阅读说明：本技术 操作系统、车载装置、工业车辆、叉车、计算机程序、数据结构以及操作方法 (Operating system, in-vehicle device, industrial vehicle, forklift, computer program, data structure, and operating method ) 是由 木下有里 于 2018-03-06 设计创作，主要内容包括：提供一种能够通过使用行车记录仪来实现工业车辆的有效利用的操作系统、车载装置、工业车辆、叉车、计算机程序、数据结构以及操作方法。此操作系统包括：多个电子钥匙；和车载装置,其安装在工业车辆上并被配置成向多个电子钥匙发送信号和从多个电子钥匙接收信号。多个电子钥匙每个具有存储在其中的钥匙信息,并且包括被配置成朝向车载装置输出钥匙信息的输出单元。车载装置包括确定单元,该确定单元被配置成基于从多个电子钥匙中的任何一个获取的钥匙信息来确定是否允许驾驶其上安装有车载装置的工业车辆；以及输入单元,被配置成从成像设备接收视频信号,该成像设备被配置成拍摄工业车辆的周围的视频。当确定单元已经确定允许驾驶时,将与预定时间相对应并且在触发定时之前和之后拍摄的视频与钥匙信息相关联地存储,该触发是来自传感器的信号,该传感器被配置成测量工业车辆的状态。(Provided are an operating system, an in-vehicle device, an industrial vehicle, a forklift, a computer program, a data structure, and an operating method, which can achieve effective use of the industrial vehicle by using a drive recorder. The operating system includes: a plurality of electronic keys; and an in-vehicle device mounted on the industrial vehicle and configured to transmit and receive signals to and from the plurality of electronic keys. The plurality of electronic keys each have key information stored therein, and include an output unit configured to output the key information toward the in-vehicle apparatus. The in-vehicle device includes a determination unit configured to determine whether to permit driving of an industrial vehicle on which the in-vehicle device is mounted, based on key information acquired from any one of the plurality of electronic keys; and an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of the industrial vehicle. When the determination unit has determined that driving is permitted, videos that correspond to a predetermined time and are taken before and after a trigger timing, which is a signal from a sensor configured to measure a state of the industrial vehicle, are stored in association with the key information.)

1. An operating system for an industrial vehicle, the operating system comprising:

a plurality of electronic keys; and

an in-vehicle device mounted on an industrial vehicle and configured to transmit and receive signals to and from the plurality of electronic keys,

wherein the content of the first and second substances,

each electronic key of the plurality of electronic keys:

has key information stored therein, and

includes an output unit configured to output the key information toward the in-vehicle apparatus,

the vehicle-mounted device includes:

an acquisition unit configured to acquire key information output from the plurality of electronic keys,

a determination unit configured to determine whether to permit driving of the industrial vehicle on which the in-vehicle device is mounted, based on the acquired key information, and

an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of the industrial vehicle, an

When the determination unit has determined that the driving is permitted, the in-vehicle device stores a video corresponding to a predetermined time and captured by the imaging device in association with the key information based on a timing of a trigger that is a result of measurement performed by a state measurement unit configured to measure a state of the industrial vehicle.

2. The operating system of claim 1,

the state measuring unit includes at least one of a vehicle speed sensor, an acceleration sensor, a weight sensor, or an infrared sensor.

3. The operating system of claim 1,

the industrial vehicle is a forklift truck, and the state measuring unit includes a weight sensor provided at a fork portion of the forklift truck and configured to measure a weight of an object to be transported, an

The in-vehicle apparatus stores the video corresponding to the predetermined time using the change in the measured weight as a trigger.

4. The operating system of any one of claims 1 to 3,

the vehicle-mounted device:

further comprising an image processing unit configured to perform image processing on the video signal from the imaging device, an

When it is determined that a specific object or person has been captured in a video based on the video signal as a result of image processing performed by the image processing unit, the video corresponding to the predetermined time is stored.

5. The operating system of any of claims 1 to 4, further comprising:

a communication device configured to: receiving the video corresponding to the predetermined time through communication from the in-vehicle device or via one of the electronic keys,

wherein the content of the first and second substances,

the communication device includes a storage unit configured to store the received video in association with:

vehicle identification information of the industrial vehicle on which the on-vehicle device is mounted; and

driver identification information of a driver specified from the key information.

6. An in-vehicle apparatus comprising:

an acquisition unit configured to acquire key information output from the plurality of electronic keys;

a determination unit configured to determine whether to permit driving of an industrial vehicle on which the in-vehicle apparatus is mounted, based on the acquired key information;

an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of the industrial vehicle; and

a storage medium configured to: when the determination unit has determined that the driving is permitted, a video that corresponds to a predetermined time and is captured by the imaging device is stored in association with the key information based on a timing of a trigger that is a result of measurement performed by a state measurement unit configured to measure a state of the industrial vehicle.

7. An industrial vehicle having mounted thereon the in-vehicle device according to claim 6.

8. A forklift on which the in-vehicle device according to claim 6 is mounted.

9. A computer program configured to cause a computer that receives a video signal from an imaging apparatus to execute:

acquiring key information output from a plurality of electronic keys;

determining whether to permit driving of an industrial vehicle on which the computer is installed, based on the acquired key information;

measuring a state of the industrial vehicle when it has been determined that the driving is permitted; and

based on the timing of the trigger as the measurement result, a video corresponding to a predetermined time and captured by the imaging device is stored in association with the key information.

10. A data structure of industrial vehicle operation data,

the data structure includes:

on-vehicle device side key information configured to be used in and stored for each of a plurality of industrial vehicles in an on-vehicle device mounted on each of the industrial vehicles, and

video data acquired from an imaging device configured to take video of a periphery of the industrial vehicle,

the data structure is configured for:

acquiring key information output from a plurality of electronic keys;

determining whether to permit driving of the industrial vehicle based on a correspondence with the acquired key information; and

when it has been determined that the driving is permitted, the video corresponding to a predetermined time based on the timing of a trigger, which is a measurement result by a state measurement unit configured to measure the state of the industrial vehicle, is stored in a storage medium in the video data in a manner correlated with the key information.

11. An operation method using a plurality of electronic keys and an in-vehicle apparatus mounted on an industrial vehicle and configured to transmit and receive signals to and from the plurality of electronic keys, the operation method comprising:

each of the plurality of electronic keys stores therein key information and outputs the key information toward the in-vehicle apparatus; and

the vehicle-mounted device:

receiving a video signal from an imaging device configured to take a video of surroundings of the industrial vehicle and sequentially storing the video signal,

when key information output from the plurality of electronic keys has been acquired, determining whether or not to permit driving of the industrial vehicle on which the in-vehicle apparatus is mounted, based on the acquired key information, an

When the determination unit has determined that the driving is permitted, the video corresponding to a predetermined time based on a timing of a trigger, which is a result of measurement by a state measurement unit configured to measure a state of the industrial vehicle, is stored in association with the key information in the video signals that are sequentially stored.

Technical Field

The present disclosure relates to an operating system, an in-vehicle apparatus, an industrial vehicle, a forklift, a computer program, a data structure, and an operating method. The present application claims priority from japanese patent application No.2017-121665, filed on 21/6/2017, the entire contents of which are incorporated herein by reference.

Background

Patent document 1 discloses a drive recorder (imaging device) using a wide-angle lens. Assume that the tachograph is to be mounted on a forklift.

List of citations

[ patent document ]

Patent document 1: japanese laid-open patent publication No.2016-143155

Disclosure of Invention

The operating system of the present disclosure includes: a plurality of electronic keys; an in-vehicle apparatus mounted on an industrial vehicle and configured to transmit and receive signals to and from a plurality of electronic keys. The plurality of electronic keys each have key information stored therein, and include an output unit configured to output the key information toward the in-vehicle apparatus. The vehicle-mounted device includes: an acquisition unit configured to acquire key information output from a plurality of electronic keys; a determination unit configured to determine whether to permit driving of an industrial vehicle on which the in-vehicle apparatus is mounted, based on the acquired key information; and an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of the industrial vehicle. When the determination unit has determined that driving is permitted, the in-vehicle device stores a video corresponding to a predetermined time and captured by the imaging device based on a timing of a trigger, which is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle, in association with the key information.

The disclosed vehicle-mounted device includes: an acquisition unit configured to acquire key information output from a plurality of electronic keys; a determination unit configured to determine whether to permit driving of an industrial vehicle on which the in-vehicle apparatus is mounted, based on the acquired key information; an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of an industrial vehicle; and a storage medium configured to store, when the determination unit has determined that driving is permitted, a video corresponding to a predetermined time and captured by an imaging device based on a timing of a trigger, which is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle, in a manner associated with the key information.

The computer program of the present disclosure is configured to cause a computer that receives a video signal from an imaging apparatus to execute: acquiring key information output from a plurality of electronic keys; determining whether to allow driving of an industrial vehicle having a computer installed thereon based on the acquired key information; measuring a state of the industrial vehicle when it has been determined that driving is permitted; and storing a video corresponding to a predetermined time and captured by the imaging device in association with the key information based on the timing of the trigger as the measurement result.

The data structure of the present disclosure includes in-vehicle device side key information configured to be used in an in-vehicle device mounted on each of a plurality of industrial vehicles and stored for each industrial vehicle; and video data acquired from an imaging device configured to take video of the surroundings of the industrial vehicle. The data structure is configured for the following: acquiring key information output from a plurality of electronic keys; determining whether to permit driving of the industrial vehicle based on a correspondence with the acquired key information; and storing, when it has been determined that driving is permitted, in the video data, a video corresponding to a predetermined time based on a timing of a trigger, which is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle, in a manner associated with key information.

The operating method of the present disclosure uses a plurality of electronic keys and an in-vehicle device mounted on an industrial vehicle and configured to transmit and receive signals to and from the plurality of electronic keys. In the operating method, a plurality of electronic keys each have key information stored therein, and the key information is output to the in-vehicle apparatus. The in-vehicle apparatus receives a video signal from an imaging apparatus configured to take a video around the industrial vehicle and sequentially stores the video signal. When the in-vehicle apparatus has acquired the key information output from the plurality of electronic keys, it is determined whether to permit driving of the industrial vehicle on which the in-vehicle apparatus is mounted, based on the acquired key information. When the determination unit has determined that driving is permitted, the in-vehicle apparatus stores, in the sequentially stored video data, a video corresponding to a predetermined time based on a timing of a trigger, which is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle, in a manner associated with the key information.

Drawings

Fig. 1 illustrates an outline of a vehicle operation system of embodiment 1.

Fig. 2A is a block diagram showing the configuration of the vehicle operating system of embodiment 1.

Fig. 2B is a block diagram showing the configuration of the vehicle operating system of embodiment 1.

Fig. 3 is a flowchart showing one example of a procedure of a storage process performed by the in-vehicle apparatus of embodiment 1.

Fig. 4 is a block diagram showing the configuration of the vehicle operating system of embodiment 2.

Fig. 5 is a flowchart showing one example of a procedure of a storage process performed by the in-vehicle apparatus of embodiment 2.

Fig. 6 is a flowchart showing one example of a procedure of a storage process performed by the in-vehicle apparatus of embodiment 2.

Fig. 7 illustrates an outline of the vehicle operating system of embodiment 3.

Fig. 8 is a block diagram showing the configuration of a vehicle operating system of embodiment 3.

Fig. 9 is a flowchart showing one example of a procedure of video data storage processing performed by the in-vehicle apparatus of embodiment 3.

Fig. 10 is a flowchart showing one example of a procedure of video data storage processing performed by the in-vehicle apparatus of embodiment 3.

Fig. 11 is a diagram illustrating an example of the content of information stored in the communication apparatus of embodiment 3.

Fig. 12 is a block diagram illustrating the configuration of a vehicle operating system of embodiment 4.

Fig. 13 is a flowchart showing one example of a procedure of a storage process performed by the in-vehicle apparatus of embodiment 4.

Fig. 14 is a flowchart showing one example of a procedure of a storage process performed by the in-vehicle apparatus of embodiment 4.

Fig. 15 illustrates an example of the content of information stored in the communication apparatus of embodiment 4.

Detailed Description

[ problem to be solved by the present disclosure ]

In the field of FA (factory automation), technological advances in elements such as industrial robots and sensors are promoting further efficient manufacturing. Even in a factory of process automation, an industrial vehicle such as a forklift driven by an operator is used in many cases for supplying parts, collecting and distributing processed items, sending products to a distribution center, loading products onto a vehicle, and the like.

For a transport vehicle, the operator driving the transport vehicle determines what and how to transport at the work site assigned to the operator. Therefore, in a place where a plurality of transporting vehicles exist, redundancy of the transported object and an accident such as a collision may occur.

A drive recorder that can take an image of a collision accident so as to prevent the accident and can hold an evidence image if the accident has occurred is widespread.

The use of a tachograph for an industrial transportation vehicle such as a forklift is different from the use of a tachograph for a common passenger car. For industrial vehicles, there is a need not only for accident prevention as described above, but also for operation along efficient movement paths. Therefore, it is desirable to collect data using a camera of a drive recorder and comprehensively manage a movement route of a vehicle and a position of an operator as a driver by using video data and other information.

An object of the present disclosure is to provide an operating system, an in-vehicle apparatus, an industrial vehicle, a forklift, a computer program, a data structure, and an operating method that enable effective use of the industrial vehicle by using a drive recorder.

[ description of embodiments of the present disclosure ]

First, embodiments of the present disclosure are listed and described. At least some portions of the embodiments described below may be combined as desired.

The operating system of the present embodiment includes: a plurality of electronic keys; and an in-vehicle device mounted on the industrial vehicle and configured to transmit and receive signals to and from the plurality of electronic keys. The plurality of electronic keys each have key information stored therein, and include an output unit configured to output the key information toward the in-vehicle apparatus. The in-vehicle apparatus includes an acquisition unit configured to acquire key information output from a plurality of electronic keys; a determination unit configured to determine whether to permit driving of an industrial vehicle on which the in-vehicle apparatus is mounted, based on the acquired key information; and an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of the industrial vehicle. When the determination unit has determined that driving is permitted, the in-vehicle device stores a video corresponding to a predetermined time and captured by the imaging device in association with key information based on the timing of a trigger that is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle.

The in-vehicle apparatus of the present embodiment includes: an acquisition unit configured to acquire key information output from a plurality of electronic keys; a determination unit configured to determine whether to permit driving of an industrial vehicle on which an in-vehicle device is mounted, based on the acquired key information; an input unit configured to receive a video signal from an imaging device configured to take a video of a periphery of an industrial vehicle; and a storage medium configured to store, when the determination unit has determined that driving is permitted, a video corresponding to a predetermined time and captured by the imaging device in association with key information based on a timing of a trigger that is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle.

The industrial vehicle of the present embodiment has the above-described in-vehicle device mounted thereon.

In this embodiment, the industrial vehicle may be a forklift.

The computer program of the present embodiment is configured to cause a computer that receives a video signal from an imaging apparatus to execute: acquiring key information output from a plurality of electronic keys; determining whether to allow driving of an industrial vehicle having a computer installed thereon based on the acquired key information; measuring a state of the industrial vehicle when it has been determined that driving is permitted; and storing a video corresponding to a predetermined time based on the timing of the trigger as the measurement result and captured by the imaging device in a manner associated with the key information.

The operation method of the present embodiment uses a plurality of electronic keys and an in-vehicle device mounted on an industrial vehicle and configured to transmit and receive signals to and from the plurality of electronic keys. In the operating method, a plurality of electronic keys each have key information stored therein, and the key information is output to the in-vehicle apparatus. The in-vehicle apparatus receives a video signal from an imaging apparatus configured to take a video around the industrial vehicle and sequentially stores the video signal. When the in-vehicle apparatus has acquired the key information output from the plurality of electronic keys, it is determined whether or not driving of the industrial vehicle on which the in-vehicle apparatus is mounted is permitted based on the acquired key information. When the determination unit has determined that driving is permitted, the in-vehicle apparatus stores, in the sequentially stored video data, a video corresponding to a predetermined time based on a timing of a trigger, which is a measurement result by a state measurement unit configured to measure a state of the industrial vehicle, in a manner associated with the key information.

In the operation system of the present embodiment, the in-vehicle apparatus is mounted in the industrial vehicle, and transmits and receives signals to and from the corresponding electronic key. The type of transmission and reception of the signal may be a passive radio wave type in which a radio wave corresponding to a frequency band of a UHF band or the like of the radio signal is received, or an electromagnetic induction type in which an antenna coil is provided and the signal from the electronic key is demodulated via the antenna coil. In addition to this, any configuration in which information can be transmitted and received to and from each other may be adopted.

The in-vehicle apparatus determines whether to permit driving of the industrial vehicle based on the key information output from the electronic key. The output unit may transmit the key information to the in-vehicle apparatus by means of a radio signal, may output the key information by displaying characters or a two-dimensional barcode, or may output the key information by means of sound. Meanwhile, the acquisition unit on the vehicle-mounted device side may acquire the key information by receiving a radio signal, by shooting a video of a displayed character or a two-dimensional barcode, or by receiving an output sound.

The in-vehicle apparatus also receives a video signal from an imaging apparatus configured to take a video of the surroundings of the industrial vehicle on which the in-vehicle apparatus is mounted. In order to capture an image of an object or a person existing around the vehicle at each time point during driving, the imaging device captures a video around the vehicle. Preferably, the circumference is a full circumference of 360 degrees, but is not so limited. When it has been determined that driving is permitted based on the acquired key information, the in-vehicle apparatus stores a video corresponding to a predetermined time based on a received video signal triggered by a measurement result of a state measurement unit that measures a state of the vehicle, such as a sensor or a driving control device mounted on the industrial vehicle. The video is stored in association with key information based on which it has been determined that driving is permitted. The video is stored to a storage unit of the in-vehicle apparatus itself, an external memory, in another storage device via a communication unit, or the like.

In the operating system of the present embodiment, the state measuring unit includes at least one of a vehicle speed sensor, an acceleration sensor, a weight sensor, or an infrared sensor.

The trigger for storing the video is the measurement of the vehicle state by the state measurement unit. For example, a sensor mounted in an industrial vehicle is used as the state measurement unit. Examples of the sensor include, but are not limited to, a vehicle speed sensor, an acceleration sensor, a weight sensor, an infrared sensor, and the like. Using the measurement results from at least one of these sensors, e.g. using the detection of overspeed or impact as a trigger, the video is stored together with key identification information or user identification information that may later specify the driver. The weight of the transported object, the weight of the driver, and the like, which can be measured by the weight sensor, may be used. Alternatively, using an infrared sensor that measures the distance from the body to the surroundings, the change in this distance can be used as a trigger. The distance does not have to be measured by the infrared sensor, and may be measured based on the size of a specific object (an area in a captured image (frame image)) captured by the camera.

The state measuring unit may be a driving control apparatus or the like, and the trigger may be information indicating a driving state. In this case, for example, the in-vehicle apparatus may store a video using a change in the position of the ignition key, the shift position, the inclination of the vehicle, the steering angle, or the like as a trigger. Besides, the state measurement unit may be a device or the like that acquires position information of the vehicle.

In the operating system of the present embodiment, the industrial vehicle is a forklift, and the state measuring unit includes a weight sensor that is provided at a fork portion of the forklift and is configured to measure the weight of the transported object. The in-vehicle apparatus stores a video corresponding to a predetermined time using the measured change in weight as a trigger.

When the industrial vehicle is limited to a forklift, a weight sensor that is provided at the fork and that can measure the weight of the transported object can be used as a trigger to store the video. If a change in weight measured by the weight sensor is used as a trigger, in the event that a dropped state is suspected during forklift driving, such as when the measured weight suddenly decreases, a video can be stored that infers the cause of the drop afterwards.

In the operating system of the present embodiment, the in-vehicle device further includes an image processing unit configured to perform image processing on the video signal from the imaging device, and to store a video corresponding to a predetermined time when it is determined that a specific object or person has been shot in the video based on the video signal as a result of the image processing performed by the image processing unit.

The image processing unit performs image processing on a video signal from an imaging device that captures surrounding video. For a frame image based on a video signal, the image processing unit may determine whether a specific object or person has been photographed in the video based on the arrangement of colors, size, pattern matching, and the like.

As a result of the processing in the image processing unit, when it can be determined that a specific object or person (an area has been extracted) has been shot in the video, the in-vehicle device stores the video, and this determination is regarded as a measurement result indicating the vehicle state, i.e., a trigger. If a specific object is associated with the position information, it is possible to detect the position, i.e., the moving line, where the industrial vehicle passes at a later time.

The operating system of the present embodiment further includes a communication device configured to receive a video corresponding to a predetermined time by communication from the in-vehicle device or via one of the electronic keys. The communication device includes a storage unit configured to store the received video in association with: vehicle identification information of an industrial vehicle on which the vehicle device is mounted; and driver identification information of the driver specified based on the key information.

The video is stored in a communication device that communicates with the in-vehicle device directly or via a communication device of the electronic key. Videos may be transmitted from on-board devices of a plurality of industrial vehicles. In the communication device, videos shot in a plurality of industrial vehicles are each stored together with driver identification information that specifies a driver specified from the key information. It is possible to specify a posteriori or in real time which operator driven or is driving an industrial vehicle whose surroundings were captured in the video corresponding to the video data.

The data structure of the present embodiment includes vehicle-mounted device side key information configured to be used in a vehicle-mounted device mounted on each of a plurality of industrial vehicles and stored for each industrial vehicle; and video data acquired from an imaging device configured to take video of the surroundings of the industrial vehicle. The data structure is configured to be used in the following process: acquiring key information output from a plurality of electronic keys; determining whether to permit driving of the industrial vehicle based on a correspondence with the acquired key information; and storing, in the storage medium, a video in the video data corresponding to a predetermined time based on a timing of a trigger in association with the key information when it has been determined that driving is permitted, the trigger being a measurement result of a state measurement unit configured to measure a state of the industrial vehicle.

In the present embodiment, based on the trigger, the video data is stored in association with the vehicle identification information or the key information based on which it has been determined that driving is permitted. Therefore, for each vehicle, or for each driver as the driver specified from the key information, it is possible to analyze the driving condition while distinguishing which electronic key the driver holds and the industrial vehicle the driver drives. Therefore, management of the moving line or deployment of goods or operators according to the driving state can be achieved.

The present disclosure may be implemented as a semiconductor integrated circuit that realizes part or all of an operating system having such a characteristic selection unit, a process in an in-vehicle device and an operating method, or may be implemented as another system that exhibits a function as a result of an operating system cooperating with another device. In addition, the present disclosure may be implemented as a storage medium in which a computer program that performs characteristic processing and operation data are stored.

[ Effect of the present disclosure ]

According to the present disclosure, effective utilization of an industrial vehicle including a forklift can be achieved.

[ detailed description of embodiments of the present disclosure ]

Hereinafter, an operating system for an industrial vehicle according to the present disclosure will be described with reference to the accompanying drawings showing embodiments. In the following embodiments, an example of a vehicle operation system for realizing operation management of a forklift, which is a transportation vehicle, as an industrial vehicle is described.

(example 1)

Fig. 1 illustrates an outline of a vehicle operation system of embodiment 1. In embodiment 1, first, by using the electronic key 2, only an authorized operator who is allowed to hold the electronic key 2 can become a driver. In addition, key identification information for individually identifying the electronic key 2 itself stored in the electronic key 2 and operator identification information of an operator holding the key are associated with each other. Therefore, the state of each forklift 1 can be stored, so that it is possible to distinguish which operator holds which electronic key 2 and which forklift 1 has been driven. Referring to fig. 1 as an example, an operator a, an operator B, and an operator C each hold an electronic key 2. Each electronic key 2 stores therein key identification information for individually identifying the electronic key 2 itself. If the operator identification information of the operator holding the corresponding key is stored in the communication device in association with the key identification information, it is possible to specify which operator holds which electronic key 2 and has driven which forklift 1, and further specify which image or moving image corresponds thereto. For example, for one forklift 1, the operator B who has finished the work using the forklift 1 and the operator C who is going to use the forklift 1 may be distinguished from each other based on the key identification information stored in the respective electronic keys 2 held by the operator B and the operator C.

In the vehicle operation system of embodiment 1, a camera is mounted on each forklift 1, and the camera captures a video (image or moving image) of a place in front of and behind the forklift 1. It is possible to store a state in which a collision in a work place is detected, a danger such as sudden start or sudden braking is detected before an accident occurs, or the like. In addition, in the vehicle operation system of embodiment 1, the state according to the video captured by the camera is stored in association with the information for driving the electronic key 2 of the forklift 1, thereby associating the state with the information for identifying the holder of the electronic key 2. The video taken by the forklift 1 is stored in association with information for identifying the holder of the electronic key 2, i.e., the driver, and therefore, if the information is collected, the movement line of each forklift 1 and the deployment of the operator as the driver can be comprehensively managed.

Fig. 2A and 2B are each a block diagram showing the configuration of a vehicle operating system of embodiment 1. The vehicle operation system includes an in-vehicle device 10 and an electronic key 2 incorporated in a forklift 1. Fig. 2A shows a passive radio wave type in which an inquiry is made from the in-vehicle device 10 side to the electronic key 2. Fig. 2B shows an electromagnetic induction type in which a signal transmitted from the electronic key 2 inserted in the key cylinder is received on the in-vehicle apparatus 10 side.

The in-vehicle apparatus 10 includes a control unit 100, a storage unit 101, a transmission unit 102, a reception unit 103, an input unit 104, an output unit 105, and an external memory 106. The control unit 100 is, for example, a microcontroller using one or more CPUs (central processing units) or multicore CPUs and including a ROM (read only memory), a RAM (random access memory), an input/output interface, a timer, and the like. The control unit 100 is a determination unit that controls the operation of components by executing a control program stored in a built-in ROM, and that performs determination as to whether driving is permitted, which will be described later.

The storage unit 101 is a nonvolatile storage medium (memory) such as a flash memory or an EEPROM (electrically erasable and programmable read only memory). The storage unit 101 stores therein information (rewritable) for determining whether or not driving by the driver holding the electronic key 2 is permitted and vehicle identification information (non-rewritable) for mutually identifying the forklift 1. The storage unit 101 of the in-vehicle device 10 in embodiment 1 stores therein key identification information for uniquely identifying the electronic key 2 as information (key information) for determining permission of driving. For example, in a case where one forklift 1 is allowed to be shared by three persons, that is, the operator a, the operator B, and the operator C, all the key identification information of the electronic keys 2 held by the three persons is stored in the storage unit 101.

The transmission unit 102 is a circuit that modulates a signal supplied from the control unit 100 by using a carrier wave and transmits a radio signal from a transmission antenna. As the frequency band of the carrier, the transmission unit 102 uses a low frequency band (LF band) of 30kHz to 300MHz or an extremely low frequency band (VLF band) of 3kHz to 30 kHz. The output power of the signal from the transmission unit 102 is set so that, for example, the body of an operator driving in the driver's seat of the forklift 1 is included in the range around the antenna of the transmission unit 102. That is, only communication with the electronic key 2 held by the driver in the driver's seat is permitted.

The reception unit 103 receives a signal in an ultra high frequency band (UHF band, also referred to as RF band) of 300MHz to 3GHz via an antenna, demodulates the signal, and outputs the modulated signal to the control unit 100. The control unit 100 functions as an acquisition unit that acquires the key information transmitted from each electronic key 2 by using the reception unit 103.

The input unit 104 is an interface that receives a signal from the outside of the in-vehicle device 10. The control unit 100 may receive information from the outside through the input unit 104. The group of sensors 3 and the camera 4 are connected to the input unit 104. The control unit 100 may acquire information from the sensor 3 group through the input unit 104, and may receive a video signal from the camera 4.

The output unit 105 is an interface that outputs a signal indicating whether driving is permitted to the driving control apparatus 5. The output unit 105 may be a communication unit connected to an in-vehicle LAN (local area network), and in this case, may function as a communication unit in combination with the input unit 104.

The external memory 106 is provided separately from the storage unit 101, and uses, for example, an SD memory card. Although the in-vehicle apparatus 10 itself is provided inside the internal device of the forklift 1, the external memory 106 is a small memory that can be inserted/pulled out of position by the administrator of the forklift 1.

In the case where the transmission/reception of the signal between the in-vehicle device 10 and the electronic key 2 is of the electromagnetic induction type shown in fig. 2B, the in-vehicle device 10 does not have the transmission unit 102, as compared with the passive type shown in fig. 2A. In the case of the electromagnetic induction type, the receiving unit 103 demodulates a signal read out through the antenna coil 31 provided at the key cylinder.

As the sensor 3, various sensors such as a vehicle speed sensor for measuring a vehicle speed and an acceleration sensor for detecting a collision with a vehicle body are used. The sensor 3 group is a general term of these, and corresponds to a state measurement unit that measures the state of the vehicle.

The cameras 4 include a first camera provided at the front of the forklift 1 and facing forward to capture a video, and a second camera provided at the rear of the forklift 1 and facing rearward to capture a video. Each of the first camera and the second camera has a wide-angle lens, and an angle of view is set around 360 degrees so as to capture video of all objects and persons present in the surroundings of the forklift 1. Preferably, the first camera and the second camera have sufficient durability, which has dust-proof and water-proof properties. The camera 4 may be implemented by one camera, and a dedicated mirror and lens that allow 360 degree video to be taken. The control unit 100 of the in-vehicle apparatus 10 sequentially stores the video signals received from the camera 4 through the input unit 104 as video data in the storage unit 101. The control unit 100 sequentially overwrites the old video data with the new video data. The camera 4 may have an internal memory in which video data based on a video signal may be sequentially stored so that old data is sequentially overwritten and the video data may be read by the control unit 100.

The driving control apparatus 5 is a device that controls driving performed by an engine or a drive motor of the forklift 1. The driving control apparatus 5 is capable of starting the engine or the drive motor based on: the state of the ignition switch or power switch; and a signal that the in-vehicle apparatus 10 outputs and indicates whether driving is permitted. The driving control apparatus 5 may also cause an automatic stop or the like according to the state. In the case of the electromagnetic induction type shown in fig. 3, the driving control apparatus 5 detects the state of the ignition switch based on the position of the key in the key cylinder.

The electronic key 2 includes a control unit 20, a storage unit 21, a receiving unit 22, and a transmitting unit 23. The control unit 20 is, for example, a microcontroller which uses one or more CPUs or multicore CPUs, and includes ROM, RAM, input/output interfaces, a timer, and the like.

As the storage unit 21, a nonvolatile memory such as a flash memory or an EEPROM is used. The storage unit 21 stores therein unique key identification information (non-rewritable) for identifying each electronic key 2. In embodiment 1, the key identification information is used as information (key information) for determining whether driving is permitted, which will be described later. As the key information, other information (identification information of the driver holding the key, key information provided in advance) different from the key identification information may be stored.

As the receiving unit 22, a module including a demodulator and a receiving antenna corresponding to the transmitting unit 102 of the in-vehicle apparatus 1 is used. The frequency band used by the receiving unit 22 is an LF band or a VLF band. It should be understood that the frequency band is not limited to these frequency bands as long as the frequency band corresponds to the frequency band of the transmission unit 102 of the mobile device 1.

The transmission unit 23 is connected to a transmission antenna having a frequency corresponding to the frequency of the reception unit 103 of the in-vehicle apparatus 1. As the transmission unit 23, a module including a modulator that modulates a signal to be transmitted via a transmission antenna is used. The frequency band used by the transmission unit 23 is a UHF band (RF band). It should be understood that the frequency band is not limited to this frequency band as long as the frequency band corresponds to the frequency band of the receiving unit 103 of the in-vehicle apparatus 1.

When the control unit 20 of the electronic key 2 has detected that the request signal is received from the in-vehicle device 1, the key identification information stored in the storage unit 21 is included in the response signal and the response signal is transmitted. The control unit 20 functions as an output unit that outputs the key information to the in-vehicle apparatus 1 by using the transmission unit 23.

In the case where the transmission/reception of the signal between the in-vehicle device 10 and the electronic key 2 is of the electromagnetic induction type shown in fig. 2B, the electronic key 2 does not have the control unit 20 and the receiving unit 22, as compared with the passive type shown in fig. 2A. In the case of the electromagnetic induction type, the transmitting unit 23 is a transponder coil. When the key portion of the electronic key 2 is inserted into the key cylinder of the vehicle, key information, which is key identification information or other information, is read from the storage unit 21 from the in-vehicle apparatus 1 side.

The procedure of the storage processing of the image or moving image captured by the camera 4 in the system configured as above is described with reference to a flowchart. Fig. 3 is a flowchart showing one example of a procedure of the storage processing executed by the in-vehicle apparatus 10 of embodiment 1. In a state where the engine (or the drive motor) of the forklift 1 is stopped, the control unit of the in-vehicle device 10 executes the following processing. This processing indicated by the flowchart in fig. 3 corresponds to the case where the passive radio wave type electronic key 2 is used.

The control unit 100 periodically transmits a request signal for confirming whether the electronic key 2 exists within the output range through the transmission unit 102 (step S101). The control unit 100 determines whether the receiving unit 103 has received a response signal corresponding to the request signal (step S102). Upon determining that the response signal has not been received (S102: no), the control unit 100 returns the process to step S101.

Upon determining in step S102 that the response signal has been received (S102: yes), the control unit 100 takes out the key information (key identification information of the electronic key 2) included in the received response signal (step S103). In the case where other information for determining whether to permit driving is included in the response signal, the control unit 100 may also take out this information in step S103.

The control unit 100 compares the key information taken out in step S103, that is, the key identification information of the electronic key 2, with the key identification information that is stored in the storage unit 101 and is to be determined to permit driving (step S104), and determines whether or not the taken-out key identification information matches the key identification information that is to be determined to permit driving (step S105). When it is determined in step S105 that there is no match therebetween (S105: no), the control unit 100 ends the processing.

In step S105, in the case where it is determined that driving is not permitted despite the response signal having been received, if a user interface, such as a sound output unit or a display, which can be confirmed by the driver is provided, a message may be output from the output unit 105 such that a message/sound indicating that driving is not permitted is displayed/output through the interface. Further, in this case, the control unit 100 may output a signal indicating that driving is not permitted to the driving control apparatus 5 through the output unit 105. The driving control apparatus 5 that has received the signal indicating that driving is not permitted may prohibit operation, for example, not permit engine (or drive motor) start, prohibit running even if engine start is permitted, or not permit a shift or steering operation.

When it is determined in step S105 that there is a match therebetween (S105: yes), the control unit 100 outputs a signal indicating permission of driving to the driving control apparatus 5 through the output unit 5 (step S106). Then, the engine or the drive motor is started by the driving control apparatus 5, so that driving is enabled. In order to output a signal indicating that driving is permitted in step S106, a weight sensor may be provided at a seat in the case of the counter-type forklift 1 or a standing position in the case of the reach forklift 1 to detect whether a person is seated or standing at the standing position, and the signal may be output only when the person is seated or standing in an appropriate posture.

Next, the control unit 100 stores log data indicating that driving has started in the external memory 106 in association with key identification information corresponding to the electronic key 2 held by the driver and time information (time stamp) acquired by the built-in timer (step S107). In step S107, the vehicle identification information of the forklift 1 may be stored in association with the log data.

Then, the control unit 100 acquires information from the sensor 3 group (step S108), and determines whether the vehicle speed acquired from the vehicle speed sensor has exceeded a predetermined speed (step S109). Upon determining that the vehicle speed has exceeded the predetermined speed (S109: YES), the control unit 100 stores, in the external memory 106, video data corresponding to a predetermined time among the video data received from the camera 4 and sequentially stored in the storage unit 101, in association with the key identification information and the time information acquired by the built-in timer. The storage unit 101 associates the key identification information and the time information acquired by the built-in timer (step S110), and advances the process to step S111. The video data corresponding to the predetermined time includes video data before the timing at which the vehicle speed has been determined to have exceeded the predetermined speed in step S109, and includes video data after the timing. The predetermined time is, for example, several tens of seconds to several minutes before and after the timing is determined. Upon determining that the vehicle speed is not greater than the predetermined speed (S109: no), the control unit 100 advances the process to step S111.

Based on the acceleration values indicated by the acceleration sensors included in the sensor 3 group, the control unit 100 determines whether a collision has been detected (step S111). At this time, the collision is detected as a collision with another forklift 1, driving on a step, sudden braking, sudden start, or the like. When it is determined that the impact has been detected (S111: YES), the control unit 100 stores the video data in the external memory 106 in association with the key identification information and the time information (step S112), and advances the process to step S113. The processing in step S112 is the same as that in step S110. Upon determining that no impact is detected (S111: no), the control unit 100 advances the process to step S113.

The control unit 100 determines whether the engine has stopped (step S113). In step S113, for example, in the case of the passive radio wave type, the control unit 100 makes a determination according to whether the power switch has entered the off state, and in the case of the electromagnetic induction type, the control unit 100 makes a determination according to whether the ignition switch has entered the off state. In the case where the forklift 1 is operated by the drive motor, the control unit 100 may determine whether the power switch has entered the off state.

When it has been determined that the engine has not stopped (S113: no), the control unit 100 returns the process to step S108 after a predetermined waiting time, and repeats the acquisition of information from the sensor 3 group and the determination process based on the acquired information.

When it has been determined that the engine has stopped (S113: YES), the control unit 100 stores log data indicating that driving has ended in the external memory 106 in association with the key identification information and the time information acquired by the built-in timer (step S114), and ends the processing.

In the case of using the electronic key 2 of the electromagnetic induction type and the in-vehicle device 10, step S101 and step S102 are not necessary, and in step S103, the control unit 100 extracts the key identification information through the receiving unit 103.

Due to the above-described processing procedure, only the forklift 1 on which the operator who holds the appropriate electronic key 2 is allowed to be driven is allowed, and video data (moving images) can be stored while distinguishing the operator who drives the forklift 1. For example, the manager takes out the external memory 106 for each forklift 1 from the in-vehicle apparatus 10 once a day, and reads out the data stored therein. The read data includes log data from a driving start log to a driving end log and video at the time of detection of overspeed or impact of each driving. Since the communication of the key identification information is performed between the electronic key 2 and the in-vehicle device 10, even if another electronic key 2 is used, the forklift 1 is allowed to be driven, and thus the convenience is improved. In the case of the passive type, even if the operator holds the electronic key 2, the operator can drive the forklift 1, and therefore, convenience is improved. In addition, the log and the video data corresponding to the impact of speeding or driving each time are stored while identifying their respective electronic keys 2, i.e., the driving operators. Even if the operator drives different forklift trucks 1, the driving tendency of each different forklift truck 1 can be analyzed for each operator.

(example 2)

Fig. 4 is a block diagram showing the configuration of the vehicle operating system of embodiment 2. The sensor 3 group (state measurement unit) in embodiment 2 includes a weight sensor 3c, an infrared sensor 3d, and a wireless tag reader 3e in addition to the vehicle speed sensor 3a and the acceleration sensor 3 b. Since other configurations are the same as those of the vehicle operating system of embodiment 1, common configurations are denoted by the same reference numerals, and detailed description thereof is omitted. In fig. 4 and the following description, an example of the electronic key 2 using the passive radio wave type is described. However, the electronic key 2 and the in-vehicle device 10 of the electromagnetic induction type may be used.

The vehicle speed sensor 3a is a sensor that is mounted near the engine or tires of the forklift 1 and measures the vehicle speed. The acceleration sensor 3b is a three-axis sensor attached to a position of the vehicle body or the front fork. The weight sensor 3c is a sensor that measures a load on the fork portion of the forklift 1 and outputs a signal level corresponding to the load. The infrared sensor 3d is a sensor unit having, for example, a red semiconductor laser and a CMOS (complementary metal oxide semiconductor) sensor, and measures the distance to the nearest object. For example, the infrared sensor 3d is provided at the fork end of the forklift 1, measures the distance from the fork end to the nearest object, and outputs a signal level corresponding to the distance. The infrared sensors 3d may be provided at a plurality of positions in the vehicle body so as to be used for collision avoidance. The reader 3e is a device that reads information from a storage medium provided in the radio tag. The reader 3e is, for example, an RFID (radio frequency identifier) reader, and reads information from an RFID tag attached to a transported object.

In embodiment 2, the control unit 100 of the in-vehicle apparatus 10 stores video data as a trigger using not only the determination as to whether the vehicle speed acquired from the vehicle speed sensor 3a has exceeded the predetermined speed or whether the impact vehicle speed acquired from the acceleration sensor 3b has been detected but also information from other sensors in the sensor 3 group. For example, the control unit 100 performs storage using, as triggers, the load weight on the fork portion measurable by the weight sensor 3c, the distance to the surrounding object and the distance from the vehicle body to the surrounding person or object present measurable by the infrared sensor 3, and the information of the transported object read by the reader 3 e.

Fig. 5 and 6 are flowcharts showing one example of the procedure of the storage processing executed by the in-vehicle apparatus 10 of embodiment 2. In the processing procedures shown in the flowcharts of fig. 5 and 6, the same processing steps as those in the flowchart of fig. 3 of embodiment 1 are denoted by the same step numbers, and detailed description thereof is omitted.

In embodiment 2, in step S108, the control unit 100 acquires information from one of a plurality of or all of the vehicle speed sensor 3a, the acceleration sensor 3b, the weight sensor 3c, the infrared sensor 3d, and the reader 3e (S108). When it is determined in step S111 that no collision is detected (S111: no), or after it is determined that a collision has been detected and video data is stored (S112), the control unit 100 determines whether the transported object has been dropped during transportation based on the vehicle speed acquired from the vehicle speed sensor 3a and the load weight acquired from the weight sensor 3c (step S121). In step S121, for example, when it can be determined that although the vehicle speed is not zero, that is, the forklift 1 is not yet stopped, the load on the forklift 1 has suddenly decreased and a drop is suspected (step S121: yes). Accordingly, the control unit 100 stores the video data (step S122). After storing the video data, the control unit 100 advances the process to step S123. Besides, in step S121, when it can be determined that the load has suddenly decreased although the gear position is not at the stop position for loading or unloading the transported object, the control unit 100 can determine that the drop has occurred. When the load is not changed and it is determined that the drop has not occurred (S121: no), the control unit 100 advances the process to step S123.

In the storage processing of step S122, the control unit 100 stores, in the storage unit 101, video data corresponding to a predetermined time among the video data received from the camera 4 and sequentially stored into the external memory 106 in association with the key identification information and the time information acquired by the built-in timer, as in the processing of step S110 described in embodiment 1.

Then, the control unit 100 determines whether the distance acquired from the infrared sensor 3d is not more than a predetermined distance (step S123). Upon determining that the distance is not greater than the predetermined distance (S123: yes), the control unit 100 stores the video data (step S124), and advances the process to step S125. In step S123, when it is determined that the distance is not more than the predetermined distance, it is possible to perform loading, unloading, and the like of the transported object while the distance is not more than the predetermined distance. Therefore, in this case, if video data is stored, video relating to the processing of the transported object can be recorded. The storage processing in step S124 is the same as that in step S110. When it is determined in step S123 that the distance is greater than the predetermined distance (S123: no), the control unit 100 advances the process to step S125.

The control unit 100 determines whether the reader 3e has been able to read information from the transported object (step S125). Upon determining that the information has been able to be read (readable) (S125: yes), the control unit 100 stores the read information in the external memory 106 in association with the key identification information (step S126), and advances the process to step S113. When determining that the information cannot be read (S125: no), the control unit 100 stores the video data (step S127), and advances the process to step S113. In this case, video can be recorded about the unknown transported object.

The determination for storing video based on information acquired from the set of sensors 3 shown in the flowcharts of fig. 5 and 6 is merely an example. The processing of storing video data depending on whether the reader 3e has been able to read information and the processing based on the distance measurement of the infrared sensor 3d are also merely examples. Any of these processes may be combined together as appropriate. Alternatively, these processes may be replaced by other determination processes. However, unlike an external drive recorder that can also be applied to a passenger car, the in-vehicle device 10 in embodiment 2 uses information unique to the forklift 1, that is, in the above-described example, the load on the fork, information of the transported object, the distance to the approaching object (or person), and the like. The vehicle-mounted device 10 is incorporated in the forklift 1 in advance, is connected to the driving control apparatus 5, and is capable of acquiring information indicating a vehicle state. The storage of the video data may be triggered according to the state of the forklift 1 (the state of the vehicle) estimated based on the information acquired from the sensor 3 group and other information such as the shift position mentioned as an example in step S121, without being limited to the information from the sensors.

(example 3)

Fig. 7 illustrates an outline of the vehicle operating system of embodiment 3. In embodiment 3, a trigger for storing video data captured by the camera 4 is to include a predetermined object within the imaging range of the camera 4. For example, the predetermined object is a color tag 6 capable of specifying the position of a work place. The color tag 6 is colored in two or more colors in a unique positional relationship, and as shown in fig. 7, is attached to a strip standing at various positions of the work site. Operator A, B, C also wears color label 6 like an arm band. Due to the color of the color tag 6 and its unique positional relationship, tag identification information can be specified. The fact that the color tag 6 appears in the video based on the video signal received through the input unit 103 and that the tag identification information has been able to be specified corresponds to the state of the forklift 1 in which the forklift 1 has passed through a specific position. Therefore, the in-vehicle apparatus 10 of embodiment 3 stores video data by being triggered by this fact.

Fig. 8 is a block diagram showing the configuration of a vehicle operating system of embodiment 3. In the vehicle operating system of embodiment 3, the in-vehicle device 10 includes the communication unit 107 that uses a module for wireless communication, and transmits and receives information to transmit information to the communication device 8 and receive information from the communication device 8 by wireless communication. Since other configurations are the same as embodiment 1, common configurations are denoted by the same reference numerals as embodiment 1, and detailed description thereof is omitted. In fig. 8 and the following description, an example of the electronic key 2 using the passive radio wave type is described. However, the electronic key 2 and the in-vehicle apparatus 10 of the electromagnetic induction type may be used.

The communication unit 107 of the in-vehicle apparatus 10 in embodiment 3 can be communicably connected to the on-factory network N1 via the access points AP provided at various locations in the workplace using a wireless communication apparatus according to Wi-Fi or the like. The access points AP are located at different locations of the plant. The communication unit 107 can acquire information for identifying an access point to which the communication unit 107 is communicably connected. The communication unit 107 may be directly communicably connected to the communication device 8. In this case, Bluetooth (registered trademark) may be used for the communication unit 107. Any type of communication unit 107 may be employed as long as communication between the control unit 100 and the communication device 8 is achieved.

The communication device 8 is, for example, a PC (personal computer) for use by a user having authority as a manager in a work place. The communication device 8 includes a control unit 80, a storage unit 81, a communication unit 82, an operation unit 83, and an output unit 84. The output unit is connected to a monitor 85.

The control unit 80 implements various components by using a CPU. The control unit 80 executes a process procedure described later based on a program stored in the storage unit 81, and operates as an operation management device.

As the storage unit 81, a nonvolatile storage device such as a flash memory or a hard disk is used. The server program 8P is stored in the storage unit 81. The control unit 80 reads out and executes the server program 8P, thereby executing processing of recording information transmitted from the in-vehicle device 10 in the storage unit 181 in association with the vehicle identification information of the forklift 1 and the operator identification information indicating the driver. Due to the processing based on the server program 8P executed by the control unit 80, the operation records of the forklift trucks 1 at the work sites gathered from the respective forklift trucks 1 are stored as the operation management DB811 in the storage unit 81.

The communication unit 82 may be communicatively connected to the on-plant network N1 in a wireless or wired manner. The control unit 80 can receive the information transmitted from the in-vehicle apparatus 10 via the on-plant network N1 through the communication unit 82.

The operation unit 83 is a user interface such as a mouse or a keyboard. The control unit 80 executes processing according to the operation detected at the operation unit 83. The output unit 84 is an interface of the monitor 85. The control unit 80 may output an image of the information stored in the storage unit 81 or the information received through the communication unit to the monitor 85.

A process of capturing a video of the color tag 6 in the vehicle operation system configured as above and storing the video data triggered by the color tag 6 is described. Fig. 9 and 10 are each a flowchart showing one example of a procedure of video data storage processing executed by the in-vehicle apparatus 10 of embodiment 3. In the processing procedures shown in the flowcharts of fig. 9 and 10, the same processing steps as those in the flowchart in fig. 3 of embodiment 1 are denoted by the same step numbers, and detailed description thereof is omitted.

After outputting a signal indicating permission of driving to the driving control apparatus 5 (S106), the control unit 100 transmits log data indicating that driving has started to the communication device 8 through the communication unit 107 in association with the key identification information corresponding to the electronic key 2 held by the driver and the time information (time stamp) acquired by the built-in timer (step S117). At least in the process of step S117 and thereafter, the control unit 100 preferably reads out the vehicle identification information for individually identifying the forklift 1 from the storage unit 101, associates the read-out vehicle identification information with the information transmitted from the in-vehicle device 10 to the communication device 8, and transmits the resultant information.

When it is determined in step S109 that the vehicle speed has exceeded the predetermined speed (S109: yes), the control unit 100 transmits, to the communication device 8, video data corresponding to a predetermined time among the video data received from the camera 4 and sequentially stored in the storage unit 101, in association with the key identification information and the time information acquired by the built-in timer, through the communication unit 107 (step S131), and advances the process to step S111. In step S131, the control unit 100 may transmit information indicating that the overspeed has been used as a trigger type of the trigger.

When it is determined in step S111 that the impact has been detected (S111: yes), the control unit 100 transmits video data corresponding to a predetermined time among the video data from the camera 4 to the communication device 8 through the communication unit 107 in association with the key identification information and the time information acquired by the built-in timer (step S132), and advances the process to step S133. In step S132, similar to step S131, the control unit 100 may transmit information indicating that the detection of the collision has been used as a trigger type of the trigger. In addition, when it is determined in step S111 that no collision is detected (S111: no), the control unit 100 advances the process to step S133.

The control unit 100 performs image processing on frame images included in the video data received from the camera 4 and sequentially stored in the storage unit 101 (step S133), and determines whether the color tag 6 has been captured (step S134). The image processing in step S133 may be performed by an image processing IC (integrated circuit) that may be separately provided in the in-vehicle apparatus 10.

Upon determining that the color tag 6 has been photographed (S134: yes), the control unit 100 reads tag identification information from the range of the photographed color tag 6 (step S135). Further, the control unit 100 determines whether the read tag identification information corresponds to a specific tag (step S136). The specific tag is a bar-shaped tag set at a position where recording should be performed at a work site (in a factory) or a position of an important process in the work site, a bottleneck position, or the like. The tag identification information of each specific tag is stored in the storage unit 101 in advance. Tag identification information of a specific tag may be managed in the communication device 8, and in step S136, the control unit 100 may inquire of the communication device 8 whether the read tag identification information corresponds to the specific tag.

When it is determined in step S136 that the read tag identification information corresponds to the specific tag (S136: yes), the control unit 100 transmits, to the communication device 8, video data corresponding to a predetermined time among the video data received from the camera 4 and sequentially stored in the storage unit 101, in association with the key identification information and the time information acquired by the built-in timer through the communication unit 107 (step S137), and advances the process to step S113. Preferably, in step S137, the control unit 100 transmits the video data together with the tag identification information read from the specific tag.

When it is determined in step S134 that the color tag 6 has not been photographed (S134: no), or when it is determined in step S136 that the tag identification information does not correspond to the specific tag (S136: no), the control unit 100 advances the process to step S113.

Upon determining in step S113 that the engine has stopped (S113: yes), the control unit 100 transmits log data indicating that driving has ended to the communication device 8 through the communication unit 107 in association with the key information corresponding to the electronic key 2 held by the driver and the time information (time stamp) acquired by the built-in timer (step S115), and ends the processing.

Fig. 11 illustrates an example of the content of information stored in the communication device 8 of embodiment 3. As shown in fig. 11, in the communication device 8, the information received from the in-vehicle device 10 is stored as the operation management DB 811. In the operation management DB811, the driving start and end logs and the video data are stored together with their time information in association with the vehicle identification information of the forklift 1 and the key information (key identification information) based on which the driving is determined to be permitted. In the operation management DB811 shown in fig. 11, trigger types are also associated. Specifically, when the tag identification information corresponding to the specific tag has been read from the color tag 6, the tag identification information is stored. Therefore, the position in the time series of the forklift 1, that is, the travel line in the work place is stored in association with the key information, that is, the information specifying the driver. Therefore, the extraction process of the movement line for each driver can be performed at a later time. In the example of fig. 11, information of one forklift 1 is shown. However, for a plurality of forklifts 1, information may be stored for each forklift 1.

In this way, the in-vehicle apparatus 10 of embodiment 3 performs image processing on the video data (monitor) acquired from the camera 4, and stores the video data triggered by whether or not a specific object used for the operation of the forklift 1 has been captured into the external memory 106. Unlike an external drive recorder which can be applied to a passenger vehicle and for which only impact or acceleration is used as a trigger, in embodiment 3, video data to be triggered by a unique condition of the industrial vehicle, such as whether a specific object capable of specifying a position during driving inside a factory has been shot, is stored. Further, since the video data is stored when the driver is recognized, even if the operator drives a different forklift 1, the travel line (position set) can be analyzed for each operator. Through these analyses, the number of the forklift 1 that should be deployed, the storage location and the storage amount of the cargo as the transported object, and the deployment, and further the deployment of the operator can be made appropriate.

(example 4)

Fig. 12 is a block diagram showing the configuration of a vehicle operating system of embodiment 4. In the vehicle operating system of embodiment 4, the electronic key 2 is implemented as one function of the terminal device 2 a. The terminal apparatus 2a performs communication with the communication apparatus 8 as an external device. Since other configurations are the same as those in embodiment 1, common configurations are denoted by the same reference numerals as those in embodiment 1, and detailed description thereof is omitted. In fig. 12 and the following description, an example of a passive radio wave type signal transmission/reception process is described.

In embodiment 4, the communication unit 107 of the in-vehicle apparatus 10 operates as a communication module that directly communicates with the terminal apparatus 2 a. In this case, Bluetooth (registered trademark) is used for the communication unit 107. The communication unit 107 may be a communication module based on another standard that can establish a communication connection with the terminal apparatus 2 a.

The terminal device 2a is obtained by providing antennas of LF band and UHF band to a so-called smartphone. The terminal device 2a includes a control unit 20, a storage unit 21, a receiving unit 22, a transmitting unit 23, a first communication unit 24, a second communication unit 25, a display unit 26, and an operation unit 27.

The control unit 20 includes a CPU, ROM, clock, and the like. Based on various programs including a key application (application program) 2P stored in the storage unit 21, the control unit 20 causes the terminal device 2a, which is a general-purpose computer, to operate as a specific processing device exhibiting the function of the electronic key 2 as described later.

The storage unit 21 includes a nonvolatile memory such as a flash memory. The storage unit 21 has stored therein beforehand various programs including the key application 2P and unique identification information identifying the terminal device 2a itself. In the storage unit 21, operator identification information (operator ID) identifying the operator of the holding terminal device 2a and the key application 2P is stored in association with each other. In embodiment 4, the unique identification information may also be used as the key identification information. However, in the following description, the operator identifying information is used as information for determining whether driving is permitted.

The receiving unit 22 and the transmitting unit 23 are the same as those in the passive type electronic key 2 in embodiment 1. A module including an antenna of LF to VLF bands and a demodulator connected to the antenna, and a module including an antenna of UHF band and a modulator connected to the antenna are provided in the housing of the terminal device 2a as a smartphone. The modules may be controlled by a control unit 20.

The first communication unit 24 is a communication module communicably connected to the communication unit 107 of the in-vehicle apparatus 10, and uses, for example, Bluetooth (registered trademark). A communication module based on another standard may be used as long as the communication module corresponds to the communication unit 107.

The second communication unit 25 is a wireless communication device according to Wi-Fi or the like, and realizes a communication connection with the on-plant network N1 through the access point AP.

The display unit 26 is a display incorporating a touch panel type, which uses a display such as a liquid crystal display or an organic EL (electroluminescence) display. Based on the processing performed by the control unit 20, the display unit 26 displays various types of information, such as buttons for receiving applications based on the key application 2P.

The operation unit 27 is a physical button provided to a housing of the apparatus and a touch panel built in the display unit 26. Alternatively, the operation unit 27 may be a device (keyboard, pointing device) that receives an operation input by the user.

In the terminal device 2a configured as above, for example, when the operator performs an operation of activating the key application 2P, the control unit 20 reads out and executes the key application 2P, and causes a signal indicating locking or unlocking to be output from the transmission unit 23. In this way, the terminal device 2a can function as the electronic key 2. In the present embodiment 2, it is assumed that the storage unit 101 of the in-vehicle apparatus 10 has stored therein operator identification information (operator ID) as key information for determining permission of driving. The in-vehicle device 10 permits driving when the terminal device 2a that has activated the key application 2P responds to the request signal from the in-vehicle device 10 and the operator identification information stored in association with the key application 2P matches the information determined to permit driving of the target forklift 1.

In embodiment 2, the server program 8P stored in the storage unit 81 of the communication device 8 is a program corresponding to the key application 2P (client program) in the terminal device 2 a.

Fig. 13 and 14 are flowcharts showing one example of the procedure of the storage processing executed by the in-vehicle apparatus 10 of embodiment 4. Fig. 13 shows a processing procedure on the in-vehicle apparatus 10 side. Fig. 14 shows a processing procedure in the terminal apparatus 2a and the communication apparatus 8. In the processing procedure of the in-vehicle apparatus 10 shown in the flowchart of fig. 13, the same process steps as those in the flowchart in fig. 3 of embodiment 1 are denoted by the same step numbers, and detailed description thereof is omitted.

When the control unit 100 of the in-vehicle device 10 transmits a request signal (S101) and determines that a response signal to the request signal has been received (S102: YES), the control unit 100 extracts key information (operator ID) included in the received response signal (S103). In addition, if unique information or the like is included, the control unit 100 may also take out this information. The request signal transmitted in step S101 may include connection information for allowing the terminal apparatus 2a to be communicably connected to (paired with) the in-vehicle apparatus 10. Alternatively, fixed connection information may be set in advance in the in-vehicle apparatus 10, and this fixed connection information may be registered in advance on the terminal apparatus 2a side.

The control unit 100 compares the key information taken out in step S103, that is, the operator identifying information of the operator to be driven with the operator identifying information that is stored in the storage unit 101 and that is to be determined to permit driving (S104). Then, the control unit 100 determines whether the retrieved operator identifying information matches the operator identifying information for which it is determined that driving is permitted (step S105). After the control unit 100 determines in step S105 that there is a match therebetween (S105: yes) and outputs a signal indicating permission of driving to the driving control apparatus 5 through the output unit 5 (S106), the control unit 100 establishes a communication connection with the terminal device 2a through the communication unit 107 (step S141). The control unit 100 transmits a log indicating the start of driving to the terminal device 2a to which the control unit 100 is communicably connected in association with the time information (step S142), and then advances the process to step S108. In step S142, the vehicle identification information may also be transmitted in association with the vehicle identification information.

Then, the control unit 100 acquires information from the sensor 3 group (S108), and determines whether the vehicle speed acquired from the vehicle speed sensor has exceeded a predetermined speed (S109). When it is determined that the vehicle speed has exceeded the predetermined speed (S109: yes), the control unit 100 transmits, to the terminal device 2a, video data corresponding to a predetermined time among the video data received from the camera 4 and sequentially stored in the camera 4, in association with the time information acquired by the built-in timer (step S143), and advances the process to step S111.

In addition, after determining in step S111 that a collision has been detected (S111: yes), the control section 100 transmits video data to the terminal device 2a in association with the time information (step S144), and proceeds to step S113.

Further, when it is determined in step S113 that the engine has stopped (S113: YES), the control unit 100 transmits log data indicating that the driving has ended in association with the time information acquired by the built-in timer to the terminal device 2a to which the control unit 100 is communicably connected (step S145). In step S145, the control unit 100 may also transmit vehicle identification information associated therewith. Then, control section 100 disconnects communication with terminal device 2a (step S146), and ends the process.

With reference to the flowchart in fig. 14, the communication between the terminal apparatus 2a and the communication apparatus 8 is described. The control unit 20 of the terminal device 2a operated as the electronic key 2 determines whether or not the request signal from the in-vehicle device 10 has been received (step S201). Upon determining that the request signal has not been received (S201: no), the control unit 20 returns the process to step S201. Upon determining that the request signal has been received (S201: YES), the control unit 20 reads out the operator identifying information stored in the storage unit 21 (step S202). The control unit 20 causes the response signal including the read operator identification information as the key information to be transmitted from the transmission unit 23 to the in-vehicle device 10 (step S203).

The control unit 20 of the terminal apparatus 2a attempts to establish a communication connection with the in-vehicle apparatus 10 via the first communication unit 24 (step S204), and determines whether to permit driving according to whether the connection has been established (step S205). The determination as to whether driving is permitted or not may be made according to whether or not a communication connection has been established and the start log has been received.

When it is determined that driving is permitted (S205: YES), the control unit 20 transmits log data indicating the start of driving to the communication device 8 by the second communication unit 25 in association with the vehicle identification information of the in-vehicle device 10 as the transmission source and further the operator identification information (step S206). Thereafter, the control unit 20 of the terminal apparatus 2a receives the video data transmitted together with the time information during driving from the in-vehicle apparatus 10 through the first communication unit 24 communicably connected thereto (step S207). The control unit 20 transmits the received video data and time information to the communication device 8 through the second communication unit 25 in association with the operator identification information (step S208). The transmission in step S208 may be performed each time information is received from the in-vehicle apparatus 10. Alternatively, information from the in-vehicle apparatus 10 may be temporarily stored in the storage unit 21, and then the information may be periodically read out and transmitted.

The control unit 20 determines whether the engine (or the drive motor) of the forklift 1 has stopped (step S209). When it is determined that log data indicating the end of driving has not been received and the engine has not been stopped (S209: no), the control unit 20 returns the process to step S207 and repeats the reception of information.

Upon determining that the engine has stopped (S209: YES), the control unit 20 disconnects the communication with the in-vehicle device 10, for example, by disabling the first communication unit 24 (step S210). The control unit 20 transmits the received log data indicating the driving stop and the time information to the communication device 8 in association with the vehicle identification information and the operator identification information through the second communication unit 25 (step S211), and ends the processing.

When it is determined in step S205 that driving is not permitted (S205: no), that is, when the communication connection has not been established, the control unit 20 transmits log data indicating that driving is not permitted to the communication device 8 through the second communication unit 25 (step S212), and ends the processing. At this time, for example, the control unit 20 may cause a message indicating that driving is not permitted to be displayed on the screen of the key application 2P in the display unit 26.

On the communication device 8 side, when log data indicating the driving start and time information has been transmitted from the terminal device 2a, the control unit 80 receives these pieces of information through the communication unit 82 and stores these pieces of information in association with operator identification information (operator ID) transmitted in association therewith into the operation management DB811 (step S301). When the received log data indicates that driving is not permitted, the control unit 80 stores the log data and ends the processing.

Each time video data and time information are transmitted from the terminal device 2a, the control unit 80 receives the video data in association with the time information, the operator identification information, and the vehicle identification information, and stores these pieces of information to the operation management DB811 (step S302).

Then, when the log data indicating the driving stop has been transmitted from the terminal device 2a, the control unit 80 receives the log data through the communication unit 82, and stores the log data in the operation management DB811 in association with the operator identification information and the vehicle identification information and the time information (step S303).

Fig. 15 illustrates an example of the content of information stored in the communication device 8 of embodiment 4. In the operation management DB811 of embodiment 4, for each forklift 1, the driving start and end logs and the video data are stored together with their time information in association with the vehicle identification information, the key information (operator identification information) that determines permission of driving. Therefore, based on the operator identification information, the driving record can be extracted for each vehicle and each operator. In addition, in the operation management DB811 shown in fig. 15, trigger types are also associated.

Therefore, since the video data photographed by each forklift 1 is aggregated in the communication device 8, the video data of the plurality of forklifts 1 stored in the operation management database 811 can be comprehensively analyzed in a posterior or real-time manner. Since the video data is automatically stored for each driver holding the electronic key 2 (terminal device 2a), even if the same operator drives a different forklift 1, the data for analyzing the driving tendency can be recorded as a video. When the analysis is performed for a plurality of forklift trucks 1 operating at the same work site, the number of forklift trucks 1 that should be deployed at the work site, the storage location, the storage amount, and the appropriate deployment of goods as transported objects, and the like, may be presented. Thus, various applications can be realized. In addition, if the analysis is performed in real time, driving support may be provided, such as the presentation of more efficient motion lines.

In embodiment 4, the in-vehicle device 10 is configured to receive the key information from the electronic key 2 through the receiving unit 103 for transmitting/receiving the request signal. However, the acquisition of the key information is not limited to the transmission/reception of a radio signal in the UHF band or the like. For example, the following configuration may be adopted. That is, the terminal device 2a encrypts the key information, then makes a two-dimensional barcode on the encrypted key information, and displays the two-dimensional barcode on the display unit 26. Then, the in-vehicle apparatus 10 causes the camera 4 to capture an image of the display unit 26 of the terminal apparatus 2a and performs image processing on a video signal thereof, thereby acquiring key information from the two-dimensional barcode. Besides, the terminal device 2a may have a radio tag in which key information is stored, and the in-vehicle device 10 may acquire the key information read by using a reader that reads the key information from the radio tag. Still alternatively, the terminal device 2a may output the key information in characters or sound, and on the in-vehicle device 10 side, the key information may be read by the camera 4 or received via a microphone to be recognized.