JP2022088442A - Imaging device, system and fork lift equipped with the system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging device, system and fork lift which can effectively prevent an engagement member for imaging camera from entering a photographed image of the imaging camera and can be miniaturized as a whole.

SOLUTION: An imaging device 1 comprises: a wide-range imaging camera 2 which has a hemispherical lens 2A; and an engagement member 4 which is arranged on the back side of the wide-range imaging camera 2 and engages the wide-range imaging camera 2 with another structure. The engagement member 4 includes a rising/falling rotation setting mechanism 5 which holds the wide-range imaging camera 2 in a connected manner and is integrated with the wide-range imaging camera 2 in a manner of performing rising/falling rotation and being fixed at any rising/falling rotation position.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

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

Conventionally, there has been known an imaging device in which a camera mounting means is devised so that the shooting direction of the camera can be changed in various ways. In this case, changing the shooting direction sometimes causes the inconvenience that a part of the camera mounting mechanism plate or the like located around the image enters the image.

On the other hand, for these, for example, a method is known in which a camera is mounted inside a cylindrical camera holder and the tubular camera holder is rotated back and forth to rotate the camera up and down at a fixed position (for example). The following patent document 1).

Japanese Unexamined Patent Publication No. 2010-105530

However, the method disclosed in Patent Document 1 has the disadvantage that the entire image pickup apparatus tends to be large in size and has poor portability and maintainability because the entire camera is stored in the cylindrical camera holder.

Further, since the mounting member is mounted on a part of the outer periphery of the tubular camera holder so as to project from the outer peripheral surface, depending on the fixing position of the mounting member, the mounting member may be inside the lens surface of the camera. There is an inconvenience that a part of the mounting member may enter.

The present invention improves, for example, the inconveniences of the conventional examples as described above, and effectively prevents the engaging member for the photographing camera from entering the photographed image of the photographing camera, and reduces the overall size. The purpose is to provide an image pickup device capable of the above, a system using this image pickup device, a fork lift equipped with the image pickup device, and the like, which are easier to use than before.

(1). The image pickup device is
It is provided with a wide-area shooting camera and an anchoring member arranged on the back side of the wide-area shooting camera to fasten the wide-area shooting camera to another structure.

The engagement member is equipped with an undulating rotation setting mechanism that connects and holds the wide-area photographing camera and fixes and integrates the wide-area photographing camera undulatingly and freely at an arbitrary undulating rotation position. It is good to take.

By doing so, since the anchoring member is arranged on the back side of the wide area photographing camera, for example, even if the wide area photographing camera captures a wide range of information existing in the photographing range, the anchoring member or the like can be used as a camera. It is possible to reduce the possibility that the accompanying structure is projected in the captured image, and it is possible to maximize the image of a wide range of parts other than the structure related to the camera with one camera.

By doing so, for example, a forklift or the like, in particular, a vehicle in which people frequently get on and off, or a vehicle having an operation other than an operation for moving a person (for example, forward / backward movement of the vehicle) (for example, an operation for loading / unloading luggage). In such cases, it is possible to reduce the possibility that the structure attached to the camera, such as the anchoring member, interferes with the shooting, for example, when a person gets on and off or a part of the movement other than the movement for moving the person cannot be photographed. The need to be aware of such problems during installation work can be reduced, and installation can be performed easily and quickly.

The wide-area photographing camera is particularly preferable to be a camera having an angle of view exceeding 180 °. For example, a camera having an angle of view exceeding 180 ° in the diagonal direction may be used, and a camera having an angle of view exceeding 180 ° in all directions may be particularly preferable.

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

The wide-area photographing camera is preferably a camera capable of photographing a hemispherical region, and is referred to as a hemispherical lens in the scope of the present specification and patent claims, in which the hemispherical region is imaged by an imaging means such as an imaging element. (It is not a term that refers to a hemispherical lens)).

The hemispherical lens may be a lens capable of capturing the entire sky (for example, a total field of view of about 180 degrees) within an image circle (image circle) of a predetermined size with respect to the imaging means. A diagonal fisheye lens may be used in which the diameter of the field of view circle fits the diagonal of the screen and the entire field of view is captured diagonally in the image pickup area of the image pickup means. An all-around fisheye lens is particularly effective. It is particularly preferable to assume that the entire circumference of the field of view circle is imaged.

In the image captured by such a camera or lens, for example, the central part of the screen is strongly compressed and the compression of the peripheral part is loosened. It is often projected differently depending on its position in the image. In such an image, in particular, when a structure attached to a camera such as an anchoring member is projected on the peripheral portion of the image, the structure is widely projected on the peripheral portion of the captured image. According to the above, it is possible to reduce the possibility that the structure attached to the camera such as the anchoring member is widely projected in the captured image, and the one camera can capture a wide range of parts other than the structure related to the camera to the maximum extent. It becomes possible to do.

In particular, it is effective 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 shape of the image similar. For example, a camera that forms an image on an image pickup means with a lens of a stereographic projection method or an iso-solid angle projection method exhibits an excellent effect. The hemispherical lens may be a lens having an angle of view of more than 180 °, for example, a lens having an angle of view of about 210 °.
The lens may be composed of a plurality of lenses.
The range of arbitrary undulating rotation may be, for example, a rotation range from 0 ° to a predetermined angle. In particular, this predetermined angle may be, for example, 90 °.

The angle of view and position of the wide-area imaging camera and the position of the engagement member so that the engagement member that anchors the wide-area imaging camera to other structures does not enter the imaging range of the wide-area imaging camera over the entire rotation range. And the relationship with the shape should be set. The rotation range, the angle of view of the wide-area image pickup camera, and the engagement member can be taken so that a part of the engagement member is not reflected in the angle of view of the wide-area imaging camera at an arbitrary position within the rotation range. It is good to set the relationship with the position range.

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 part or a member, it is preferable to provide a cable fastening portion for fastening a cable connected to a wide area image pickup camera in particular. It is advisable to set the relationship between the position and shape of the simultaneous rotating member and the angle of view and position of the wide area imaging camera so as not to fall within 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.

The wide-area photographing camera itself may be configured to directly hold a part thereof without storing it inside, for example, a cylindrical case. By doing so, it is possible to further reduce the size of the entire photographing apparatus. For example, if a lens having an angle of view exceeding 180 ° is configured as a type of camera stored inside a conventional cylindrical case or the like as described above, a part of the cylindrical case or the axial direction from the center of the cylindrical case can be used. There was a problem that the extending connection cable was reflected in the image, but with such a configuration, it is possible to easily solve this problem.

For example, a wide-area image pickup camera has a flat surface portion on the back surface and a surface portion to be engaged with other structures of the anchoring member, and the undulation rotation setting mechanism has a predetermined angle formed by both surfaces from 0 °. It is good to make it within the range of the angle of. The predetermined angle may be 90 °.

The rotation may be performed steplessly, but for example, a latch or the like may be provided so that the rotation is semi-fixed at a predetermined angle. It is even better to provide a mechanism such as a screwing mechanism that changes from a semi-fixed state to a fixed state. In particular, it is advisable to provide serrations that mesh with each other at predetermined angles. For example, the undulating rotation position may be set in increments of any angle in the range of 5 ° to 10 °.

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

By doing so, for example, when the wide area photographing camera is installed with the upper end portion facing up, the wide area photographing camera is suspended and held by the engagement member in a stable state. Therefore, in practice, the size and shape of the anchoring member can be freely set. For example, when installing 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 the optimum state. There is an advantage that the versatility can be increased.

Here, the tubular body integrally molded with the engagement member and the camera-side locking portion previously installed at the upper end portion of the wide-area photographing camera are integrally molded with the tubular body at the upper end portion of the wide-area photographing camera, and It may be a locking portion on the side of the engagement member installed in advance on the engagement member.

(3). A connection cable for externally outputting image information taken by the wide area photographing camera is detachably equipped, the engagement member is formed in a plate shape, and a cable for the connection cable is attached to the upper end of the engagement member. It is characterized by providing a holding portion.

In this way, it becomes easier to route the cable during installation, and when the forklift is equipped for example during actual use, the anchoring member holds it even during the rapid movement or rotation of the forklift. Therefore, there is an advantage that the connection cable is not swung around, the cable is hard to come off, and there is no worry of disconnection.

Further, since the anchoring member holds the cable, there is an advantage that the shooting direction of the wide-area shooting camera initially set can be effectively maintained even during the radical movement operation of the forklift.

Furthermore, since the cable is removable, there is an advantage that the wiring is easy and there is little risk of disconnection, and even if it breaks, it can be operated by simply replacing the cable.

Here, the connection cable may be referred to as a camera cable. Further, the connection cable may be a type of cable that can not only output image information but also supply power to the image pickup device side.
(4) The cable holding portion is provided so as to hold the connecting cable along the mounting surface of the engaging member.

In this way, when the anchoring member is installed in 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 separated from the structure and caught. Has the advantage of being able to prevent.

(5) The image pickup device may be an image pickup device that can be attached to a forklift, and may be a system having the image pickup device and a recording device for recording a photographed image taken by the image pickup device.

In this way, when this image pickup device is installed in the structure of the forklift, the front area, rear area, left and right area, which are necessary for verification of collision accidents, load collapse, etc. that may occur due to the operation of the forklift, It is possible to capture a recording of a wide range including some of the upper region and the driver's seat region with one image pickup device and record the captured image.
Moreover, since the image pickup device is designed so that the structure of the image pickup device and the like are not included in the field of view, it is possible to shoot and record a wide range as much as possible.

(6). The recording device may be a system characterized in that the captured image is associated with environmental information related to the captured image and recorded as image information.
By doing so, there is an advantage that the image information captured and collected can be used more effectively according to the purpose by displaying it on the screen of the display device.

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

(7) The recording device is characterized in that the captured image is recorded as a captured image including both the front region of the forklift and other regions continuous thereto.

By doing so, not only the area in front of the forklift where many forklift collision accidents and luggage collapses occur is recorded, but also the other areas, that is, the area above the forklift luggage lifting device and the cargo lifting device are driven. When the cargo on the fork is lifted, there is an advantage that the lower region of the fork, the left-right region of the forklift, the driver's seat region, and in some cases, the rear region can be recorded as a continuous image in the front region.

It should be noted that the forklift is not driven by an employee of the company, but in many cases, for example, the driver of the truck that has carried the luggage rents the forklift and drives the forklift to unload the luggage. There are various drivers of such trucks, some of whom drive violently (maneuver), and sometimes puncture luggage (for example, cardboard) with their toes. In addition, even a fast-driving veteran driver may make a hole in the luggage or bump into it when he / she slips out between the luggage when he / she is busy with time or is alert. Furthermore, in addition to making holes in the luggage with the toes, when the lifting device is lifted, a part of the lifting device or the luggage may hit the ceiling.

In addition to the collision, information such as the facial expression of the driver operating in the driver's seat, the direction of the line of sight, the position of the steering wheel, the presence or absence of fingertip confirmation, the driver's name written on the helmet, etc. are simultaneously recorded as images. Keeping it is also useful material when investigating the cause of the accident and thinking about future countermeasures. As a result, it is possible to predict danger by grasping the entire accident situation, and it can be used for education to prevent serious accidents.

For example, it is a great advantage that the forklift is equipped with a system capable of photographing and recording accidents occurring in such a wide range by using the system disclosed in (5) above.
(8). In addition to equipping the forklift with the system

The forklift may be characterized in that the image pickup device is installed in the upper region on the front surface side of the forklift truck in the forward direction via the engagement member included in the image pickup device.

For example, it is preferable to collect image information of the entire wide area including a range of about 180 ° to 210 ° with respect to the front in the moving direction of the forklift. In particular, there is an advantage that image information including an image of not only the front region of the forklift but also the upper region and the left-right region of the forklift, particularly the region of a high place in front, can be collected by one image pickup 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 reliably and effectively.
(9) The image pickup device may be installed downward in the upper central region of the forklift via the engagement member included in the image pickup device.

The entire area of 360 degrees around the forklift in the moving direction is collected as image information, and in particular, not only the front area of the forklift but also the driver's seat area, the rear area, and the rear area of the forklift, that is, the entire circumference of the forklift is 1. It has the advantage that it 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 circumference of the forklift after the work can be grasped and managed reliably and effectively.

Here, "downward" does not necessarily have to be directly downward, and for example, even if the vehicle is slightly tilted toward the rear side, the view includes the luggage on the fork in front of the vehicle body and / or the vicinity of the steering wheel of the driver's seat. If it is within the range, this may also be "downward".
The configurations (1) to (9) may be arbitrarily combined. Further, the components (1) to (9) may be arbitrarily combined and configured.

Further, it may be configured as follows separately from (1) to (9), or together with any one of (1) to (9), a combination thereof, or any of the constituent elements.

(A) An imaging device that captures images in a predetermined imaging range in a vehicle, and an imaging means having an angle of view for capturing one image included in the predetermined imaging range by a plurality of monitoring targets in different directions. It is preferable that the image pickup means be provided with an attachment means that can be attached so that a plurality of monitoring targets in different directions are included in the predetermined imaging range at a position where the image pickup means can be attached to the vehicle.

By doing so, it is possible to easily capture a plurality of monitoring targets in different directions so as to be included in one image at a position where the vehicle can be attached to the vehicle. Therefore, it is possible to realize something that is easier to use than before. Conventionally, in order to shoot a plurality of monitored objects in different directions, a plurality of image pickup devices are provided, each image is obtained from the plurality of image pickup devices, and each image is combined into one image. However, it is not necessary to provide a plurality of image pickup devices or a device for synthesizing the images from each image pickup device into one image as in the conventional case. Therefore, the installation work time in the vehicle can be shortened, and a plurality of monitoring targets in different directions can be photographed so as to be included in one image at a lower cost than the conventional one.

The vehicle may be a vehicle traveling forward or backward, for example, a passenger car, a truck, a bus, etc., but in particular, a vehicle such as a forklift, which may move not only forward or backward but also in a turning direction. .. The different directions may have at least two directions, for example, forward, backward, and turning directions.

At least a part of each of the plurality of monitoring targets may be included in the predetermined imaging range, but it is particularly preferable that the entire monitoring target is included in the predetermined imaging range as much as possible, and in particular, all of them are included in the predetermined imaging range. It may be included in the predetermined imaging range.

Multiple monitoring targets in different directions are, for example, a range for photographing an accident that occurs when the vehicle travels and a monitoring target that is different from the accident that occurs when the vehicle travels. It is good to set it as the range for shooting the situation. For example, an imaging device that captures an image in a predetermined imaging range in a vehicle, and has an imaging means having an image angle in which an image in a direction different from the direction in which the vehicle travels is included in the predetermined imaging range. It is preferable that the camera is provided with an installation means for installing the camera in the vehicle so that an image in a direction different from the direction in which the vehicle travels can be captured within the angle of view.

(B) The plurality of monitoring targets in different directions are, for example, any one of monitoring of accidents caused by the progress of the vehicle, monitoring of the driving operation of the driver, and monitoring of accidents caused by the movement of movable members attached to the vehicle. It is good to try.
(C) The different directions may be, for example, the direction in which the largest angle formed by the central direction of each of the plurality of monitoring target ranges exceeds 90 degrees.

Of a plurality of monitoring target ranges in different directions, the angle of view is, for example, when the angle formed by the extension positions of the two monitoring target ranges in which the extension positions of the monitoring target ranges are farthest from each other is X degree. It is better to exceed X degrees. By doing so, it is possible to shoot a plurality of monitored targets in different directions, and it is possible to increase the possibility of shooting a plurality of monitored targets.

(D) The angle of view and the lens for obtaining the angle of view are particularly preferably configured as described in (1). By doing so, it is possible to increase the possibility that all of the plurality of monitoring target ranges such as (C) are imaged as compared with the conventional case.
The imaging means may be a wide-area photographing camera. The mounting means may include an engagement member and an undulating rotation mechanism.

The mounting means may be provided on the side opposite to the image pickup direction of the housing having the image pickup means. For example, a flat portion provided on the back surface of the housing having the image pickup means on the front surface and a sticking member for directly attaching the flat portion to the vehicle. However, it may be as shown in (E).

(E) The mounting means has a mounting member having a flat portion facing the flat portion at the mountable position on the vehicle and the mounting member facing the flat portion at the mountable position on the vehicle to the vehicle. An image pickup direction adjusting means capable of adjusting the image pickup direction of the image pickup means in the attached state is provided, and the attachment member and the image pickup direction adjusting means have an image of the image pickup means over the entire range of the adjustable image pickup direction of the image pickup direction adjusting means. It is advisable to set the relationship between the angle of view and the adjustable range of the imaging direction so that the angle of view does not get inside the angle.

By doing so, a part of the mounting means or the like is not reflected in the image of the imaging range at any of the adjustment positions, and the mounting and adjustment to the vehicle can be performed more easily than in the conventional case.

The mounting member is, for example, a mounting plate, an image pickup 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 a vehicle, and the facing surfaces are, for example, double-sided tape. It is advisable to bond with an adhesive member such as. The flat surfaces can be firmly adhered to each other.

The image pickup 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 a housing having the image pickup means, but in particular, if it is set as (F) to (J). good.

(F) The image pickup direction adjusting means is a hinge mechanism provided between the mounting member and the housing having the image pickup means, and the angle between the two is a predetermined minimum angle to a predetermined maximum angle around the axis of the hinge. It is preferable that the configuration is provided with an angle fixing means that can be opened and closed up to and can be fixed at a user's desired angle.

(G) The hinge mechanism projects from a surface opposite to the surface having a flat portion facing the flat portion at a position where the hinge mechanism can be mounted on a vehicle, and a direction orthogonal to the imaging direction of the housing having the imaging means. It is advisable to provide it between the position protruding from the housing.

The hinge mechanism may be provided, for example, between the center of the back surface of the housing having the image pickup means and the surface opposite to the surface having the flat portion facing the flat portion at the mountable position on 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 of the mounting surface 4A of the engaging member 4 opposite to the mounting surface 4A. It is advisable to provide a hinge mechanism. In particular, it is preferable to adopt the configuration of (G) and provide a surface having a flat portion facing the flat portion at a position where it can be mounted on a vehicle so as to straddle the axis of the hinge of the hinge mechanism. By doing so, it is possible to reduce the possibility that the pasted portion will be peeled off when the hinge angle is changed after, for example, the flat portion facing the flat portion at the mountable position on the vehicle is pasted on the vehicle. .. For example, as shown in FIG. 3C of the embodiment, the mounting surface 4A of the engagement member 4 may form mounting surfaces on the upper side and the lower side straddling the axis of the hinge located on the back side thereof.

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

By doing so, the imaging direction can be set to the substantially normal direction of the flat surface at the position where the hinge can be attached to the vehicle by simply attaching the hinge to the vehicle in a closed state. For example, even if the user attaches the image to the vehicle without being aware of the direction in which the center of the lens is oriented, the direction in which the center of the lens faces is substantially orthogonal to the mounting surface of the vehicle if the hinge is closed. Can be a direction. Further, the range with respect to the flat surface at the position where it can be attached to the vehicle 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 image captured and circular 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 the direction orthogonal to the normal direction of the mounting surface of the mounting member on the vehicle with the hinge mechanism fully open.

For example, even if the user attaches the image to the vehicle without being aware of the direction in which the center of the lens is oriented, the direction in which the center of the lens faces can be set as the mounting surface of the vehicle simply by keeping the hinge fully open. The directions can be substantially parallel. For example, especially when the imaging means is configured as a circumferential fish-eye camera, the direction of the center of the image captured and circular can be easily set to be substantially parallel to the mounting surface of the vehicle.
(J) The mounting member may be provided with the simultaneous rotation member as described above. For example, it may be provided with a cable holding portion.

(K) A video signal connector for connecting a video signal line from an image pickup apparatus and a connector for connecting another signal line are provided, and at least one of the video signal connector and the connector is provided in plurality. A device that performs processing based on the connected video signal connector and the signal from the connected connector, and has a housing that can be attached to a place where water may splash in the vehicle and has a waterproof mechanism. The tube is drawn out of the housing and is waterproof to the housing, the connector is provided inside the housing, and the video signal line and other signal lines are drawn from the inside of the housing to the outside of the housing. It should be configured so that it can be pulled out through the inside.

By doing so, it is not necessary to make a plurality of connectors into a waterproof structure, and failures due to water intrusion can be reduced more reliably and easily than in the past. In particular, simply all signal lines are in this tube, even if the number of imaging devices connected to this device and the number of other devices can vary (eg, various overall system configurations). The entire device can be easily waterproofed simply by passing through. The number of tubes may be multiple, but particularly one. The length of the tube should be such that it can prevent precipitation and water from entering the vehicle due to car washing. For example, the length of the tube is longer than the length in the extending direction (short side in FIG. 6A) of the surface of the housing that receives water (for example, the surface shown in FIG. 6A in the embodiment). It is good to do it. The tube is a binding member that binds around the tube and deforms when it is deflated to narrow the space between the opening of the tube and the video signal line and other signal lines and the inner diameter of the tube. The tube should be made of a deformable material, and the housing should be made of a non-deformable material. By doing so, the housing can be more reliably fixed to the vehicle, and the cable can be easily laid on the vehicle.
The housing of this device may be provided with an attachment / detachment portion of a recording medium for recording an image from an imaging device, and the attachment / detachment portion may have a structure that becomes waterproof when the recording medium is attached.

(L) A program for realizing a function of displaying an image captured by the image pickup device on a computer, which has a display mode for displaying the captured image as it is, and converts the coordinates of the captured image. It has a plurality of display modes to be displayed, and has a function to display a selection unit for selecting which display mode to display. The selection unit is an image representing a display method in each display mode. The selection unit includes a first selection unit that displays an image representing a display method in each of the display modes in a state in which the entire displayed image can be visually recognized, and a title of each display mode. And a second selection unit that displays an explanation of the display mode and the image representing the display method in the display mode, and the second selection unit visually recognizes the entire displayed image in a visually recognizable state. It should be displayed when the display button that can be displayed is pressed.

By doing so, the explanation of the display method of each display mode and its image can be seen at a glance in the second selection part displayed by pressing the display button that allows the entire displayed image to be visually recognized. You can intuitively select the display mode you want to see even for the first time, and when you can understand the relationship between the display method of the display mode and the image representing the display method by looking at the display of the second selection part, the second All you have to do is select in the first selection without pressing the display button that displays the selection.
(M) The configurations (A) to (L) may be arbitrarily combined. Further, the components (A) to (L) may be arbitrarily combined and configured.

According to the present invention, it is possible to provide a product that is easier to use than the conventional one. For example, it is possible to improve the inconvenience of the conventional example. For example, no matter how the mounting angle of the image pickup camera in the image pickup device is variably set, it is possible to prevent the engaging member for the photographing camera from entering the image taken by the photographing camera more reliably than before. Moreover, it is possible to reduce the size as a whole as compared with the case of using a plurality of narrow-range cameras.

1A is a front view, FIG. 1B is a left side view, FIG. 1C is a right side view, and FIG. 1D is a view showing an image pickup apparatus according to the first embodiment of the present invention. A plan view, FIG. 1 (E) is a bottom view, FIG. 1 (F) is a rear view, and FIG. 1 (G) is a perspective view. 2A is a cross-sectional view showing the image pickup apparatus of the first embodiment of the present invention, FIG. 2A is a cross-sectional view taken along the line AA of FIG. 1A, and FIG. 2B is a cross-sectional view of FIG. 1A. A cross-sectional view taken along line BB, FIG. 2 (C) is an explanatory view mainly showing an internal image pickup element substrate with the front portion of FIG. 1 (A) removed, and FIG. 2 (D) is FIG. 2 (C). ), The front portion is removed, and the image pickup element substrate is also removed, and the internal connector and the connector substrate are mainly shown in the explanatory view. 3A is a front view, FIG. 3B is a left side view, FIG. 3C is a right side view, and FIG. 3 (A) is a detailed outline view showing the image pickup apparatus of the first embodiment shown in FIG. D) is a plan view, and FIG. (E) is a bottom view. 1 is a perspective view showing the image pickup apparatus of the first embodiment shown 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. FIG. 1 is a diagram showing a sensor unit used by being connected to the image pickup apparatus of the first embodiment shown in FIG. 1, where FIG. 5 (A) is a front view, FIG. 5 (B) is a front view, and FIG. 5 (C) is a left side. A top view, FIG. 5 (D) is a right side view, and FIG. 5 (E) is a rear view. 1A is a diagram showing a recording device used by being connected to the image pickup apparatus of the first embodiment shown in FIG. 1, FIG. 6A is a front view, FIG. 6B is a left side view, and FIG. 6C is a left side view. A right side view, 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 device) when the recording device shown in FIG. 6 is dustproof / waterproof, and FIG. 7A shows a case where the protective cover is made of a non-transparent member. B) shows the case where the protective cover is made of a transparent member. FIG. 7 is an external perspective view showing a method of attaching / detaching an SD card in the recording device 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 / detached. It is a figure. It is explanatory drawing which shows the example of the case where the image pickup apparatus of FIG. 1 and the main unit (recording apparatus) of FIG. 6 are equipped in a forklift as a system. It is explanatory drawing which shows the example of the case where the image pickup apparatus of FIG. 1 is equipped in the forklift, FIG. 10A is a plan view which shows the conventional example, and FIG. 10B is the front view. 10 (C) is a plan view showing an example in which the image pickup device of FIG. 1 is mounted on the ceiling portion of the driver's seat of the forklift, and FIG. 10 (D) is a front view of FIG. 1 (C) and FIG. 10 (C). E) is a front view showing an example in which the image pickup device of FIG. 1 is mounted on the upper front surface of the driver's seat of the forklift. It is explanatory drawing which shows the other example of the case where the image pickup apparatus of FIG. 1 is equipped in the forklift, and FIG. Explanatory drawing showing the shooting range, FIG. 11B is an explanatory view showing the shooting range when the image pickup device of FIG. 1 is mounted downward on the upper part of the driver's seat of the forklift, and FIG. 11C is FIG. An explanatory view showing each shooting range when the image pickup device is mounted on the upper front side of the driver's seat of the forklift and the conventional camera is mounted on the outer upper part of the back of the driver's seat, FIG. 11 (D) is an image pickup of FIG. It is explanatory drawing which shows each shooting range in the case where the apparatus is equipped on the front side upper part of the driver's seat of a forklift, and the same image pickup apparatus is equipped on the upper part of a driver's seat downward and slightly tilted backward. It is explanatory drawing which shows the case where the image pickup apparatus of FIG. 1 is equipped in the forklift, and FIGS. 12 (C) (D) are explanatory views showing an example of the shooting range when the conventional image pickup camera is mounted on the outer upper part of the back surface of the driver's seat slightly downward. It is explanatory drawing which shows the example of the photographing range in the case where two image pickup apparatus are equipped at the same position as in the case of FIGS. 12 (A) (B). It is a figure which shows the example of the specific photographed image when the image pickup apparatus of FIG. 1 is equipped in the forklift, and FIG. 13 (B) is a diagram showing an example of a photographed image obtained when a photographing location is set in the office under the same conditions as FIG. 13 (A), and FIG. 13 (C) is a diagram showing FIG. 13 (B). ) Is a diagram showing an example of flattening processing and display. FIG. 14A is a diagram showing an example of a display screen of a photographed image obtained by equipping a forklift with the image pickup apparatus of FIG. 1, 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. 14 (A) is an explanatory diagram showing an enlarged list formed by enlarging the list of display methods displayed in the main part of FIG. 14 (A). In the list displayed in FIG. 15, an example of a photographed image displayed on the display screen when the normal display is specified, FIG. 16A is a diagram showing a guidance display screen, and FIG. 16B is a diagram. Is a figure which shows an example of the photographed image of the normal display which is displayed. In the list displayed in FIG. 15, an example of a captured image displayed on the display screen when the panoramic display is specified, FIG. 17A is a diagram showing a guidance display screen, and FIG. 17B is a diagram. Is a diagram showing an example of a captured image of the panoramic display to be displayed, and FIG. 17 (C) is a diagram showing a partially enlarged display screen obtained when the image is specified in FIG. 17 (B). In the list displayed in FIG. 15, an example of a photographed image displayed on the display screen when the ring type display is specified, FIG. 18 (A) is a diagram showing a guidance display screen, and FIG. 18 (B). ) Is a diagram showing an example of a captured image of the displayed ring-shaped display. In the list displayed in FIG. 15, an example of a photographed image displayed on the display screen when the dome-shaped display is specified, FIG. 19 (A) is a diagram showing a guidance display screen, and FIG. 19 (B). ) Is a diagram showing an example of a captured image of the displayed dome-shaped display. In the list displayed in FIG. 15, an example of a photographed image displayed on the display screen when flat display is specified, FIG. 20A is a diagram showing a guidance display screen, and FIG. 20B is a diagram. Is a diagram showing an example of a captured image in a flat display to be 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.
(Image pickup device)
First, the configuration of the image pickup apparatus 1 in the present embodiment will be described.

In FIGS. 1 to 4, the image pickup apparatus 1 includes a wide-area photographing camera 2 provided with a hemispherical lens 2A, and an apparatus main body 3 for storing and holding the wide-area photographing 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 the recording apparatus 6 described later.
(Wide area shooting camera and device body)

The wide area photographing camera 2 is configured as a hemispherical camera 2 provided with a hemispherical lens 2A. The hemispherical lens 2A has a configuration in which the 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, and more specifically, the hemispherical camera 2 has an angle of view (VIEW AREA, field of view, field of view) of 210 °. It is set before and after. The alternate long and short dash line in FIG. 1C shows the angle of view (field of view) of the image pickup apparatus 1 (hence, the hemispherical camera 2), and the range to the left of the alternate long and short dash line is within the visual field. Similarly, the lower side of the alternate long and short dash line in FIG. 1C shows the inside of the field of view of the image pickup apparatus 1.

Further, the lens barrel of the hemispherical lens 2A is supported by the edge portion 3A of the lens protruding hole of the apparatus main body 3 and the lens holding portion 3B disposed inside the apparatus main body 3. Here, the support by the lens holding portion 3B is formed by screwing the screw thread 2B formed near the back surface 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 by the lens holding portion 3B in a state of being slightly projected from the front surface of the apparatus main body 3. 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.

Therefore, even if the hemispherical camera 2 provided with the hemispherical lens 2A has an angle of view of about 210 °, the periphery of the hemispherical lens 2A is prevented from being reflected in the field of view.

In this way, the hemispherical camera 2 of the present embodiment captures a wide range of the field of view that covers not only the area in the front side of the camera (the area of 180 ° in the front side) but also a part of the area in the back side. It is equipped with possible functions (see FIG. 1 (D)).

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

Further, on the device main body 3, a connector board 15 having a size substantially the same as that of the CMOS image sensor board 14 and electrically connected to the CMOS image sensor board 14 is also arranged on the inner side surface of the CMOS image sensor board 14. Has been done.

In this way, the CMOS image sensor substrate 14 and the connector substrate 15 having substantially the same size as the substrate 14 are separated, and these substrates are arranged in two front and rear layers on the back side of the hemispherical camera 2. It is possible to miniaturize the apparatus main body 3 so that the case accommodating the structure does not enter the view of the hemispherical lens 2A.
(Interlocking member, undulation rotation setting mechanism)

Further, the back side of the apparatus main body 3 is equipped with an engagement member 4 for attaching the hemispherical camera 2 to another structure (for example, a forklift main body and a head ghat as described later). Here, in the present embodiment, the engagement member 4 is formed in a substantially rectangular plate shape. Further, as shown in FIG. 4B, the engagement member 4 includes a screw hole 4C.

Therefore, in the present embodiment, the hemispherical camera 2 has a structure that can be easily engaged with various other structures via the engagement member 4 (for example, this engagement). The attachment is performed by attaching a double-sided tape to the attachment surface 4A of the engagement member 4 and further attaching this to the other structure described above).

Therefore, according to the image pickup device 1 described above, since the engagement member 3 is arranged on the back surface side of the hemisphere camera 2, many structures holding the image pickup device 1 are arranged in the field of view of the hemisphere camera 2. Therefore, even if the hemispherical camera 2 according to the present embodiment takes an image over a wide range exceeding an angle of view of 180 °, the structure such as the engagement 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 inside the conventional cylindrical case, the entire photographing apparatus 1 can be miniaturized and can be easily attached to, for example, a forklift. It has the advantage of becoming.

Further, the hemispherical camera 2 is connected and held on the above-mentioned hemispherical camera side of the engaging member 4, and the hemispherical camera 2 is fixed and integrated so as to be undulating and rotatable at an arbitrary undulating rotation position. , The undulation rotation setting mechanism 5 is equipped.

Specifically, as shown in FIGS. 1B and 3B, for example, the undulation rotation setting mechanism 5 is arranged along the hemispherical camera 2 at the upper end of the hemispherical camera 2 described above. A cylindrical body 5A integrally molded in a form protruding forward (to the right in FIG. 1B) from the engaging member 4, and rotatably incorporated into the inner diameter portion of the tubular body 5A and described above. A connecting mechanism 5B that engages with the 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 configured in preparation.

Here, in the present embodiment, the connecting mechanism 5B is composed of a connecting screw mechanism including a bolt and a nut in the present embodiment. Therefore, the desired undulating rotation position can be set by tightening the cylindrical body 5A and the camera-side locking portions 5a and 5b with the bolts and nuts.

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

Here, the distance from the position of the engagement member 4 at the root of the bolt of the coupling mechanism 5 to the position of the upper end of the engagement member 4 (and the cable holding portion 4B described later) is such that the engagement member 4 is the bolt of the coupling mechanism 5. Even when the upper end of the engagement member 4 (and the cable holding portion 4B described later) moves forward (toward the right in FIG. 1B) as the rotation is performed about the axis, the engagement member 4 The structure near the upper end is set to a length that does not enter the field of view of the wide-area photographing camera (hemispherical camera) 2. Therefore, regardless of the rotation position (opening angle) between 0 and 90 °, the engagement member 4 has a field of view of the wide area photographing camera (hemispherical camera) 2 (dashed-dotted line in FIG. 1C). It is possible not to block the range on the front side).

Further, in the image pickup apparatus 1, since the undulation rotation setting mechanism 5 is provided at the upper end portion of the hemisphere camera 2, when the hemisphere camera 2 is installed with the upper end portion facing up, the hemisphere camera 2 is installed. Will be suspended and held by the engagement member 4 in a stable state. Therefore, in practice, the size and shape of the engagement member 4 can be freely set. Therefore, for example, when the engagement member 4 is mounted on a forklift, the engagement member 4 can be freely formed and processed according to the structure of the forklift. The equipment position and lens orientation can always be set in the optimum state, and versatility can be enhanced in this respect.
(Cable connection mechanism)

Next, the cable connection mechanism 3C included in the image pickup apparatus 1 in the present embodiment will be further described. Here, the connection cable 7 is a cable for externally outputting the image information taken by the hemispherical camera 2 to a recording device 6 separately and detachably equipped in advance, which will be described later, and one end thereof is the main body of the image pickup device 1. A cable-side connector 7A for connecting to the photographing device-side connector 32, which will be described later, is provided. The cable connection mechanism 3C detachably accepts the connection cable 7 into the device main body 3.

Here, to elaborate the structure of the cable connection mechanism 3C, in the present embodiment, the cable connection mechanism 3C is a protruding portion of the device main body 3 on the right side surface of the device main body 3, and the right side surface thereof is open. It is configured to include a tubular connector receiving portion 31 and an image pickup device side connector 32 that receives the terminal of the cable side connector 7A inserted from the opening of the connector receiving portion 31. Here, the connector 32 on the photographing device side is fixed in a state of being electrically connected to the connector board 15 near the right end portion of the connector board 15.

Here, as shown in FIG. 3B, the cable-side connector 7A is coaxially formed with protrusions 7C and 7D protruding separately from the front surface and the rear surface thereof. The protrusions 7C and 7D have a rounded outer shape at the tip and are made of an elastic rubber member. On the other hand, as shown in FIG. 3A, the connector receiving portion 31 is located in the 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 main 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 protrusion 7D of the cable-side connector 7A is also formed on the back surface side portion of the connector receiving portion 31 with the through hole 3D. It is formed to the same depth.

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

Further, as shown in FIGS. 3A to 3D, the connection cable 7 extends upward from the upper end near the left end portion (in FIG. 3A) of the cable-side connector 7A, and then is slanted. It turns horizontally toward the back surface and extends so as to be held by the cable holding portion 4B described later.

Further, the cable-side connector 7A is composed of an input / output terminal to be inserted into the photographing device-side connector 32 described later, and a mold portion having the input / output terminal in the central region on the right side thereof in FIG. 2B. There is. Of these, the lower right portion of the mold portion is cut off to form a mold portion side step portion (see FIG. 2B). Therefore, as will be described later, the mold portion side step portion abuts on the corresponding connector receiving portion side step portion of the connector receiving portion 31 that receives the cable side connector 7A, and the cable side connector 7A is completely inserted. At this time, it is possible to determine a position where the outer surface of the cable-side connector 7A protrudes to such an extent that it does not bother the protrusion even if it protrudes from the device main body 1, preferably a position where it does not protrude (FIG. 3 (A). ) Etc.).
Next, the waterproof mechanism included 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, on the inner surface of the connector receiving portion 31, a groove 33 corresponding to the shape of the ring member 7B is formed so as to go around the inner surface at a specified distance from the opening.

Then, when the cable-side connector 7A is inserted into the connector receiving portion 31, the waterproof ring member 7B on the cable-side connector 7A elastically deforms and fits into the groove of the connector receiving portion 31. The waterproof function can be exhibited in this state. Further, when these are properly fitted, the cable-side connector 7A is prevented from coming off in the left direction in FIG. 2 (B).

Therefore, the device main body 3 is provided with the connector receiving portion 31, and the connector receiving portion 31 is formed with a groove 33 into which the waterproof ring member 7B of the cable-side connector 7A is fitted. It is removable from the device main body 3, and can be easily and easily routed when the image pickup device 1 is installed in an arbitrary structure and the connection cable 7 is connected to the image pickup device 1.

Further, while the cable-side connector 7A of the connection cable 7 is connected in the connector receiving portion 31, the connection area becomes waterproof, and water is supplied to the image pickup device 1 even in the case of cleaning with water or in the rain. There is no need to worry about intrusion.
(Cable holder)
Next, the cable holding portion 4B for holding the connection cable provided at the upper end portion of the fastening member 4 will be described.
The fastening member 4 is formed in a plate shape as described above, and a cable holding portion 4B for a connection cable is provided at an upper end portion of the fastening 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 engagement member 4 is provided at the same time, the connection cable 7 can be easily routed at the time of installation, and the actual connection cable 7 can be easily routed. When equipped on a forklift during use, for example, the engaging member 4 holds the forklift even when the forklift moves rapidly or rotates, so that the connecting cable 7 is not swung around and the connecting cable 7 is hard to come off. , There is an advantage that there is no worry of disconnection.

Further, since the engagement member 4 holds the connection cable 7, there is an advantage that the shooting direction of the wide area shooting camera 2 initially set can be effectively maintained even during the radical movement operation of the forklift.

Further, even if the connection cable 7 is disconnected due to a trouble during use, the camera device main body 3 and the connection cable 7 can be removed, so that the operation can be performed only by replacing the connection cable 7, so that it is safe even in a sudden trouble. Further, when the connection cable 7 is disconnected due to a trouble during operation, the device main body 3 and the connection cable 7 can be removed, so that the operation can be performed only by replacing the connection cable 7, so that it is safe even in a sudden trouble.

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

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

Therefore, the image pickup apparatus 1 in the present embodiment is designed so that the connection cable 7 does not easily come off, the connection cable 7 is routed, and the connection cable 7 can be easily removed and replaced even if there is a disconnection or the like. There are advantages.
(Sensor unit)
Next, the configuration of the sensor unit 8 used by being connected to the main unit described later via the sensor cable 9 will be described.

In FIG. 5, the sensor unit 8 is configured to have a substantially flat rectangular parallelepiped shape (for example, the dimensions are width 35 mm, depth 26 mm, height 10.7 mm). The sensor unit 8 measures, for example, an acceleration sensor (not shown) that measures the acceleration of a vehicle (forklift in this embodiment) on which the image pickup device is installed, and an angular velocity of the forklift that is the installation target. It has a built-in gyroscope (not shown).
Here, the sensor unit 8 simultaneously detects four items of acceleration (x (left and right), y (front and back), z (up and down)) and gyro (ω (horizontal rotation axis)) (cord 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, a triangular mark 8A for defining the front (traveling direction) of the forklift is drawn on the outer surface of the sensor unit 8. That is, the triangle mark 8A indicates 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.

As a result, for example, when the sensor unit 8 is installed by aligning the triangular mark 8A in the traveling direction with respect to the forklift and aligning the horizontal line 8B in the horizontal direction, the acceleration sensor can detect the acceleration of the forklift as acceleration information. At the same time, even when the forklift is rotating by steering the rear wheels of the forklift, the gyroscope can detect the angular velocity related to the forklift rotational operation as angular velocity information.

On the back side of the sensor unit 8, a sensor cable 9 for outputting acceleration information and angular velocity information detected by the acceleration sensor and the gyroscope is provided. 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 including the recording device 6 for recording the image information input from the image pickup 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 is the core unit of this system. The main unit 11 is IP55 compliant (dustproof / waterproof). Further, here, the SD card is a dedicated SD card that can withstand a drive recorder that repeatedly writes. The SD card has, for example, a capacity of 8 GB, 16 GB, and 32 GB.

As shown in FIGS. 6 to 8, the main unit 11 is covered with a base 11a, a recording device 6 arranged on the base 11a, and various connectors 12 electrically connected to the recording device 6. A main unit main body (inner cover) 11A that is (accommodated), a protective cover 11B that covers the main unit main body 11A with respect to the base 11a via a packing (not shown) so as to be waterproof / dustproof, and the protective cover 11B. It is composed of a tube 11C extending to the left from a part of the left side surface (in FIG. 5A) of the protective cover 11B.

Among these, the recording device 6 is composed of a memory card reader / dryer (in this embodiment, an SD card reader / dryer) for recording an image taken from the image pickup device 1 on a recordable medium that can be taken out. As will be described in more detail later, one side surface of the main unit main body 11A is equipped with a card slot 11D which is a part of a component of the memory card reader (FIGS. 8A and 8B). )reference).

Further, 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 image pickup device 1 as described above, and the above-mentioned connector 12. A sensor cable connector 12B for connecting a sensor cable 8 for transmitting a sensor signal transmitted 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 is started with the power cable 16 connected to the cigar socket of the forklift connected to the power cable connector 12C, power is supplied to the main unit 11 and the recording device 6 and the sensor are used. The unit 8 and the image pickup apparatus 1 are configured to be supplied with electric power. As will be described later, when power is supplied by starting the engine, the recording device 6 starts recording the captured image captured by the imaging device 1 and continues this recording until the engine is turned off.
Further, the recording device 6 can also record the sound at the time of shooting together with the captured image by using the sound collecting microphone (not shown) provided in the main unit main body 11A.
Further, the protective cover 11B is formed in a flat and substantially rectangular parallelepiped shape (the dimensions of the product in this embodiment are, for example, 154 mm × 94 mm × 26 mm).

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

Therefore, the tube 11C can be connected to the various connectors 12 of the main unit main body 11 by inserting various cables such as the connection cable 7 for the image pickup device 1, the sensor cable 9, and the power cable 16. Further, with the various cables inserted in this way, it is possible to prevent water from entering by tying the flexible silicone tube together with the various cables inserted with a string, rubber, tie wrap or the like. As for the tying position, when tying at one place, it is better to tie at one place on the open end side (the side near where water enters). Further, it is better to bind at two places instead of one place, and when binding at two places, it is better to bind 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 configuration of the system, and various types and numbers of cables can be connected to these connectors (for example). By configuring the camera with 1, 2, 3, 4, etc., the camera connection cables 7 can be 1, 2, 3, 4, etc., respectively, and the sensor unit can be used separately. The sensor cable 9 may or may not be one depending on whether or not the 8 is connected, and the cable may or may not be one depending on whether or not the cable connected to the GPS is wired). Therefore, various cables of various numbers are wired to the main unit 11, and the connectors used for this wiring are also different each time. Therefore, it is very troublesome to waterproof the various connectors individually. Therefore, instead of waterproofing each connector, regardless of the system configuration, various types of cables to be connected are passed through the tube 11C all at once to bind the tubes, making it difficult for water to enter. Can be done.

Further, when the protective cover 11B is installed with respect to the base portion 11a, the SD card attachment / detachment door 11E is provided in the area of the protective cover 11B facing the card attachment / detachment opening 11D of the card slot of the main unit main body 11A. Is formed. Further, when the door 11E is in the door closed position, the door 11 is the card attachment / detachment opening 11D of the main unit main body 11A.
It is configured to be sealed to the surrounding structure via packing.

Therefore, the SD card can be attached / detached even when the protective cover 11B is covered, and the waterproof / dustproof function is realized when the door 11E is closed.
The main unit is waterproof and dustproof, and you can easily insert and remove SD cards for daily work without the need for tools.

Therefore, when the tube 11C is installed with the free end side (that is, the open end side) facing downward and installed in a vehicle body structure near the feet of a forklift driver's vehicle, for example, the situation is such that the tube 11C gets wet with water due to rain or car wash. Even so, it is possible to prevent the water from entering the inside of the main unit 11 via the tube 11C. In addition, the protective cover 11B is sealed to the base 11a "using packing, and the door 11E is also sealed to the surrounding structure via the packing, so that the main unit conforms to IP55 (dustproof / waterproof). Eleven waterproof and dustproof properties have been achieved.

Therefore, compared to the main unit for conventional image pickup devices and forklift surveillance cameras, the waterproof and dustproof functions are higher, and the degree of freedom in the installation position (selection of installation location) is improved (under the seat, such as when cleaning the forklift). However, there were cases where it was splashed with water, but in this embodiment there is no need to worry about the main unit breaking down).
(Example of installation position on a forklift)
Next, an example in which the image pickup device 1 is installed in the forklift 20 and a forklift equipped with the image pickup device 1 will be described.
9 to 12 show an installation image of the image pickup recording system (drive recorder) in the present embodiment.

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

Further, the forklift 20 is via a vehicle body body, a head guard 21 installed on the upper part of the vehicle body body to protect the occupant's head from falling objects and the like, and an elevating device installed in front of the vehicle body body 20. It is equipped with a fork that is attached.

Here, in FIGS. 9 to 12, the range drawn in a fan shape, a semicircle, and a circle centering on the image pickup device 1 mounted on the forklift 20 shows an image of the field of view of the image pickup device 1. However, these fan-shaped arcs, semicircles, and circular circumferences 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 image pickup 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 image pickup device 1 (hemispherical camera) by a connection cable. It is connected by 7.

(1) Installation example 1 is an example in which only one image pickup device 1 (hemispherical camera) in 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 of FIG. 9). (See FIGS. 10 (C) and 10 (D), FIG. 11 (B)).
Therefore, compared to the conventional (current) two-camera shooting (see FIG. 11 (A)), a wide range of confirmation can be performed with one camera.
Here, if hemispherical (180 °) shooting is enabled, the range of shooting is widened. On the other hand, if the image is taken at 360 ° worldwide, it tends to be difficult to take the picture due to obstacles such as forklift pillars, people, and luggage. Therefore, if it is a hemispherical (180 °) camera, it can be installed in the place where you want to take a picture.

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

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

(2) This is an example in which the image pickup apparatus 1 (hemispherical camera) of the present embodiment is installed in the upper region on the front surface side of the head guard 21 of the forklift 20 toward the front (see FIG. 10 (E)).

Here, the upper region on the front surface side of the head guard 21 is any of the head guard 21 near the front surface side of the frame member extending in the left-right direction on the front side, and preferably the frame member extending in the left-right direction on the front side. It is near the center of the front side.

If the image pickup device 1 (hemispherical camera) is installed at this position, a wider front view can be secured, and even if a tall load is placed on the fork, the view is blocked by this load. It is possible to effectively image and record the front of the forklift 20. Further, the image pickup device 1 (hemispherical camera) does not block the operator's field of view.
Also, with this one 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 predict danger and use it for education to prevent serious accidents.
Furthermore, since the situation in the vertical direction can be seen with one of the above cameras, it is possible to verify what kind of danger is lurking by checking the situation at the tip of the fork, the situation at the tip of the fork and the situation under the fork. You can also

(3) Installation example In addition to the image pickup device 1 (hemispherical camera) in (2), a conventional camera is installed slightly downward in the upper region on the back side of the head guard 21 of the forklift 20 (FIG. 11 (FIG. 11). C), see FIGS. 12 (A) and 12 (B)).
In this case, you can take pictures of luggage in high places. Furthermore, although it is possible to shoot behind, the driver does not dare to shoot.

(4) In addition to the image pickup device 1 (hemispherical camera) of the installation example (2), an additional installation angle in the present embodiment is an installation angle slightly raised from the lower side to the back side in the upper back side upper region of the head guard 21 of the forklift 20. This is an example in which the image pickup apparatus 1'(hemispherical camera) is installed (see FIGS. 11 (C), 12 (C) and (D)).
In this case, you can take pictures of luggage in high places. 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 the installation example (1), so that the luggage on the fork in front of the vehicle body and / or the vicinity of the steering wheel of the driver's seat are included in the field of view. Let it be an angle.

Also, for comparison, an example is shown in which two separate conventional cameras are installed forward downward (toward the driver's seat) and slightly downward in the rear upper region of the head guard 21 of the forklift 20 (Fig.). 10 (A) and (B), see FIG. 11 (A)).
(Shooted images and playback software)
Next, with reference to FIGS. 13 to 20, photographed images and environmental information recorded by the recording device 6 and software for reproducing the captured images will be described.
Here, this software is dedicated software (inside the SD card), and the captured video can be displayed and 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 the images.

FIG. 13A is an example of a photographed image obtained when the image pickup apparatus 1 (hemispherical camera) of the present embodiment (1) is installed at the position shown in the above-mentioned installation example (1). In this photographed image, a driver who steers from the driver's seat of the forklift 20 in the central region and a handle or the like being operated by the driver are shown in front of the driver. In addition, four head guard 21 columns are projected radially from the driver's seat on all sides.

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

FIG. 13B shows a dedicated photographed image viewing software (a photographed image viewing software) running on a personal computer for a photographed image when the image pickup device 1 (hemispherical camera) of the present embodiment (1) is installed downward on the ceiling. Hereinafter, it is a figure which is displayed by starting (referred to as "PC viewer").

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

The display screen of the PC viewer is a photographed image display area for displaying the contents of the photographed image file read by the PC viewer located in the upper left of FIGS. 13 (B) and 13 (C), and a recording medium in the upper right of the figure. It is equipped with a file data display area that displays the date and time when each captured image file recorded in the computer was captured, the recording start time, the recording time, and the like. Further, a lime line and a cursor of the image are displayed below the captured image display area, and when the cursor is moved by using a mouse or the like on the screen, the image can be reproduced from a desired time. Can be done.

Here, the captured image of FIG. 13A is captured by reading the captured image of FIG. 13A from the SD card taken out from the main unit 11 and inserted into the slot of the SD card reader connected to the personal computer into the PC viewer as a moving image file. It will be displayed in the image display area or the like.

In addition, the above display screen has an audio volume adjustment area, fast rewind, previous frame, reverse play, stop, play, next frame, and fast forward operation button areas, and four cameras in the lower center of the figure. It has a switching button area where one camera can be selected and switched with one click, a one-screen button area, and a 16-split button area.

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

Further, in FIGS. 14A and 14B, illustrations showing the traveling direction, the acceleration, and the direction of the axis of the angular velocity of the forklift 20 are displayed, and the user can use the acceleration / angular velocity graph display area and the acceleration.・ Helps to understand the angular velocity numerical display area.

Further, as is often shown in FIG. 14 (A), an icon with an illustration symbolizing various functions is displayed on the upper side of the display screen in the figure, and a file operation or the like can be performed by clicking the icon. Can perform various functions of.

Among them, when the icon part in which the second quadrangle and the dome shape are drawn in FIG. 14A is pressed, the function to display the sub screen for selecting the following five display screens from the list. It is equipped with.

The sub screen for selecting the display screen is enlarged and shown in FIG. In the present embodiment, the PC viewer has (1) a normal display function (normal display mode) and (FIG. 16), in which an image taken (recorded) by a hemispherical camera (180 ° camera) is displayed as it is (fish-eye state). 2) A panoramic display function (panoramic display mode) that displays the horizontal 360 ° direction as a single horizontally long image (note that it is also possible to enlarge a part by enlarging operation, and move the lower scroll bar. (Fig. 17), (3) Ring-shaped display function (ring-shaped display mode) that displays a panoramic image as a ring-shaped image, and (Fig. 18), (4) Dome. A dome-shaped display function (dome-shaped display mode) that displays a dome-shaped image, and (5) a flat display function (flat display mode) that enlarges a part of a dome-shaped image and displays it in a flat shape (Fig. 19). 20).

Here, in the sub screen for selecting the display screen, the title of each display mode, the explanation explaining the display mode of the title in words, and the display method of the title are displayed in order from the left. The selection buttons displaying the image showing the displayed state (in this embodiment, an illustration symbolizing each display function is drawn) can be selected by arranging them in the vertical direction for each display mode. Therefore, the explanation of the display function and the illustration symbolizing the function are simultaneously in the user's field of view, so that the user can easily find and select the desired display function.

The illustration symbolizing the above display function is also drawn on the shortcut button with the function to execute quickly by clicking each display function, as shown in the lower center part in FIG. 14 (B). ing.

By using this button, each table screen can be switched one after another without relaying the sub screen for selecting the display screen, and the confirmation work can be expedited.
As described above, the above software is equipped with a new function corresponding to 180 ° shooting, and it is possible to check the image more intuitively. For example, if you click an icon with an illustration that symbolizes various functions at the top of the software display screen, a diagnosis will be displayed, and you can check what kind of video processing you want to view. Also, if you get used to it, a shortcut button is placed in the center of the software screen, so you can switch the screen you want to check with one click.
The screen in the present embodiment described above is an example, and the PC viewer also includes display areas and functions not included in the display areas and functions listed here.
〔how to use〕
(About the installation of imaging devices, etc.)

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

Further, regarding the sensor unit 8, the triangular mark 8A is arranged at an arbitrary position of the forklift 20, preferably at a position such as under a seat where it is difficult to get wet with water due to rain or the like, in accordance with the traveling direction of the forklift 20.

Further, for the main unit 11, the cable 7 connected to the image pickup device 1, the sensor cable 9 from the sensor unit 8, and the connectors at one end of each of the power cables are passed through the tube 11C, and then the main unit is used. Connect to 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 respective connectors of the image pickup device 1, the sensor unit 8, and the cigar socket (not shown).

Here, when connecting the connection cable 7 to the image pickup device 1, first, the terminal of the cable-side connector 7A is directed toward the photographing device-side connector 32, and the mold portion-side stage portion of the mold portion of the cable-side connector 7A receives the connector. Insert it to the position where it abuts on the corresponding connector receiving portion side stage portion of the portion 31. When in this contact position, the side portion of the cable-side connector 7A exposed to the outside of the device main body 3 (the left side portion of the cable-side connector 7A in FIG. 2B) is almost in the air from the side surface of the device main body 3. It will be installed in a state where it protrudes to the extent that it does not become, preferably in a state where it fits inside from the side surface of the device main body 3. Since it is configured in this way, the cable-side connector 7A is hidden behind the device main body 3 and can be prevented from entering the field of view of the image pickup device 1.

Further, when the contact position is reached, the waterproof ring member 7B on the cable-side connector 7A fits into the groove of the connector receiving portion 31, whereby the cable-side connector 7A is pulled out to the side surface side of the device main body 3 together with the waterproof function. To prevent. Further, the protrusions 7C and 7D of the cable-side connector 7A are fitted into the front and rear through holes provided separately corresponding to each (FIG. 3A and the like show only one through hole 3D). ), It is possible to prevent the cable-side connector 7A from coming off in the side surface direction and the upward direction of the device main body 3.
(Recording of captured images, etc.)

When the engine of the forklift 20 is started, electric power is supplied to the main unit 11 from the cigar socket, and power is supplied to the image pickup apparatus 1, the recording apparatus 6, and the sensor unit 8 from here.
When the power is supplied in this way, the image pickup apparatus 1, the recording apparatus 6, and the sensor unit 8 cooperate with each other to start operation.

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 transmitted image sent one frame per second (event such as 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 captured image as environmental information related to the captured image, and records this as image information on the SD card.
This recording ends with stopping the engine of the forklift 20.
(Viewing recorded images using a PC viewer)

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

At this time, the user can switch and view each mode such as the normal display mode and the panoramic display mode for the captured image obtained from one image pickup device as desired, or obtain the captured image obtained from a plurality of image pickup devices separately. 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 is inserted into the image taken by the photographing camera regardless of how the mounting angle of the imaging camera in the imaging device is variably set. It is possible to provide an image pickup device, a system, and a forklift using these, which can surely avoid the problem and can be miniaturized as a whole.

In addition, since the system equipped with the photographing device is configured to be able to be attached to the forklift, for example, when the image pickup device is equipped in the structure of the forklift, a collision accident that may occur due to the operation of the forklift A wide range of areas including the front area, rear area, left and right area, upper area, and driver's seat area, which are necessary for verification of load collapse, etc., are captured by one image pickup device and the captured image is recorded. can do. Moreover, since the image pickup device is designed so that the structure of the image pickup device and the like are not included in the field of view, it is possible to shoot and record a wide range as much as possible.

Further, for a forklift equipped with the above system, not only the area in front of the forklift where many forklift collision accidents and luggage collapses occur, but also the other area, that is, the area above the forklift's luggage lifting device, the said When the cargo lifting device is driven to lift the cargo on the fork, the lower area of the fork, the left-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. Further, 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 connecting mechanism 5B of the undulation rotation setting mechanism 5 may be configured by another mechanism such as a quick lever mechanism instead of the connecting screw mechanism.
Further, the undulation rotation setting mechanism 5 may be configured to be set in 5 ° units or steplessly instead of the configuration in which the undulation rotation position is set in increments of 10 °.

The tubular body 5A integrally molded with the engagement member 4 and the camera-side locking portions 5a and 5b preliminarily installed at the upper end of the hemispherical camera (wide area photographing camera) 2 are the upper ends of the hemisphere camera (wide area photographing camera). The tubular body 5A integrally molded in the portion and the engagement member side locking portions 5a and 5b previously installed in the engagement member 4 may be used.

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

The image pickup apparatus 1 may be mounted on the fork tip (toe) of the forklift 20 via the engagement member 4. Further, the image pickup device 1 may be mounted forward on the mast or the like of the elevating device of the forklift 20.
Further, the image pickup apparatus 1 may be mounted on the side surface of the forklift, that is, the side surface of the forklift main body, the side surface of the head guard 21, and the like.
For example, depending on the contents of the luggage carried by the forklift, the range of the image taken by the camera from this installation position may be important, which is a great merit.
Further, instead of the power cable 16, an external trigger / general-purpose input cable capable of recording general-purpose input information in addition to the power supply may be connected to the main unit 11 (when using this, a general-purpose input cable may be connected). Power cable 16 is not used)

A two-division function may be added to the screen display of the PC viewer, and the captured images of the front-facing camera and the rear-facing camera may be displayed side by side. In this case, the display sizes of the two captured images may be the same, or one of them may be larger. This can make it easier to verify the content of the accident.
It is advisable to arbitrarily combine the constituent elements of the contents of the modified examples and the respective embodiments, the elements described in the means for solving the problem, and the elements to which the ideas are applied to form the embodiments.

1 Image pickup device 2 Wide area shooting camera (hemispherical camera)
2A hemispherical lens 2B thread 3B 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 undulation rotation setting mechanism 5a, 5b Camera side locking part 5A Cylindrical body 5B Connection mechanism 6 Recording device 7 Connection cable 7A Cable side connector 7B Waterproof ring member 7C Protrusion 7D Protrusion 8 Sensor unit 9 Sensor cable 11 Main unit 11 a Base 11A Main unit body (Inner cover)
11B Protective Cover 11C Tube 11D Card Slot 11E Door 12 Connector 12A Camera Cable Connector 12B Sensor Cable Connector 12C Power Cable Connector 13 CMOS Image Sensor 14 CMOS Image Sensor Board 15 Connector Board 16 Power Cable 20 Forklift 21 Head Guard 31 Connector Receiver 32 Connector on the camera side 33 Groove

Claims (10)

An imaging device that captures images in a predetermined imaging range in a vehicle, the imaging means having an angle of view for capturing one image included in the predetermined imaging range by a plurality of monitoring targets in different directions, and the imaging. A photographing device comprising: a mounting means that can be mounted so that a plurality of monitoring targets in different directions are included in the predetermined imaging range at a position that can be mounted on the vehicle. The plurality of monitoring targets in different directions are characterized by one of two: monitoring of accidents caused by the progress of the vehicle, monitoring of the driving operation of the driver, and monitoring of accidents caused by the movement of movable members attached to the vehicle. The photographing apparatus according to claim 1. The imaging device according to claim 1 or 2, wherein the different directions are directions in which the largest angle formed by the central directions of the plurality of monitoring target ranges exceeds 90 degrees. The mounting means is a state in which a mounting member having a flat portion facing the flat portion at the mountable position on the vehicle and the mounting member facing the flat portion at the mountable position on the vehicle is mounted on the vehicle. The image pickup direction adjusting means is provided so that the image pickup direction of the image pickup means can be adjusted, and the mounting member and the image pickup direction adjusting means are within the angle of view of the image pickup means over the entire range of the adjustable image pickup direction of the image pickup direction adjusting means. The relationship between the angle of view and the adjustable range of the imaging direction has been set so that it does not get in.
The photographing apparatus according to any one of claims 1 to 3. The image pickup direction adjusting means is a hinge mechanism provided between the mounting member and the housing having the image pickup means, and can be opened and closed from a predetermined minimum angle to a predetermined maximum angle around the axis of the hinge. In addition, the configuration is provided with an angle fixing means that can be fixed at a user's desired angle.
The photographing apparatus according to claim 4. The hinge mechanism is a housing in a direction orthogonal to the image pickup direction of the housing having the image pickup means and the position protruding from the surface opposite to the surface having the flat portion facing the flat portion at the position where the hinge mechanism can be attached to the vehicle. What was provided between the position and the position overhanging from
The photographing apparatus according to claim 5. The imaging direction of the imaging means is configured to be substantially parallel to the direction opposite to the normal direction of the mounting surface of the mounting member on the vehicle with the hinge mechanism closed.
The photographing apparatus according to claim 5 or 6. The imaging direction of the imaging means is configured to be substantially parallel to the direction orthogonal to the normal direction of the mounting surface of the mounting member on the vehicle with the hinge mechanism fully open.
The photographing apparatus according to any one of claims 5 to 7. A video signal connector for connecting a video signal line from the image pickup apparatus according to any one of claims 1 to 8 and a connector for connecting another signal line are provided, and the video signal connector or the connector of the connector. At least one of them is provided, and is a device that performs processing based on the connected video signal connector and the signal from the connected connector, and can be attached to a place where water may be splashed in the vehicle. A housing having a waterproof mechanism and a tube drawn from the housing and waterproofed to the housing, the connector provided inside the housing, the video signal line from inside the housing to the outside of the housing, and the other. A device configured so that the signal line can be pulled out through the tube. A program for realizing a function of displaying an image captured by the image pickup apparatus according to any one of claims 1 to 8 on a computer, the program includes a display mode for displaying the captured image as it is, and the image is captured. It has multiple display modes that convert and display the coordinates of the image, and has a function to display a selection unit for selecting which display mode to display, and the selection unit has each display mode. The selection unit includes an image representing the display method of the above, and the selection unit includes a first selection unit displaying an image representing the display method in each of the display modes in a state in which the entire displayed image can be visually recognized. The display mode of is provided with a second selection unit displaying the title, a description of the display mode, and the image representing the display method in the display mode, and the second selection unit is the entire displayed image. A program that displays when the visible display button is pressed.

Images