions at a position where they can be attached to the vehicle so as to be included in one video. Therefore, it is possible to realize a user-friendly one. Conventionally, in order to shoot a plurality of monitoring targets in different directions, a plurality of imaging devices are provided, each video from the plurality of imaging devices is obtained, and each video is synthesized into one video. However, it is not necessary to provide a plurality of imaging devices as in the prior art, or to provide a device that synthesizes video from each imaging device into one video. Accordingly, it is possible to reduce the installation work time on the vehicle, and it is possible to shoot a plurality of monitoring targets in different directions so as to be included in one video at a lower cost than in the past.

  The vehicle may be a vehicle that travels forward or backward, such as a passenger car, a truck, or a bus, but may be a vehicle that moves not only forward or backward, but also in a turning direction, such as a forklift. . The different directions may have, for example, at least any one of the front, rear, and turning directions.

  At least a part of each of the plurality of monitoring objects may be included in the predetermined imaging range, but it is particularly preferable that each of the plurality of monitoring targets is included in the predetermined imaging range as much as possible, It may be included in the predetermined imaging range.

  A plurality of monitoring target ranges in different directions are, for example, a range for shooting a situation of an accident that occurs when a vehicle travels and a monitoring target that is different from a situation of an accident that occurs when the vehicle travels. It may be a range for shooting the state. For example, an imaging device that captures an image of a predetermined imaging range in a vehicle, and an imaging unit having an angle of view in which an image in a direction different from the direction in which the vehicle travels is included in the predetermined imaging range. And it is good to set it as the structure provided with the installation means for installing the said camera in the said vehicle so that the image of the direction different from the direction which the said vehicle travels with the direction which the said vehicle travels can be image | photographed within the said angle of view.

(B) The plurality of monitoring targets in the different directions may be any one of, for example, monitoring of an accident accompanying the progress of the vehicle, monitoring of a driver's driving operation, and monitoring of an accident accompanying the movement of a movable member attached to the vehicle. It ’s good.
(C) For example, the different direction may be a direction in which the largest of the angles formed by the central directions of the plurality of monitoring target ranges exceeds 90 degrees.

  The angle of view is, for example, this angle of view when the angle formed between the extended positions of the two monitoring target ranges where the extension of the monitoring target ranges is the farthest among the plurality of monitoring target ranges in different directions is, for example, It should be more than X degrees. In this way, a plurality of monitoring objects in different directions can be photographed, and the possibility that a plurality of monitoring objects can be photographed can be increased.

(D) The angle of view and the lens for obtaining the angle of view are particularly preferably the configuration described in (1). In this way, for example, the possibility that all of the plurality of monitoring target ranges as shown in FIG.
The imaging means may be a wide area camera. The attachment means may include an engaging member and a undulating rotation mechanism.

  The attachment means is preferably provided on the opposite side of the imaging direction of the housing having the imaging means. For example, a flat portion provided on the back surface of the housing having the imaging means on the front surface and an adhesive member for directly attaching the flat portion to the vehicle Although it is good also as a structure provided with, it is good to carry out like (E).

  (E) The mounting means includes a mounting member including a flat portion that can be opposed to a flat portion at a position where the vehicle can be mounted, and the mounting member faces the flat portion at a position where the vehicle can be mounted. An imaging direction adjustment unit capable of adjusting an imaging direction of the imaging unit in a mounted state is provided, and the attachment member and the imaging direction adjustment unit are configured to display the image of the imaging unit over the entire range of the imaging direction adjustable by the imaging direction adjustment unit. It is preferable to set the relationship between the angle of view and the range of the adjustable imaging direction so as not to enter the corner.

  In this way, at any adjustment position, part of the attachment means is not reflected in the image of the imaging range, and attachment and adjustment to the vehicle can be performed more easily than in the past.

  The mounting member is, for example, a mounting plate, an imaging direction adjusting means is provided on one surface side of the mounting plate, the other surface is opposed to a flat surface at a position where it can be mounted on the vehicle, and the opposed surfaces are, for example, double-sided tape It is good to make it adhere | attach with an adhesive member like this. The flat surfaces can be firmly bonded to each other.

  The imaging direction adjusting means may be configured as a ball joint between, for example, an arm extending from the mounting member and an arm extending from the housing having the imaging means, but particularly when (F) to (J) are used. Good.

  (F) The imaging direction adjusting means is a hinge mechanism provided between the mounting member and the casing having the imaging means, and the center of the hinge axis is between a predetermined minimum angle and a predetermined maximum angle. It may be configured to include an angle fixing means that can be opened and closed up to the angle and can be fixed at a user desired angle.

  (G) The hinge mechanism projects from a surface opposite to the surface having a flat portion that can be opposed to the flat portion at a position where the hinge mechanism can be attached to the vehicle, and a direction orthogonal to the imaging direction of the housing having the imaging means. It is good to provide between the position overhanging from the housing.

  For example, the hinge mechanism may be provided between the central portion of the back surface of the housing having the imaging means and the surface opposite to the surface having the flat portion that can be opposed to the flat portion at the position where it can be attached to the vehicle. In this way, the more the hinge is opened, the higher the possibility that the housing will hit the vehicle or the like. If (G) is used, such a possibility becomes extremely low. For example, as shown in FIG. 3C of the embodiment, between the position protruding upward from the case having the camera and the position protruding from the surface opposite to the mounting surface 4A of the mounting surface 4A of the engaging member 4 A hinge mechanism may be provided. In particular, the surface having the configuration (G) and including a flat portion that can be opposed to the flat portion at a position where the vehicle can be mounted is preferably provided across the hinge axis of the hinge mechanism. If it does in this way, after sticking the flat part which can oppose the flat part in the position which can be attached to vehicles to a vehicle, for example, the possibility that the part stuck when changing the angle of a hinge can be reduced can be reduced. . For example, as shown in FIG. 3C of the embodiment, the attachment surface 4A of the engaging member 4 may be formed on the upper side and the lower side across the axis of the hinge located on the back side.

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

  If it does in this way, an imaging direction can be made into the substantially normal line direction of the flat surface in the position which can be attached to the vehicle only by attaching to a vehicle with a hinge closed. Even if the user attaches to the vehicle without being aware of the direction of the center of the lens of the imaging means, for example, if the hinge is closed, the direction of the center of the lens is substantially perpendicular to the mounting surface of the vehicle. Can be direction. In addition, a range based on a flat surface at a position where the vehicle can be attached can be easily set as the predetermined imaging range. For example, particularly when the imaging means is configured as a circumferential fisheye camera, the direction of the center of the captured circular image can be easily set to a direction substantially orthogonal to the mounting surface of the vehicle.

  (I) The imaging direction of the imaging means may be configured to be substantially parallel to a direction orthogonal to the normal direction of the mounting surface of the mounting member to the vehicle with the hinge mechanism opened to the maximum.

For example, even if the user attaches to the vehicle without being aware of the direction of the center of the lens of the imaging means, the direction of the center of the lens is set to the mounting surface of the vehicle only by keeping the hinge open to the maximum. The directions can be substantially parallel. For example, particularly when the imaging means is configured as a circumferential fisheye camera, the direction of the center of the captured circular image can be easily set to a direction substantially parallel to the mounting surface of the vehicle.
(J) The attachment member may be provided with a simultaneous rotation member as described above. For example, a cable holding part may be provided.

  (K) a video signal connector for connecting a video signal line from the imaging device, and a connector for connecting another signal line, and at least one of the video signal connector or the connector is provided in plurality; A device that performs processing based on the connected video signal connector and a signal from the connected connector, and a housing having a waterproof mechanism that can be attached to a place where the vehicle may be splashed with water A tube that is drawn out from the housing and is waterproof to the housing is provided, the connector is provided in the housing, and the video signal line and the other signal lines are drawn from the inside of the housing to the outside of the housing. It is good to be constructed so that it can be pulled through.

In this way, it is not necessary to provide a waterproof structure for the plurality of connectors, and failures due to water intrusion can be reduced more reliably and easily than in the past. In particular, even when the number of imaging devices connected to this device and the number of other devices can be variously used (for example, when various overall system configurations can be adopted), all signal lines are simply connected to this tube. The entire device can be easily waterproofed only by performing through. Although the number of tubes may be plural, it is particularly preferable to use one tube. The length of the tube is preferably a length that can prevent water from entering the vehicle due to precipitation and washing. For example, the length of the tube is longer than the length (short side in FIG. 6A) of the tube in the extending direction of the surface of the housing that receives water (for example, the surface shown in FIG. 6A in the embodiment). Good. The tube is a binding member, and its periphery is bound and deformed when it is retracted, and the space between the opening of the tube and the video signal line and other signal lines and the inner diameter of the tube is preferably narrowed. The tube is preferably made of a deformable material, and the housing is preferably made of a material that does not deform. In this way, the housing can be more securely fixed to the vehicle, and the cable can be easily placed over the vehicle.
It is preferable that the housing of the apparatus includes a recording medium attaching / detaching unit for recording video from the imaging device, and the attaching / detaching part has a structure that is waterproof when the recording medium is attached.

  (L) A program for causing a computer to display a video image captured by the imaging apparatus, the computer program having a display mode for displaying the captured video image as it is, and converting the coordinates of the captured video image An image representing a display method in each display mode. The display unit has a function of displaying a selection unit for selecting which display mode is to be displayed. The selection unit includes a first selection unit that displays an image representing a display method in each display mode in a state where the entire displayed video is visible, and a title for each display mode. And a second selection section displaying the image representing the display method in the display mode and the second selection section displaying the entire displayed video. It may be displayed when the display button that is visible is pressed in state.

In this way, the description of the display method of each display mode and its image can be seen at a glance at the second selection unit displayed by pressing the display button that can be viewed in a state where the entire displayed video is visible. You can select the display mode you want to see intuitively even for the first time, and the second selection part shows the relationship between the display mode display method and the image representing the display method. It is only necessary to make a selection at the first selection unit without pressing the display button for displaying the selection unit.
(M) The configurations from (A) to (L) may be arbitrarily combined. The constituent elements (A) to (L) may be combined arbitrarily.

  According to the present invention, it is possible to provide an item that is easier to use than conventional ones. For example, it is possible to improve the disadvantages of the conventional example. For example, even if the mounting angle of the imaging camera in the imaging device is variably set, it can be configured to reliably prevent the engaging member for the shooting camera from entering the shot image of the shooting camera. In addition, it is possible to reduce the overall size as compared with the case where a plurality of narrow-area cameras are used.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the imaging device in 1st Embodiment of this invention, FIG. 1 (A) is a front view, FIG.1 (B) is a left view, FIG.1 (C) is a right view, FIG. FIG. 1E is a bottom view, FIG. 1F is a rear view, and FIG. 1G is a perspective view. 2A and 2B are cross-sectional views illustrating the imaging apparatus according to the first embodiment of the present invention, in which FIG. 2A is a cross-sectional view taken along line AA in FIG. 1A, and FIG. 2B is a cross-sectional view taken along the line BB, FIG. 2C is an explanatory view mainly showing the internal image sensor substrate with the front portion of FIG. 1A removed, and FIG. 2D is FIG. ) Is an explanatory view mainly showing an internal connector and a connector substrate by removing a front surface portion and also removing an image pickup device substrate as in FIG. 3A and 3B are detailed external views showing the imaging apparatus according to the first embodiment shown in FIG. 1, in which FIG. 3A is a front view, FIG. 3B is a left side view, FIG. 3C is a right side view, and FIG. (D) is a plan view, and (E) is a bottom view. FIG. 4A is a perspective view illustrating the imaging apparatus according to the first embodiment illustrated in FIG. 1, FIG. 4A is a perspective view seen from the front side, and FIG. 4B is a perspective view seen from the back side. 5A and 5B are diagrams illustrating a sensor unit that is used by being connected to the imaging apparatus of the first embodiment illustrated in FIG. 1. FIG. 5A is a front view, FIG. 5B is a front view, and FIG. 5D is a right side view, and FIG. 5E is a rear view. 6A and 6B are diagrams illustrating a recording apparatus that is used by being connected to the imaging apparatus of the first embodiment illustrated in FIG. 1, in which FIG. 6A is a front view, FIG. 6B is a left side view, and FIG. FIG. 6 (D) is a plan view, FIG. 6 (E) is a bottom view, and FIG. 6 (F) is a perspective view. FIG. 7A is an external perspective view showing a main unit (recording apparatus) when the recording apparatus shown in FIG. 6 is dustproof / waterproof, and FIG. 7A shows a case where a protective cover is formed of a non-transparent member. B) shows a case where the protective cover is formed of a transparent member. FIG. 8A is an external perspective view showing a method for attaching and detaching an SD card in the recording apparatus shown in FIG. 7, FIG. 8A shows a state in which the cover is opened, and FIG. 8A shows a state in which the SD card is attached and detached. FIG. It is explanatory drawing which shows the example at the time of equip | installing a forklift with the imaging device of FIG. 1 and the main unit (recording apparatus) of FIG. 6 as a system. FIG. 10A is a plan view showing a conventional example, and FIG. 10B is a front view of the conventional image pickup apparatus of FIG. 10C is a plan view showing an example in which the imaging device of FIG. 1 is installed on the ceiling of the driver seat of the forklift, FIG. 10D is a front view of FIG. 1C, and FIG. E) is a front view showing an example of the case where the imaging device of FIG. 1 is installed in the upper front portion of the driver's seat of the forklift. FIG. 11A is an explanatory diagram showing another example when the image pickup apparatus of FIG. 1 is mounted on a forklift, and FIG. FIG. 11B is an explanatory diagram showing the imaging range, 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 the forklift, and FIG. 11C is FIG. FIG. 11D is an explanatory view showing each imaging range when the imaging device is installed on the upper front side of the driver seat of the forklift and the conventional camera is installed on the outer upper portion of the rear side of the driver seat. It is explanatory drawing which shows each imaging | photography range at the time of equip | installing the apparatus on the front side upper part of the driver's seat of a forklift, and mounting the same imaging device in the upper part of a driver's seat toward the downward and slightly back. FIGS. 12A and 12B are explanatory views showing still another example when the image pickup apparatus of FIG. 1 is mounted on a forklift, and FIGS. 12A and 12B show one of the image pickup apparatuses of FIG. FIG. 12C and FIG. 12D are diagrams illustrating examples of shooting ranges when the conventional imaging camera is mounted on the outer upper part of the back of the driver's seat slightly downward, respectively. It is explanatory drawing which shows the example of the imaging | photography range at the time of equip | installing two imaging devices at the same position as the case of FIG. 12 (A) (B), respectively. It is a figure which shows the example of the specific picked-up image at the time of equip | installing a forklift with the imaging device of FIG. 1, FIG. 13 (A) is a picked-up image obtained when it image | photographs on the same conditions as the case of FIG. 11 (B). FIG. 13B is a diagram showing an example of a photographed image obtained when the photographing location is set in the office under the same conditions as FIG. 13A, and FIG. 13C is FIG. It is a figure which shows the example displayed by the planarization process of. FIG. 14A is a diagram showing an example of a captured image display screen obtained by mounting the imaging device of FIG. 1 on a forklift, FIG. 14A is a diagram showing a list of a plurality of display methods, and FIG. 14A is selected. It is a figure which shows the example of the specific display method. It is explanatory drawing which shows the expansion list formed by expanding the list of the display methods displayed on the principal part of FIG. FIG. 16A is a diagram showing an example of a photographed image displayed on the display screen when normal display is designated in the list displayed in FIG. 15, FIG. 16A is a diagram showing a guidance display screen, and FIG. FIG. 4 is a diagram illustrating an example of a normal display captured image to be displayed. FIG. 17A is a diagram showing an example of a photographed image displayed on the display screen when panorama display is designated in the list displayed in FIG. 15, FIG. 17A is a diagram showing a guidance display screen, and FIG. FIG. 17 is a diagram showing an example of a panoramic captured image to be displayed, and FIG. 17C is a diagram showing a partial enlarged display screen obtained when designated in FIG. 17B. FIG. 18A is a diagram showing an example of a photographed image displayed on the display screen when ring type display is specified in the list displayed in FIG. 15, FIG. 18A is a diagram showing a guidance display screen, and FIG. () Is a diagram illustrating an example of a ring-type captured image displayed. FIG. 19A is a diagram showing an example of a photographed image displayed on the display screen when the dome type display is designated in the list displayed in FIG. 15, FIG. 19A is a diagram showing a guidance display screen, and FIG. () Is a diagram showing an example of a dome-type captured image displayed. FIG. 20A is a diagram showing an example of a photographed image displayed on the display screen when flat display is designated in the list displayed in FIG. 15, FIG. 20A is a diagram showing a guidance display screen, and FIG. FIG. 4 is a diagram illustrating an example of a flat-captured captured image that is displayed.

Hereinafter, an embodiment of an imaging device, a system, and a forklift with a photographing camera according to the present invention will be described with reference to the accompanying drawings.
(Imaging device)
First, the configuration of the imaging device 1 in the present embodiment will be described.

1 to 4, the imaging apparatus 1 includes a wide area shooting camera 2 including a hemispherical lens 2 </ b> A, and an apparatus body 3 that stores and holds the wide area shooting camera 2. Here, in the apparatus main body 3, for example, a CMOS image sensor 13 is provided as a signal conversion unit to be sent to a recording apparatus 6 to be described later.
(Wide-area camera and device body)

  The wide area photographing camera 2 is configured as a hemispherical camera 2 including a hemispherical lens 2A. The hemispherical lens 2A has a configuration in which a lens is housed in an aluminum die cast lens barrel.

  Here, the hemispherical lens 2A is a lens having an angle of view exceeding 180 ° in the present embodiment. Specifically, as the hemispherical camera 2, the angle of view (VIEW AREA, field of view, field of view) is 210 °. It is set before and after. A chain line in FIG. 1C indicates the angle of view (field of view) of the imaging apparatus 1 (and therefore the hemispherical camera 2), and the range on the left side of the chain line is within the field of view. Similarly, the lower side of the alternate long and short dash line in FIG.

  The lens barrel of the hemispherical lens 2 </ b> A is supported by an edge 3 </ b> A of the lens protruding hole of the apparatus main body 3 and a lens holding part 3 </ b> B disposed inside the apparatus main body 3. Here, the support by the lens holding portion 3B is achieved by screwing the screw thread 2B formed near the back side of the lens barrel into the screw thread 3B 'of the lens holding portion 3B.

  In this way, the hemispherical lens 2A is held in a state of protruding somewhat from the front surface of the apparatus body 3 by the lens holding portion 3B. Further, the periphery of the edge portion 3A has an outer shape that is rounded and inclined toward the back side as the distance from the hemispherical lens 2A in the radial direction of the lens increases.

  For this reason, the hemispheric camera 2 provided with the hemispherical lens 2A can prevent the periphery of the hemispherical lens 2A from being reflected in the field of view even when the angle of view is around 210 °.

  In this way, the hemispherical camera 2 of the present embodiment captures a wide range including not only the area in the front direction of the camera (area of 180 ° on the front side) but also the area in the direction of the rear side in the field of view. It has a function that can be performed (see FIG. 1D).

  In the apparatus main body 3, a CMOS image sensor substrate on which the CMOS image sensor 13 is mounted so that the signal conversion unit is positioned at the back side of the hemispherical lens 2A and at a position where an image is formed by the hemispherical lens 2A. 14 is disposed on the inner surface of the apparatus body 3.

  Further, the device body 3 is also provided on the inner side surface with a connector substrate 15 having the same size as the CMOS image sensor substrate 14 and electrically connected thereto on the back side of the CMOS image sensor substrate 14. Has been.

As described above, the CMOS image sensor substrate 14 and the connector substrate 15 having approximately the same size are separated, and these substrates are arranged in two layers on the back side of the hemispherical camera 2, so that these The apparatus main body 3 can be reduced in size so that the case accommodating the structure does not enter the field of view of the hemispherical lens 2A.
(Engagement member, undulation rotation setting mechanism)

  Further, on the back side of the apparatus main body 3, an engaging member 4 for engaging the hemispherical camera 2 with other structures (for example, a main body of a forklift and a head girth as will be described later) is provided. Here, in this embodiment, the said engaging member 4 is formed in the substantially rectangular plate shape. Further, as shown in FIG. 4B, the engaging member 4 includes a screw hole 4C.

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

  Therefore, according to the imaging device 1 described above, since the engaging member 3 is disposed on the back side of the hemispherical camera 2, many structures that hold the imaging device 1 are arranged in the field of view of the hemispherical camera 2. Therefore, even if the hemispherical camera 2 according to the present embodiment performs imaging over a wide range exceeding the angle of view of 180 °, the structure such as the engaging member 4 is not projected in the image at all.

  Further, since the hemispherical camera 2 is configured to directly hold a part of the hemispherical camera 2 without being stored in the conventional cylindrical case, the entire photographing apparatus 1 can be reduced in size and can be easily mounted on, for example, a forklift. There is an advantage of becoming.

  Further, the hemispheric camera 2 is connected and held to the aforementioned hemispherical camera side of the engaging member 4, and the hemispherical camera 2 is fixed and integrated at an arbitrary undulating rotation position. The undulation rotation setting mechanism 5 is equipped.

  Specifically, for example, as shown in FIGS. 1B and 3B, the undulation rotation setting mechanism 5 is disposed along the hemispherical camera 2 at the upper end of the hemispherical camera 2 described above. In addition, a cylindrical body 5A integrally formed in a form protruding forward from the engaging member 4 (rightward in FIG. 1B), and rotatably incorporated in an inner diameter portion of the cylindrical body 5A A connecting mechanism 5B that engages with camera side locking portions 5a and 5b installed in advance at the upper end of the hemispherical camera 2 to fix and integrate the camera side locking portions 5a and 5b to the cylindrical body 5A. It is prepared for.

  Here, in this embodiment, the connection mechanism 5B is configured by a connection screw mechanism including a bolt and a nut in this embodiment. For this reason, the cylindrical body 5A and the camera side locking portions 5a and 5b can be tightened with the bolts and nuts to set the desired undulation rotation position.

  In this embodiment, this desired undulation rotation position is represented by 0 ° to 0 ° when expressed using an opening angle range of the engaging member with respect to the back surface of the apparatus main body 1 as shown in FIG. It is set in increments of 10 ° within the range of 90 °.

  Here, 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 a cable holding portion 4B described later) is determined by the engaging member 4 being the bolt of the connecting mechanism 5. Even when the upper end of the engaging member 4 (and a cable holding portion 4B described later) moves forward (toward the right in FIG. 1B) along with the rotation about the axis, The length in the vicinity of the upper end is set so as not to enter the field of view of the wide area shooting camera (hemispherical camera) 2. For this reason, even if the engaging member 4 takes any rotation position (opening angle) between 0 to 90 °, the engaging member 4 is in the field of view of the wide-area photographing camera (hemispheric camera) 2 (the dashed line in FIG. 1C). It is possible not to block the front side area).

Further, in the imaging apparatus 1, since the undulation rotation setting mechanism 5 is provided at the upper end portion of the hemispheric camera 2, when the hemispheric camera 2 is installed with the upper end portion facing upward, the hemispheric camera 2 Is suspended from the engaging member 4 in a stable state. Therefore, in practice, the engaging member 4 can be freely set in size and shape. For example, when the engaging member 4 is mounted on a forklift, the engaging member 4 can be freely formed and processed according to the structure of the forklift. It is possible to set the equipment position and the direction of the lens in an optimal state at all times, and the versatility can be enhanced in this respect.
(Cable connection mechanism)

  Next, the cable connection mechanism 3C provided in the imaging device 1 according to the present 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 detachably provided in advance, which will be described later. 3 is provided with a cable-side connector 7A for connecting to an imaging device-side connector 32, which will be described later. The cable connection mechanism 3C removably receives the connection cable 7 in the apparatus main body 3.

  Here, the structure of the cable connection mechanism 3C will be described in detail. In the present embodiment, the cable connection mechanism 3C is a protruding portion of the apparatus body 3 on the right side surface of the apparatus body 3, and the right side surface is opened. A cylindrical connector receiving portion 31 and an imaging device side connector 32 that receives a terminal of the cable side connector 7A inserted from the opening of the connector receiving portion 31 are configured. Here, the photographing apparatus side connector 32 is fixed in the state of being electrically connected to the connector board 15 near the right end of the connector board 15.

  Here, as shown in FIG. 3B, the cable-side connector 7A is formed with projections 7C and 7D that protrude separately from the front surface and the rear surface thereof on the same axis. The protrusions 7C and 7D have a rounded outer shape at the tip, and are formed of an elastic rubber member. On the other hand, as shown in FIG. 3A, the connector receiving portion 31 has a central region near the left end in FIG. 3A of the front side portion of the connector receiving portion 31 forming a part of the front surface of the apparatus body 3. A through hole 3D for receiving the protrusion 7C is provided. Similarly, as shown in FIG. 3B, a through-hole (not shown) for receiving the projection 7D of the cable-side connector 7A is also formed on the back side of the connector receiving portion 31 with the through-hole 3D. It is formed with the same depth.

  By fitting the projections 7C and 7D into the through holes 3D positioned in the front and rear directions, it is possible to prevent the cable side connector 7A from being pulled out upward and leftward in FIG.

  Further, as shown in FIGS. 3A to 3D, the connection cable 7 extends obliquely after extending upward from the upper end in the vicinity of the left end (in FIG. 3A) of the cable-side connector 7A. The direction is changed in the horizontal direction toward the back surface and extends so as to be held by a cable holding portion 4B described later.

Further, the cable side connector 7A is composed of an input / output terminal to be inserted into a photographing apparatus side connector 32, which will be described later, and a mold part having the input / output terminal in the central region on the right side in FIG. 2 (B). Yes. Of these, the mold part has a lower right part cut away to form a mold part side step part (see FIG. 2B). Therefore, as will be described later, the mold portion side stepped portion contacts the corresponding connector receiving portion side stepped portion of the connector receiving portion 31 that receives the cable side connector 7A, and the cable side connector 7A is completely inserted. When the outer surface of the cable-side connector 7A protrudes from the apparatus main body 1, it can be determined at a position where the amount of protrusion is such that it does not matter that the outer surface protrudes from the apparatus body 1, and preferably does not protrude (FIG. 3 (A ) Etc.).
Next, a waterproof mechanism provided in the cable connection mechanism 3C will be described.

  The cable side connector 7A is provided with a waterproof ring member 7B on the entire outer periphery thereof. On the other hand, 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 specified 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 is elastically deformed to fit into the groove of the connector receiving portion 31. A waterproof function can be exhibited in this state. Further, when these are fitted properly, the cable side connector 7A is prevented from coming off in the left direction in FIG. 2 (B).

  Accordingly, the apparatus main body 3 includes the connector receiving portion 31 and the connector receiving portion 31 is formed with the groove 33 into which the waterproof ring member 7B of the cable side connector 7A is fitted. It is detachable from the apparatus main body 3 and can be easily and easily routed when the imaging apparatus 1 is installed in an arbitrary structure and the connection cable 7 is connected to the imaging apparatus 1.

Further, while the cable-side connector 7A of the connection cable 7 is connected in the connector receiving portion 31, the connection region is waterproof, and the image pickup apparatus 1 can be kept in water even when cleaning with water or in the rain. There is no worry of intrusion.
(Cable holding part)
Next, the cable holding portion 4B for holding the connection cable provided at the upper end portion of the engaging member 4 will be described.
The engaging member 4 is formed in a plate shape as described above, and is provided with a cable holding portion 4B for a connection cable at the upper end portion of the engaging member 4.

  Therefore, since the captured image information is output to the outside via the connection cable 7 and the cable holding portion 4B of the engaging member 4 is provided at the same time, the connection cable 7 can be easily routed at the time of installation. For example, when the forklift is installed during use, the connecting member 7 is not swung around even when the forklift is rapidly moved or rotated, so that the connecting cable 7 is not swung and the connecting cable 7 is difficult to come off. There is an advantage that there is no fear of disconnection.

  Further, since the engaging member 4 holds the connection cable 7, there is an advantage that the photographing direction of the wide-area photographing camera 2 initially set can be effectively maintained even when the forklift moves extremely.

  Even if the connection cable 7 is disconnected due to a trouble during use, the camera device body 3 and the connection cable 7 can be detached, so that the operation can be performed only by exchanging only the connection cable 7. Furthermore, when the connection cable 7 is disconnected due to a trouble during operation, the apparatus main body 3 and the connection cable 7 can be removed, so that the operation can be performed simply by exchanging only the connection cable 7. Therefore, it is safe for a sudden trouble.

  Further, the cable holding portion 4B is set to hold the connection cable 7 so as to hold the connection cable 7 along the attachment surface 4A of the engaging member 4.

  Therefore, since the cable holding portion 4B is provided so as to hold the connection cable 7 in parallel with the plate-like engaging member 4, when the engaging member 4 is installed in a forklift structure, for example, the connection cable 7 Can be routed along the surface of the structure, and there is an advantage that the connection cable 7 can be prevented from getting caught away from the structure.

Therefore, the imaging device 1 according to the present embodiment is designed so that the connection cable 7 is not easily removed, and the connection cable 7 is taken into consideration, and even if there is a disconnection or the like, it can be easily removed and replaced. There are advantages.
(Sensor unit)
Next, the configuration of the sensor unit 8 used by being connected to a main unit described later via a sensor cable 9 will be described.

In FIG. 5, the sensor unit 8 is configured in a substantially flat rectangular parallelepiped shape (for example, the dimensions are a width of 35 mm, a depth of 26 mm, and a height of 10.7 mm). The sensor unit 8 measures, for example, an acceleration sensor (not shown) that measures the acceleration of a vehicle (in this embodiment, a forklift) that is the installation target of the imaging apparatus, and the angular velocity of the forklift that is the installation target. A gyroscope (not shown) is built in.
Here, the sensor unit 8 simultaneously detects four items of acceleration (x (left and right), y (front and rear), z (up and down)) and gyro (ω (horizontal rotation axis)) (the code length is 3 m). Is). The sensor unit 8 is IP55 compliant (dustproof / waterproof). The cord length is 4 m.

  Further, as shown in FIG. 5A, on the outer surface of the sensor unit 8, a triangle mark 8A for defining the front (traveling direction) of the forklift is drawn. That is, the triangular mark 8A represents the direction in which the sensor unit 8 should be attached when the user actually attaches the sensor unit 8 to the forklift. Further, on the same outer surface of the sensor unit 8, a horizontal line 8B for defining the horizontal direction (side surface direction) of the forklift is also drawn.

  Thereby, for example, when the sensor unit 8 is installed with the triangular mark 8A aligned with the traveling direction of the forklift and the horizontal line 8B aligned with the horizontal direction, the acceleration sensor may detect the acceleration of the forklift as acceleration information. In addition, the gyroscope can detect the angular velocity related to the forklift rotating operation as the angular velocity information even when the forklift is rotating by steering the rear wheel of the forklift.

A sensor cable 9 for outputting acceleration information and angular velocity information detected by the acceleration sensor and the gyroscope is provided on the back side of the sensor unit 8. The sensor cable 9 is connected to a sensor cable terminal of the main unit 11 described later.
(Main unit)
Next, the configuration of the main unit 11 incorporating the recording device 6 that records 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, the recording device 6). . This unit is the heart of this system. The main unit 11 is IP55 compliant (dustproof / waterproof). Here, the SD card is a dedicated SD card that can withstand a drive recorder that repeatedly writes data. For example, the SD card has a capacity of 8 GB, 16 GB, or 32 GB.

  As shown in FIGS. 6 to 8, the main unit 11 is covered with a base portion 11a, a recording device 6 disposed on the base portion 11a, and various connectors 12 electrically connected thereto. A main unit main body (inner cover) 11A which is (contained), and a protective cover 11B which covers the main unit main body 11A in a waterproof / dustproof manner via a packing (not shown) with respect to the base 11a, The protective cover 11B includes a tube 11C extending in the left direction from a partial region of the left side surface (in FIG. 5A).

  Among these, the recording device 6 is composed of a memory card reader / writer (in this embodiment, an SD card reader / writer) for recording a photographed image from the imaging device 1 on a removable recording medium. As will be described in detail later, one side surface of the main unit main body 11A is equipped with a card slot 11D which is a part of the constituent elements of the memory card reader / writer (FIGS. 8A and 8B). )reference).

In addition, the recording device 6 includes, as various connectors 12, a camera cable connector 12A for connecting a 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 a sensor cable 8 for transmitting a sensor signal sent from the sensor unit 8 and a power cable connector 12C for a power cable are provided.
Here, the power cable is the same member as the conventional product, is connected to the battery of the forklift, and supplies power to the main unit. This power cable has a cord length of 3 m.

Here, when the engine of the forklift starts when the power cable 16 connected to the cigar socket of the forklift is connected to the power cable connector 12C, power is supplied to the main unit 11, and the recording device 6, the sensor Electric power is supplied to the 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 a captured image taken by the imaging device 1 and continues this recording until the engine is turned off.
Furthermore, the recording device 6 can record the sound at the time of photographing together with the photographed image using a sound collecting microphone (not shown) provided in the main unit main body 11A.
Furthermore, the protective cover 11B is formed in a flat and substantially rectangular parallelepiped shape (the product dimensions in the present embodiment are, for example, 154 mm × 94 mm × 26 mm).

  Next, the tube 11C is formed 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 dimension of the tube 11C is formed in a partial region of the left side surface (in FIG. 5A) of the protective cover 11B, and one end of the tube 11C is bonded to the opening. .

  Therefore, the tube 11 </ b> C 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, in a state where various cables are inserted in this way, it is possible to make it difficult for water to enter by tying various cables inserted through a flexible silicone tube with a string, rubber, tie wrap, or the like. In addition, about the position to tie, when tying up at one place, it is good to tie up at one place of an opening end side (side near water enters). Moreover, it is good to bind at two places instead of one place, and when binding at two places, it is good to tie at one place on the opening end side and one place on the main unit main body side.

  At this time, 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 connectors (for example, By configuring the camera with one, two, three, four, etc., the camera connection cable 7 can be one, two, three, four, etc. corresponding to each separately, or the sensor unit The number of sensor cables 9 may or may not be one depending on whether or not 8 is connected, or that cable may or may not be one depending on whether or not a cable connected to the GPS is wired). For this reason, various numbers of various cables are wired in the main unit 11, and the connectors used for the wiring are also different each time. Therefore, it is very troublesome to waterproof the various connectors individually. Therefore, it is not waterproofed for each connector, and regardless of the system configuration, various types of cables to be connected are collectively passed through the tube 11C to bind the tubes so that water does not easily enter. I can.

  Furthermore, when the protective cover 11B is installed on the base 11a, the SD card door 11E is placed in the region of the protective cover 11B that faces the card attachment opening 11D of the card slot of the main unit main body 11A. Is formed. Furthermore, when this door 11E exists in a door closed position, the said door 11 becomes a structure sealed via packing with respect to the surrounding structure of the card | curd attaching / detaching opening part 11D of 11A of main unit main bodies.

For this reason, the SD card can be attached and detached even when the protective cover 11B is covered, and when the door 11E is closed, a waterproof / dustproof function is realized.
The main unit is waterproof and dustproof, and it is easy to insert and remove SD cards for daily work without the need for tools.

  Therefore, when the tube 11C is installed on a vehicle body structure near the foot of the driving vehicle of the forklift with the free end side (that is, the opening end side) facing downward, for example, a situation where the tube 11C gets wet due to rain or a car wash. Even in this case, the water can be prevented from entering the main unit 11 through the tube 11C. Further, since the protective cover 11B is sealed with respect to the base 11a "using packing, and the door 11E is also sealed with respect to the surrounding structure via packing, the main unit conforming to IP55 (dustproof / waterproof) 11 waterproof and dustproof have been achieved.

Therefore, compared to the main unit and forklift monitoring camera for conventional imaging devices, the waterproof / dustproof function is higher, and the degree of freedom of installation position (installation location selection) is improved accordingly (for example, when cleaning a forklift, under the seat) However, there was a case where water was splashed, but in this embodiment, there is no need to worry about the failure of the main body).
(Example of installation position on a forklift)
Next, an example in which the imaging device 1 is installed on the forklift 20 and a forklift equipped with the imaging device 1 will be described.
9 to 12 show installation images of the imaging / recording system (drive recorder) in the present embodiment.

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

  The forklift 20 is connected to a vehicle body, a head guard 21 that is installed on the vehicle body and protects a passenger's head from falling objects, and a lifting device that is installed in front of the vehicle body 20. And a fork attached.

  9 to 12, the range drawn in the shape of a fan, a semicircle, and a circle centering on the imaging device 1 mounted on the forklift 20 shows an image of the field of view of the imaging device 1. However, these fan-shaped arc portions, semicircles, and circular peripheral portions do not mean that the field of view does not extend beyond this.

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

(1) Installation example 1 is an example in which only one imaging device 1 (hemisphere camera) according to the present embodiment is installed downward in the central region of the ceiling portion of the head guard 21 of the forklift 20 (upper left in FIG. 9). (See FIGS. 10C and 10D and FIG. 11B).
For this reason, compared with the conventional (current) two-camera shooting (see FIG. 11A), a wide range of confirmation can be performed with one camera.
Here, if hemisphere (180 °) shooting is enabled, the breadth of shooting increases. On the other hand, if it is taken with 360 ° global shooting, there are obstacles such as pillars of forklifts, people, luggage, etc., which makes shooting difficult. Therefore, if it is a hemispherical (180 °) camera, it can be installed at a place where it is desired to take a picture.

  Here, “downward” does not necessarily have to be directly downward. For example, even if the vehicle is slightly tilted to the back side, the range on the fork in front of the vehicle body and / or the vicinity of the handle of the driver's seat is included in the field of view. (For example, see the example of the rear camera in FIG. 11D), this may also be “downward”.

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

(2) This is an example in which the imaging device 1 (hemispherical camera) according to this embodiment is installed in the front upper side region of the head guard 21 of the forklift 20 toward the front (see FIG. 10E).

  Here, the front-side upper region of the head guard 21 is one of the front sides of the frame member extending in the left-right direction on the front side of the head guard 21, and preferably the frame member extending in the left-right direction on the front side. Near the front center.

If the imaging device 1 (hemispheric camera) is installed at this position, a wider front view can be secured, and even when a high load is placed on the fork, the view is blocked by this load. The front of the forklift 20 can be effectively imaged and recorded. Further, the imaging device 1 (hemispheric camera) does not block the driver's field of view.
Also, with this single camera, you can shoot front, back, left, and right, so you can see the situation at a glance in the direction the driver is looking. Furthermore, by grasping the whole, it is possible to assume a risk prediction, and it can be used for education to prevent a serious accident.
In addition, since the camera can understand the situation in the vertical direction with one camera, it is possible to verify what kind of danger is lurking by checking the situation at the front of the fork, the situation at the front of the fork, and the situation under the fork. You can also

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

(4) In addition to the image pickup apparatus 1 (hemispheric camera) of the installation example (2), an additional angle in the present embodiment is set at an installation angle that is raised slightly from the downward side to the back side in the upper region of the back side of the head guard 21 of the forklift 20. This is an example in which an imaging device 1 ′ (hemispheric camera) is installed (see FIGS. 11C, 12C, and 12D).
In this case, you can shoot high-luggage items. Furthermore, it is possible to photograph the rear and the driver.

  The installation angle slightly raised from the bottom to the rear side is basically the same as in the installation example (1), where the view on the luggage on the fork in front of the vehicle body and / or the vicinity of the handle of the driver's seat is included. An angle.

Further, for comparison, an example is shown in which two separate conventional cameras are installed in a front downward direction (toward the driver's seat) and slightly downward in the upper region on the back side of the head guard 21 of the forklift 20 (see FIG. 10 (A) and (B), see FIG. 11 (A)).
(Captured image and playback software)
Next, a captured image and environment information recorded by the recording device 6 and software for reproducing it will be described with reference to FIGS.
Here, this software is dedicated software (in the SD card), and the captured video can be displayed / printed on a Windows 7/8 (Windows is a registered trademark) personal computer. Report output is also possible, so it is possible to grasp the situation without checking all images.

  FIG. 13A is an example of a captured image obtained when the imaging apparatus 1 (hemispheric camera) of the present embodiment (1) is installed at the position shown in the installation example (1) described above. In this photographed image, a driver who controls the driver's seat of the forklift 20 in the center area, and a handle or the like being operated by the driver are shown in front of the driver. In addition, four head guards 21 are projected radially from the driver's seat in all directions.

  In addition, the load placed on the fork of the forklift 20 between the two struts in front of the head guard 21 and a part of the lifting device for raising and lowering the load by the fork (for example, a mast) are also shown. . In addition, the left and right direction regions and the rear region state are also shown in succession to the front region including the luggage. All of these can be confirmed with one image.

  FIG. 13B shows a dedicated photographed image viewing software (executed on a personal computer) for a photographed image when the imaging apparatus 1 (hemispheric camera) of the present embodiment (1) is installed downward on the ceiling. Hereinafter, it is a figure that is activated and displayed.

  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 read into the processing device of the personal computer, and the following functions can be realized.

  The display screen of the PC viewer includes a photographic image display area for displaying the contents of the photographic image file read by the PC viewer located at the upper left in FIGS. 13B and 13C, and a recording medium at the upper right in the figure. And a file data display area for displaying the shooting date / time, recording start time, recording time, etc. of each captured image file. In addition, a video limeline and a cursor are displayed below the captured image display area, and when the cursor is moved on the screen using a mouse or the like, the video can be reproduced from a desired time. Can do.

  Here, the captured image of FIG. 13A is captured by reading it from the SD card inserted into the slot of the SD card reader connected to the personal computer as a moving image file into the PC viewer. It is displayed in the image display area.

  The display screen has an audio volume adjustment area, fast reverse, previous frame, reverse playback, stop, playback, next frame, and fast forward operation button areas, and four cameras at the lower center of the figure. Are provided with a switching button area in which one camera can be selected and switched by one click, a one-screen button area, and a 16-divided button area.

  Further, on the lower side and lower left side of each operation button area, an acceleration / angular velocity graph display area for displaying accelerations in the X, Y, and Z axis directions recorded by the acceleration sensor and an angular velocity ω recorded by the gyroscope, and acceleration / angular velocity. A numerical display area (refer to FIGS. 14A and 14B for the angular speed display) and a speed display area of the forklift 20 are provided.

  14A and 14B show illustrations showing the direction of travel of the forklift 20, the direction of the acceleration, and the direction of the axis of the angular velocity, and the user can display the acceleration / angular velocity graph display area and the acceleration.・ It helps to understand the angular velocity numerical display area.

  Also, as shown well in FIG. 14A, on the upper side of the display screen of FIG. 14 is displayed an icon on which an illustration symbolizing various functions is drawn. Various functions can be executed.

  Among these, in FIG. 14A, when the second quadrant from the left and the icon portion on which the dome shape is drawn are pressed, a function for displaying a sub-screen for selecting the following five display screens from the list. It has.

  This display screen selection sub-screen is shown in an enlarged manner in FIG. In this embodiment, the PC viewer has (1) a normal display function (normal display mode) for displaying (fisheye state) an image captured (recorded) with a hemispherical camera (180 ° camera) (FIG. 16), ( 2) A panorama display function (panorama display mode) that displays a horizontal 360 ° direction as a single horizontally long image (partially enlarged by an enlargement operation, and the lower scroll bar is moved) (FIG. 17), (3) Ring type display function (ring type display mode) for displaying a panoramic image as a ring state image (FIG. 18), (4) Dome Dome-type display function (dome-type display mode) for displaying images in the shape of a picture (FIG. 19), (5) Flat display function (flat-display mode) for enlarging a part of a dome-type image and displaying it in a flat shape (FIG. 19) 2 0).

  Here, the sub-screen for selecting the display screen, in order from the left, includes a title for each display mode, an explanatory text explaining the display method of the display mode of the title, and a display method of the display mode of the title. Selection buttons that display an image indicating the displayed state (in the present embodiment, an illustration symbolizing each display function is drawn) can be selected in the vertical direction for each display mode. Therefore, the description of the display function and the illustration symbolizing the function enter the user's view at the same time, so that the user can easily find and select the desired display function.

  The illustration symbolizing the display function is also drawn on a shortcut button to which a function that can be quickly executed by simply clicking each display function, as shown in the lower center part of FIG. 14B. ing.

By using this button, each table screen can be switched one after another without relaying the display screen selection sub-screen, and the confirmation work can be speeded up.
As described above, the software is equipped with a new function that supports 180 ° shooting, so that the video can be confirmed more intuitively. For example, if you click on an icon on the upper part of the display screen of the software on which an illustration symbolizing various functions is drawn, a dialog is displayed, and you can check what kind of video processing you want to view. Also, if you get used to it, you can switch the screen you want to check with one click because the shortcut button is located in the center of the software screen.
The screen in the present embodiment described above is an example, and the PC viewer also includes display areas and functions that are not included in the display areas and functions listed here.
〔how to use〕
(About installation of imaging devices, etc.)

  First, a user (for example, an administrator of the forklift 20) makes one or more imaging devices 11 an arbitrary structure of the forklift 20 as illustrated in FIGS. 10 to 12 prior to actual use. Install. This installation is performed, for example, by attaching a double-sided tape to the attachment surface 4 a of the engaging member 4 and attaching it to an arbitrary structure of the forklift 20. At this time, in order to determine the orientation of the imaging apparatus 1, the opening angle of the apparatus main body 3 with respect to the engaging member 4 is set using the undulation rotation setting mechanism 5. This opening angle is set in the range of 0 to 90 degrees.

  In addition, the sensor unit 8 is arranged at an arbitrary position of the forklift 20, preferably under the seat, such that it is difficult to get wet with water due to rain or the like, with the triangular mark 8 </ b> A aligned with the traveling direction of the forklift 20.

  Further, with respect to the main unit 11, the cable 7 connected to the imaging device 1, the sensor cable 9 from the sensor unit 8, and each connector at one end of the power cable are passed through the tube 11C and then the main unit 11. Connect to the various connectors 12 of the main body 11A. On the other hand, the connectors at the other ends of the connection cable 7, the sensor cable 9, and the power cable are also connected to the connectors of the imaging device 1, the sensor unit 8, and a cigar socket (not shown).

  Here, when connecting the connection cable 7 to the image pickup apparatus 1, first, the terminal of the cable side connector 7 </ b> A is directed to the image pickup apparatus side connector 32, and the mold part side step of the cable side connector 7 </ b> A receives the connector. Insert to the position where the connector receiving part side step part corresponding to the part 31 abuts. When in this contact position, the side portion of the cable-side connector 7A exposed to the outside of the device body 3 (the left side portion of the cable-side connector 7A in FIG. It is installed in a state where it protrudes to such an extent that it does not become a problem, preferably in a state where it is housed inside from the side surface of the apparatus body 3. Since it is configured in this manner, the cable-side connector 7A can be hidden behind the apparatus main body 3 and prevented from entering the field of view of the imaging apparatus 1.

When the contact position is reached, the waterproof ring member 7B on the cable-side connector 7A is fitted in the groove of the connector receiving portion 31, and the cable-side connector 7A is pulled out to the side surface side of the apparatus body 3 together with the waterproof function. To prevent. Further, the projections 7C and 7D of the cable side connector 7A are fitted in the respective through holes provided in the front and rear correspondingly to each other (FIG. 3 (A) etc. shows only one through hole 3D). Thus, it is possible to prevent the cable side connector 7A from coming off in the side surface direction and upward direction of the apparatus main body 3.
(Recording shot images, etc.)

When the engine of the forklift 20 is started, power is supplied from the cigar socket to the main unit 11, and from here, power is supplied to the imaging device 1, the recording device 6, and the sensor unit 8.
When the power is supplied in this way, the imaging device 1, the recording device 6, and the sensor unit 8 start operation in cooperation.

Specifically, the captured image captured by the imaging device 1 is sent to the recording device 6, and the recording device 6 starts recording the image that is sent one frame per second for the transmitted captured image (event such as a collision). If there is, record at 30 frames per second during the period before and after that). At this time, the recording device 6 also associates each sensor information transmitted by the sensor unit 8 with the photographed image as environment information associated with the photographed image, and records this on the SD card as image information.
This recording ends when the engine of the forklift 20 is stopped.
(Browsing recorded images using a PC viewer)

  The user inserts the SD card taken out from the main unit 11 into an SD card reader connected in advance to a personal computer in which the PC viewer is installed in advance. Further, the PC viewer is operated to read a desired image information file into the personal computer, and the captured image and the environment information are displayed on the display screen of the PC viewer.

At this time, the user can switch and view each mode such as a normal display mode and a panorama display mode for a captured image obtained from one imaging device, or obtain each separately obtained from a plurality of imaging devices. The captured images can be viewed side by side on the display screen.
(Effect of this embodiment)

  Since the present embodiment is configured as described above, the engaging member for the photographing camera enters the photographed image of the photographing camera regardless of how the mounting angle of the photographing camera in the image pickup apparatus is variably set. Therefore, it is possible to provide an image pickup apparatus, a system, and a forklift using the image pickup apparatus, the system, and the like that can be reliably avoided and can be downsized as a whole.

  In addition, since the system including the photographing device is configured to be attachable to a forklift, for example, when this imaging device is equipped on a forklift structure, a collision accident that may occur due to the operation of the forklift. A wide range of areas including some of the front area, rear area, left and right area, upper area, and driver's seat area necessary for verification of vehicle collapse and the like are recorded with one imaging device and the captured image is recorded. can do. In addition, since the imaging apparatus is configured such that the structure of the imaging apparatus does not enter the field of view, it can capture and record the widest possible range.

Furthermore, for forklifts equipped with the above system, not only the forklift front area where forklift collision accidents and baggage collapse occur frequently, but also other areas, that is, the upper area of the forklift luggage lifting device, When the load lifting device is driven to lift the load on the fork, the lower area of the fork, the left and right area of the forklift, the driver's seat area, and in some cases the rear area can be recorded as a continuous image in the front area. In addition, by using the collected image information, it is possible to reliably and effectively grasp and manage the work result on the front side of the forklift after the work.
(Other embodiments)
The connection mechanism 5B of the undulation rotation setting mechanism 5 may be configured by other things such as a quick lever mechanism instead of the connection screw mechanism.
Further, the undulation rotation setting mechanism 5 may be configured to be set in units of 5 ° or steplessly instead of the configuration in which the undulation rotation position is set in increments of 10 °.

  The cylindrical body 5A formed integrally with the engaging member 4 and the camera-side locking portions 5a and 5b installed in advance at the upper end of the hemispheric camera (wide area camera) 2 are the upper ends of the hemisphere camera (wide area camera). It is good also as 5 A of cylindrical bodies integrally molded by the part, and the engaging member side latching | locking parts 5a and 5b previously installed in the engaging member 4. FIG.

  In addition, the hemispherical camera 2 may be attached to the attachment surface 4A of the engaging member 4 with an arbitrary adhesive instead of being attached to the other structure using a double-sided tape. Alternatively, a screw hole formed in the engaging member 4 may be screwed to a structure (for example, a forklift) through a screw. Moreover, the hemispherical camera 2 may be configured to include a binding band insertion hole. In this case, 1 is fastened to an arbitrary structure through the binding band through the binding band insertion hole 1.

The imaging device 1 may be mounted on the fork tip (toe) of the forklift 20 via the engaging member 4. Further, the imaging device 1 may be mounted on the mast or the like of the lifting device of the forklift 20 facing forward.
Furthermore, the imaging device 1 may be mounted on the side surface of the forklift, that is, on the side surface of the forklift main body, the side surface of the head guard 21, or the like.
For example, depending on the contents of the luggage to be transported by a forklift, the range captured by the camera from this installation position may be important, which is a great merit.
In addition, instead of the power cable 16, the main unit 11 may be connected with an external trigger / general input cable that can record general-purpose input information in addition to the power supply (when this is used, (Do not use the power cable 16)

A two-division function may be added to the screen display of the PC viewer, and the captured images of the camera facing forward and the camera facing backward may be displayed side by side. In this case, the display size of the two captured images may be the same, or one of them may be enlarged. Thereby, verification of accident contents can be made easier.
The elements of the modification, the constituent elements of the contents of the embodiments, and the elements described in the means for solving the problems and the elements to which the ideas are applied may be arbitrarily combined to form the embodiment.

1 Imaging device 2 Wide-area camera (hemisphere camera)
2A Hemispherical lens 2B Thread 3 Device body 3A Edge 3B Lens holding part 3B 'Thread 3C Cable connection mechanism 3D Through hole 4 Engaging member 4A Mounting surface 4B Cable holding part 4C Screw hole 5 Unfolding rotation setting mechanism 5a, 5b Camera side latching part 5A Cylindrical body 5B Connection mechanism 6 Recording device 7 Connection cable 7A Cable side connector 7B Waterproof ring member 7C Projection part 7D Projection part 8 Sensor unit 9 Sensor cable 11 Main unit 11a Base part 11A Main unit main 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 Receiving part 32 Connector on photographing apparatus side 33 Groove

Claims (9)

A wide-area camera, and an engaging member that is disposed on the back side of the wide-area camera and engages the wide-area camera with another structure;
The engaging member is equipped with an up-and-down rotation setting mechanism for connecting and holding the wide-area shooting camera and fixing the wide-area shooting camera in an up-and-down rotation and fixing at an arbitrary up-and-down rotation position. An imaging device. The imaging device according to claim 1,
The undulation rotation setting mechanism is disposed at the upper end of the wide area camera along the wide area camera, and is integrally formed with the engaging member, and is rotatable around the inner diameter portion of the cylindrical body. A connecting mechanism that is incorporated and engages with a camera-side locking portion that is installed in advance at the upper end of the wide-area shooting camera, and that fixes and integrates the camera-side locking portion to the cylindrical body. An imaging apparatus characterized by that. The imaging device according to claim 1 or 2,
Equipped with a detachable connection cable for externally outputting image information captured by the wide-area camera,
An image pickup apparatus, wherein the engaging member is formed in a plate shape and a cable holding portion for a connection cable is provided at an upper end portion of the engaging member. The imaging device according to claim 3.
An image pickup apparatus, wherein the cable holding portion is disposed so as to hold the connection cable along a mounting surface of the engaging member. The imaging device according to any one of claims 1 to 4, wherein the imaging device is attachable to a forklift,
A system comprising: the imaging device; and a recording device for recording a photographed image photographed by the imaging device. The system of claim 5, wherein
The recording apparatus associates the photographed image with environmental information related to the photographed image and records this as image information. The system according to claim 5 or 6,
The system, wherein the recording device records the photographed image as a photographed image including both a front area of the forklift and another area continuous thereto. A forklift equipped with the system according to claim 5 or 6,
The forklift characterized in that the imaging device is installed in the front upper side region of the forklift in the front direction through the engaging member provided in the imaging device. A forklift equipped with the imaging system according to claim 5 or 6,
A forklift characterized in that the imaging device is installed downward in an upper central region of the forklift via the engaging member included in the imaging device.

Images