Industrial vehicle
The industrial vehicle integrates a sensor and warning system to detect and notify the protrusion of an operator's limb, ensuring safe operation by adjusting alerts based on vehicle state, thus addressing the challenge of maintaining workability and safety.
Patent Information
- Authority / Receiving Office
- AU · AU
- Patent Type
- Applications
- Current Assignee / Owner
- TOYOTA INDUSTRIES CORP
- Filing Date
- 2025-05-21
- Publication Date
- 2026-07-16
AI Technical Summary
Conventional industrial vehicles face a challenge in notifying the protrusion of an operator's foot or leg from the vehicle body while maintaining workability, leading to potential safety issues and reduced efficiency.
An industrial vehicle equipped with a sensor to detect the protrusion of an object from the main body, a warning processing unit to determine appropriate warning processes based on travel state information, and a notification system that includes visual and auditory alerts to inform the operator and supervisor of the protrusion, while allowing the vehicle to continue operating safely.
The system effectively notifies the operator and supervisor of the protrusion, maintaining vehicle workability by adjusting the level of notification and travel restriction based on the vehicle's state, enhancing safety and operational efficiency.
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Abstract
Description
The present invention relates to an industrial vehicle. 5 BACKGROUND ART Conventional industrial vehicles include, for example, a material handling vehicle mentioned in United States Patent No. 7259662. United States Patent No. 7259662 mentions an industrial vehicle and a method for maintaining a foot 10 or leg of an operator in an operating compartment in the industrial vehicle. Such a conventional industrial vehicle includes a sensor disposed at the entrance of the operating compartment and serving as a detector configured to emit inspection light, which includes multiple photoelectric beams. When a deadman brake is released and the industrial vehicle has received a travel 15 request, the sensor detects the presence of an object passing through the entrance of the operating compartment while the industrial vehicle is traveling. If the object is detected, the industrial vehicle stops. In such an industrial vehicle, if the foot or leg of the operator (i.e., the 20 object) protrudes from the main body of the industrial vehicle, the person, such as an operator, should be notified of it immediately. On the other hand, if the travel of the industrial vehicle is restricted every time the foot or leg of the operator protrudes from the main body, the workability, such as the transport workability, may decrease. 25 The present invention, which has been made in light of the abovementioned problem, is directed to providing an industrial vehicle that is capable of notifying protrusion of an object from the main body of the industrial vehicle while maintaining the workability of the industrial vehicle. SUMMARY 2025203733 25 Jun 2026 In accordance with an aspect, the present invention provides an industrial vehicle comprising: a travel device, a travel control unit configured to control driving of the travel device, a main body including an operator platform that includes an accelerator lever, a compartment floor provided with a brake 5 pedal, and an open through which the compartment floor is accessible; a sensor for detecting protrusion of an object from the open portion of the main body; and a warning processing unit. The warning processing unit is configured to, in response to the protrusion of the object being detected by the sensor, determine a warning process which is applicable based on travel state information from the 10 travel control unit, and perform the applicable warning process. The travel state information comprises an operating state of the accelerator lever, an operation state of the brake pedal, and a travel speed of the industrial vehicle. The applicable warning process includes at least one of notification of the protrusion of the object and travel restriction of the industrial vehicle. 15 In accordance with another aspect, there is also provided an industrial vehicle comprising: a travel device; a travel control unit; a main body; a sensor for detecting protrusion of an object from an open portion of the main body; a warning processing unit. The travel control unit is configured to control driving 20 of the travel device. The main body includes an operator platform that includes an accelerator lever, a compartment floor provided with a brake pedal, and the open portion serving as an entrance of the compartment floor. The warning processing unit is configured to perform a warning process that includes notification of the protrusion of the object and travel restriction of the industrial 25 vehicle when the protrusion of the object is detected by the sensor. When the protrusion of the object is detected by the sensor, the warning processing unit performs the warning process corresponding to a travel state of the industrial vehicle that is determined based on operating states of the accelerator lever and the brake pedal and a travel speed of the industrial vehicle. 2025203733 25 Jun 2026 Other aspects and advantages of the invention will become apparent from the following description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the invention. 5 BRIEF DESCRIPTION OF THE DRAWINGS The invention, together with objects and advantages thereof, may best be understood by reference to the following description of the embodiments together with the accompanying drawings in which: 10 FIG. 1 is a perspective view of a reach truck as an industrial vehicle according to an embodiment of the present invention; FIG. 2 is an enlarged perspective view of a main part of the reach truck, 15 illustrating the arrangement of a notification device in the reach truck; FIG. 3 is a functional block diagram of the reach truck including a travel control unit and a warning processing unit; 20 FIG. 4 is a reference table that relates a travel state of the reach truck to a warning process; FIG. 5 is a flowchart that depicts an example of an operation performed by the warning processing unit; 25 FIG. 6 is a flowchart of the warning process and cancellation of the warning process in a standby state; FIG. 7 is a flowchart of the warning process and the cancellation of the 30 warning process in a travel start state; and 2025203733 25 Jun 2026 FIG. 8 is a flowchart of the warning process and the cancellation of the warning process in a travelling state. DETAILED DESCRIPTION OF THE EMBODIMENTS 5 The following will describe an industrial vehicle according to an embodiment of the present invention in detail with reference to the accompanying drawings. 10 FIG. 1 is a perspective view of a reach truck as an industrial vehicle according to an embodiment of the present invention. FIG. 1 illustrates a reach truck 1 (i.e., industrial vehicle) that includes a main body 10 and a travel device 5. The reach truck 1 is a stand-up forklift truck for transporting materials at manufacturing sites and distribution sites, for example. 15 In the following description, the height direction, the front-rear direction, and the width direction of the main body 10 are specified as the height direction D1, the front-rear direction D2, and the width direction D3, respectively. The height direction D1, the front-rear direction D2, and the width direction D3 are 20 orthogonal to each other. When the reach truck 1 is located in the horizontal plane, the height direction D1 is a direction along the vertical direction, and the front-rear direction D2 and the width direction D3 are directions along the horizontal direction. 25 The travel device 5 includes a road tire as a front wheel, a drive tire and a caster tire as a rear wheel, a travel motor, a steering device, and a steering motor. The front portion of the reach truck 1 is equipped with a loading and unloading device (not illustrated). The loading and unloading device includes a mast, a fork carriage, a fork, and a loading motor. The main body 10 is the vehicle body of the reach truck 1. The main body 10 has a front surface 11, a right side surface 12, a left side surface 13, 2025203733 25 Jun 2026 and a rear surface 14, and the main body 10 has an approximately rectangular cuboid shape. The main body 10 includes a pair of pillars 15a, 15b and a head guard 16 supported by the pair of pillars 15a, 15b. 5 The main body 10 includes an operator platform 17 that includes an accelerator lever 17a and a display 17c (i.e., the display, see FIG. 3), a compartment floor 18 of a compartment provided with an operation pedal including a brake pedal 18a, and an open portion 19 of the compartment (i.e. the entrance of the compartment floor 18). The compartment defined by the 10 compartment floor 18 is a space where an operator operates the reach truck 1. The open portion 19, which serves as the entrance of the compartment floor 18, is located in the rear surface 14 of the main body 10. In FIG. 1, the open portion 19 is formed in the rear surface 14. Specifically, the open portion 19 is positioned to the right of the center of the rear surface 14 in the width direction 15 D3, and extends from the compartment floor 18 to the upper edge of the rear surface 14 along the height direction D1. The operator platform 17 of the main body 10 has a front portion in front of the compartment floor 18 and a side portion on the side (in this embodiment, 20 the left side) of the compartment floor 18. The operator platform 17 is provided with the accelerator lever 17a for operating the reach truck 1 forward and backward in front of the compartment floor 18. When the reach truck 1 travels, an object R, such as a foot or leg of the operator (see FIG. 2), may protrude from the main body 10. Accordingly, the operator platform 17 includes the display 25 17c for notifying the protrusion of the object R from the main body 10 (see FIG. 3). When the object R protrudes from the main body 10, an indicator displayed on the display 17c flashes to notify the protrusion of the object R. That is, the display 17c is configured to display a flashing indicator. The display 17c may display the speed of the reach truck 1, the remaining battery charge, and the like, 30 in addition to the indicator for notifying the protrusion of the object R. 2025203733 25 Jun 2026 The operator platform 17 includes a switch 17d (see FIG. 3) for starting the reach truck 1. The switch 17d is, for example an ignition switch. The operator platform 17 further includes a buzzer 17e (see FIG. 3) that emits a warning sound to notify the protrusion of the object R from the main body 10. In 5 addition to the accelerator lever 17a, the display 17c, the switch 17d, and the buzzer 17e, the operator platform 17 includes members for operating the reach truck 1, such as a reach lever and a tilt lever. On the left side of the compartment floor 18, the operator platform 17 further includes a steering wheel 17b for controlling the direction of the reach truck 1. 10 On the compartment floor 18, a brake pedal 18a is disposed at a corner formed by the intersection of the front portion and the left side portion of the operator platform 17 (see FIG. 1). The reach truck 1 is equipped with a deadman brake that is released by pressing the brake pedal 18a. Furthermore, 15 the compartment floor 18 has thereon a mat switch 18b. The mat switch 18b is a kind of safety device for the reach truck 1, and is, for example, a pressuresensitive switch. The mat switch 18b is turned on when the operator steps on the compartment floor 18, and is turned off when the operator leaves the compartment floor 18. 20 The operator enters the compartment floor 18 from the open portion 19 of the rear surface 14 of the main body 10, and operates the reach truck 1 by operating the devices, such as the accelerator lever 17a and the brake pedal 18a for handling materials. While the operator is operating the reach truck 1, the 25 object R (i.e., the foot or leg of the operator) may protrude from the main body 10 because the open portion 19 is not provided with a door or the like. For example, when the foot or leg of the operator protrudes from the open portion 19, a supervisor should be notified of it immediately and instructs the operator to maintain a proper posture. Thus, the reach truck 1 according to the present 30 embodiment includes a notification device 20 for notifying the supervisor existing around there of the protrusion of the object R when the object R, such as the foot 2025203733 25 Jun 2026 or leg of the operator, protrudes from the main body 10. The following will describe the configuration of the notification device 20. FIG. 2 is an enlarged perspective view of a main part of the reach truck 1, 5 illustrating the arrangement of the notification device 20 in the reach truck 1. As illustrated in FIG. 2, the notification device 20 includes a bracket 21, a bracket 28, a light 22, a sensor 23, and a warning processing unit 29 (see FIG. 3). The notification device 20 may include the display 17c and the buzzer 17e. 10 The bracket 21 is a member in which at least the light 22 is accommodated. That is, the light 22 is disposed on the main body 10. In the present embodiment, the bracket 21 accommodates the light 22 and the sensor 23 including a light emitter 24. The bracket 21 has a box shape and is made of metal. The bracket 21 has a main surface 21a and a pair of side surfaces 21b, 15 21c respectively on the opposite sides of the main surface 21a. Specifically, the bracket 21 is made of metal, such as iron or stainless steel, to secure strength. In the present embodiment, the bracket 21 has an approximately rectangular cuboid shape in which the longest side extends in the height direction D1. 20 The bracket 21 is disposed on the rear surface 14 of the main body 10. Specifically, the bracket 21 is adjacent to the lower part of the open portion 19 of the rear surface 14 of the main body 10. Specifically, as illustrated in FIG. 2, the bracket 21 is disposed adjacent to the lower left edge of the open portion 19 such that the main surface 21a of the bracket 21 faces the rear and the side 25 surface 21b extends along the left edge of the open portion 19. The main surface 21a of the bracket 21 has a slit 26 near the center of the main surface 21a in the height direction D1 to expose the light 22 accommodated in the bracket 21. In the main surface 21a, the slit 26 extends 30 in the width direction D3 of the main body 10. In the present embodiment, the slit 26 extends across the main surface 21a in the width direction D3 such that the slit 26 extends between the side surface 21b and the side surface 21c. The 2025203733 25 Jun 2026 side surface 21b facing the open portion 19 has an upper and lower pair of circular windows 27, 27 through which inspection light L is emitted by the light emitter 24 of the sensor 23. The windows 27, 27 are arranged along the height direction D1 such that the slit 26 is disposed between the windows 27, 27. 5 The sensor 23 is a device for detecting the protrusion of the object R from the open portion 19. For example, a photoelectric sensor may serve as the sensor 23. The sensor 23 includes the light emitter 24 that emits the inspection light L and a light receiver 25 that receives the inspection light L. In 10 the present embodiment, the sensor 23 includes an upper and lower pair of sensors 23A, 23B that are arranged along the height direction D1 of the main body 10. In the following description, when it is not necessary to distinguish between the sensors 23A and 23B, each of the sensors 23A and 23B is referred to as the sensor 23. That is, each of the sensors 23A and 23B serves as the 15 sensor 23 and includes the light emitter 24 and the light receiver 25. In FIG. 2, the light emitter 24 of the sensor 23A and the light emitter 24 of the sensor 23B accommodated in the bracket 21 respectively serve as a light emitter 24A and a light emitter 24B, and are spaced apart from each other in the height direction D1. In the bracket 21, the light emitter 24A of the upper sensor 23A is located higher 20 than the slit 26, and the light emitter 24B of the lower sensor 23B is located lower than the slit 26. Each of the light emitters 24A, 24B emits the inspection light L through the window 27 toward the light receiver 25 so that the inspection light L travels across the open portion 19 along the width direction D3. When the sensor 23 does not detect the protrusion of the object R, it is considered that the 25 light receiver 25 has received the inspection light L. Conversely, when the sensor 23 detects the protrusion of the object R, it is considered that the light receiver 25 has not received the inspection light L. In the present embodiment, another metal bracket 28 for mounting the 30 light receiver 25A of the sensor 23A and the light receiver 25B of the sensor 23B is disposed on the rear surface 14 of the main body 10. The bracket 28 is shaped to match the shape of the bracket 21. Similar to the bracket 21, the 2025203733 25 Jun 2026 bracket 28 has a main surface 28a and a pair of side surfaces 28b, 28b on the opposite sides of the main surface 28a. The bracket 28 is disposed on the opposite side of the open portion 19 5 from the bracket 21 and adjacent to the lower right edge of the open portion 19 such that the main surface 28a of the bracket 21 faces the rear and one of the side surfaces 28b, 28b extends along the right edge of the open portion 19. The one of the side surfaces 28b, 28b of the bracket 28 faces the side surface 21b of the bracket 21 having the windows 27. The side surface 28b has an 10 upper and lower pair of circular windows (not illustrated) through which the inspection light L emitted by the light emitters 24A, 24B of the sensors 23A, 23B travels. The light receivers 25A, 25B of the sensors 23A, 23B accommodated in the bracket 28 are arranged along the height direction D1 such that the light receivers 25A, 25B correspond to the upper and lower pair of windows of the 15 side surface 28b. The light receiver 25A outputs a signal indicating that the light receiver 25A has received the inspection light L to the warning processing unit 29 in response to the reception of the inspection light L from the light emitter 24A. The light receiver 25B outputs a signal indicating that the light receiver 25B has received the inspection light L to the warning processing unit 29 in response to 20 the reception of the inspection light L from the light emitter 24B. The light 22 is an illuminator for notification. For example, an LED light or the like serves as the light 22. In the present embodiment, the light 22 includes a light-transmissive case, for example, and illuminates over a wide area 25 from the front and side of the case. The light 22 is disposed in the main body 10 at a position visible from the circumference of the main body 10. In the present embodiment, the bracket 21 is disposed on the rear surface 14, and the light 22 and the light emitters 24A, 24B of the sensors 23A, 23B accommodated in the bracket 21 are disposed on the rear surface 14 of the main body 10. The 30 light 22 and the light emitters 24A, 24B of the sensors 23A, 23B are disposed on the same side of the open portion 19. That is, the light 22 and the light emitters 24A, 24B of the sensors 23A, 23B are all accommodated in the bracket 21 2025203733 25 Jun 2026 disposed on the left side of the open portion 19, and therefore disposed on the same side (left side) of the open portion 19 and adjacent to the lower part of the open portion 19. 5 In the bracket 21, the light 22 is arranged at a height corresponding to the slit 26. The slit 26 extends between the side surface 21b and the side surface 21c across the main surface 21a of the bracket 21. This configuration expands the area illuminated by the light 22 to visually notify the protrusion of the object R. 10 FIG. 3 is a functional block diagram of the reach truck 1 including a travel control unit 6 and the warning processing unit 29. As illustrated in FIG. 3, the notification device 20 is configured to communicate with the travel control unit 6 of the reach truck 1. The travel control unit 6 includes, for example, an 15 electronic control unit (ECU) mounted on the reach truck 1. The ECU includes a CPU, ROM, RAM, a CAN communication circuit, and the like. The ECU loads program from the ROM into the RAM. The CPU retrieves instructions from the RAM and executes them to perform the tasks specified by the program. 20 The travel control unit 6 controls the driving of the travel device 5. Specifically, the travel control unit 6 controls the travel of the reach truck 1 by controlling the travel device 5 in accordance with the operations of the accelerator lever 17a, the brake pedal 18a, the mat switch 18b, and the switch 17d. The travel control unit 6 outputs travel state information of the reach truck 25 1 to the warning processing unit 29 of the notification device 20. The travel state information includes the operating states of the accelerator lever 17a and the brake pedal 18a, the travel speed of the reach truck 1 driven by the travel device 5, and the switching states of the mat switch 18b and the switch 17d. The travelling state of the reach truck 1 will be described later. The warning processing unit 29 is configured to perform a warning process including notification of the protrusion of the object R and travel 2025203733 25 Jun 2026 restriction of the reach truck 1 when the protrusion of the object R from the main body 10 is detected by the sensor 23. The warning processing unit 29 is configured to communicate with the travel control unit 6. The warning processing unit 29 is also configured to communicate with the sensors 23, the 5 light 22, the display 17c, and the buzzer 17e. The warning processing unit 29 is an ECU mounted on the reach truck 1, for example, as well as the travel control unit 6. The ECU may serve as both the travel control unit 6 and the warning processing unit 29. The protrusion of the object R is notified, for example, by illumination of the light 22, flashing indication on the display 17c, and the warning 10 sound emitted by the buzzer 17e. When travel restriction of the reach truck 1 is necessary, the warning processing unit 29 instructs the travel control unit 6 to impose the travel restriction of the reach truck 1. When termination of the travel restriction of the reach truck 1 is necessary, the warning processing unit 29 instructs the travel control unit 6 to terminate the travel restriction of the reach 15 truck 1. When the protrusion of the object R from the main body 10 is detected by the sensor 23, the warning processing unit 29 performs a warning process corresponding to the travel state of the reach truck 1 determined based on the 20 switching states of the switch 17d and the mat switch 18b, the operating states of the accelerator lever 17a and the brake pedal 18a, and the travel speed of the reach truck 1. In the present embodiment, the reach truck 1 is equipped with a 25 deadman brake. Accordingly, the deadman brake is activated to the reach truck 1 when the brake pedal 18a is not operated, and released when the brake pedal 18a is operated. FIG. 4 is a reference table that relates the travel state of the reach truck 30 1 to the warning process. The reference table in FIG. 4 shows the relationship between the travel speed, the travel state, and the travel restriction of the reach truck 1 (i.e., the industrial vehicle), and the notification. The travel state 2025203733 25 Jun 2026 includes three states: a standby state, a travel start state, and a travelling state. The notification includes: the indication on the display 17c, the illumination of the light 22, and the warning sound emission by the buzzer 17e. 5 As shown in FIG. 4, the warning process 1 is performed when the reach truck 1 is in the standby state. The standby state is a state in which the switch 17d and the mat switch 18b are turned on, the accelerator lever 17a or the brake pedal 18a is operated and the reach truck 1 is stopped (or the reach truck 1 is substantially stopped because the travel speed is equal to or lower than 0.1 km / h, 10 for example). If the protrusion of the object R from the main body 10 is detected by the sensor 23 while the reach truck 1 is in the standby state, the warning processing unit 29 performs the warning process 1 shown in FIG. 4. The warning process in the standby state is the notification by turning on the indicator on the display 17c (i.e., indicator ON) and the travel restriction (travel prohibition) 15 of the reach truck 1. As shown in FIG. 4, the warning process 2 is performed when the reach truck 1 is in the travel start state. The travel start state is a state in which the switch 17d and the mat switch 18b are turned on, the accelerator lever 17a and 20 the brake pedal 18a are operated and the reach truck 1 is stopped (or the reach truck 1 is substantially stopped because the travel speed is equal to or lower than 0.1 km / h, for example). If the protrusion of the object R from the main body 10 is detected by the sensor 23 while the reach truck 1 is in the travel start state, the warning processing unit 29 performs the warning process 2 shown in 25 FIG. 4. The warning process in the travel start state is the notification by turning on the indicator on the display 17c (i.e., indicator ON), turning on the light 22, (i.e., light ON), and emitting the warning sound (i.e., warning sound ON), and the travel restriction (travel prohibition) of the reach truck 1. 30 As shown in FIG. 4, the warning process 3 is performed when the reach truck 1 is in the travelling state. The travelling state is a state in which the switch 17d and the mat switch 18b are turned on, the accelerator lever 17a and 2025203733 25 Jun 2026 the brake pedal 18a are operated, and the reach truck 1 is travelling (for example, the travel speed is greater than 0.1 km / h). If the protrusion of the object R from the main body 10 is detected by the sensor 23 while the reach truck 1 is in the travelling state, the warning processing unit 29 performs the warning process 3 5 shown in FIG. 4. In the warning process in the travelling state, the notification is performed by turning on the indicator on the display 17c, turning on the light 22, and emitting the warning sound. In the warning process in the travelling state, the travel restriction of the reach truck 1 is not imposed. That is, the warning process in the travelling state is the notification only. In the travelling state, for 10 example, the buzzer 17e emits for one second a warning sound that is different from the warning sound in the travel start state. In the standby state or the travelling state, the warning processing unit 29 cancels the warning process when the protrusion of the object R from the 15 main body 10 is no longer detected by the sensor 23. Specifically, when the protrusion of the object R is no longer detected in the standby state, the warning processing unit 29 turns off the indicator on the display 17c (i.e., indicator OFF) and causes the travel control unit 6 to allows the reach truck 1 to start travelling. When the protrusion of the object R from the main body 10 is no longer detected 20 by the sensor 23 while the reach truck 1 is in the travelling state, the warning processing unit 29 turns off the indicator on the display 17c and the light 22 (i.e., light OFF), and stops the warning sound from the buzzer 17e (i.e., warning sound OFF). 25 In the travel start state, the warning processing unit 29 cancels the warning process when the protrusion of the object R from the main body 10 is no longer detected by the sensor 23 and the accelerator lever 17a is set to a neutral position for a predetermined time (when the accelerator lever 17a is set to a neutral position for a predetermined time, it is regarded as not being operated). 30 Specifically, when the protrusion of the object R is no longer detected in the travel start state and the accelerator lever 17a is set to the neutral position for a predetermined time, the warning processing unit 29 turns off the indicator on the 2025203733 25 Jun 2026 display 17c and the light 22 and stops the warning sound from the buzzer 17e, and causes the travel control unit 6 to allow the reach truck 1 to start travelling. The predetermined time means a sufficient time for the accelerator lever 17a to be intentionally set to the neutral position by the operator. The predetermined 5 time is, for example, about one second. This prevents unintended cancellation of the warning process when the accelerator lever 17a is unintentionally set to the neutral position. FIG. 5 is a flowchart that depicts an example of operation of the warning 10 processing unit 29. As shown in FIG. 5, the warning processing unit 29 first determines whether the protrusion of the object R from the main body 10 is detected by the sensor 23 (step S01). When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is not detected by the sensor 23, the warning processing unit 29 ends the warning 15 process. When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is detected by the sensor 23 in step S01, the warning processing unit 29 determines which travel state the reach truck 1 is in (step S02). The warning processing unit 29 refers to the reference table (see FIG. 4), and performs a warning process corresponding to the determined travel 20 state (step S03). When the protrusion of the object R from the main body 10 is no longer detected by the sensor 23, the warning processing unit 29 cancels the warning process and ends the warning process (step S04). In the following, the warning process and the cancellation of the warning process performed in steps S03 and S04 will be described in detail. 25 FIG. 6 is a flowchart of the warning process and the cancellation of the warning process in the standby state. The cancellation of the warning process is a process to cancel the ongoing warning process. In the standby state, the warning processing unit 29 performs the notification by turning on the indicator 30 on the display 17c (i.e., indicator ON) and imposes the travel restriction of the reach truck 1 in the warning process (step S101). Next, the warning processing unit 29 determines whether the protrusion of the object R from the main body 10 2025203733 25 Jun 2026 is not detected by the sensor 23 (step S102). When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is detected by the sensor 23, the warning processing unit 29 performs step S102 again. When the warning processing unit 29 determines that the protrusion of 5 the object R from the main body 10 is not detected by the sensor 23 in step S102, the warning processing unit 29 cancels the warning process by terminating the travel restriction of the reach truck 1 and turning off the indicator on the display 17c (i.e., indicator OFF) (step S103), and ends this operation. 10 FIG. 7 is a flowchart of the warning process and the cancellation of the warning process in the travel start state. In the travel start state, the warning processing unit 29 performs the notification by turning on the indicator on the display 17c and the light 22 (i.e., light ON) and emitting the warning sound from the buzzer 17e (i.e., sound ON) and imposes the travel restriction of the reach 15 truck 1 in the warning process (step S201). Next, the warning processing unit 29 determines whether the protrusion of the object R from the main body 10 is not detected by the sensor 23 (step S202). When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is detected by the sensor 23, the warning processing unit 29 performs step S202 20 again. When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is not detected by the sensor 23 in step S202, the warning processing unit 29 determines whether the accelerator lever 17a is set to the neutral position for a predetermined time (step S203). When the warning processing unit 29 determines that the accelerator lever 17a is not set to 25 the neutral position for a predetermined time, the warning processing unit 29 performs step S203 again. When the warning processing unit 29 determines that the accelerator lever 17a is set to the neutral position for a predetermined time in step S203, the warning processing unit 29 cancels the ongoing warning process by terminating the travel restriction of the reach truck 1 and turning off 30 the indicator on the display 17c and the light 22 (i.e., light OFF) and stopping the warning sound from the buzzer 17e (i.e., sound OFF) (step S204) to end the warning process. 2025203733 25 Jun 2026 FIG. 8 is a flowchart of the warning process and the cancellation of the warning process in the travelling state. In the travelling state, the warning processing unit 29 performs the notification by turning on the indicator on the 5 display 17c and the light 22 and emitting the warning sound from the buzzer 17e in the warning process (step S301). Next, the warning processing unit 29 determines whether the protrusion of the object R from the main body 10 is not detected by the sensor 23 (step S302). When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is detected 10 by the sensor 23, the warning processing unit 29 performs step S302 again. When the warning processing unit 29 determines that the protrusion of the object R from the main body 10 is not detected by the sensor 23 in step S302, the warning processing unit 29 cancels the ongoing warning process by turning off the indicator on the display 17c and the light 22 and stopping the warning sound 15 from the buzzer 17e (step S303), and ends this operation. In such a manner, when the protrusion of the object R from the main body 10 is detected by the sensor 23, the warning processing unit 29 performs a warning process corresponding to the travel state of the reach truck 1. 20 Accordingly, when the protrusion of the object R from the open portion 19 is detected by the sensor 23, a warning process corresponding to the travel state of the reach truck 1 is performed. Accordingly, the notification method and the need for the travel restriction are determined according to the travel state of the reach truck 1. This allows the workability of the reach truck 1 to be maintained 25 while allowing the notification of the protrusion of the object R from the main body 10. In the present embodiment, when the protrusion of the object R is detected while the reach truck 1 is in the standby state, the warning processing 30 unit 29 performs the notification by turning on the indicator on the display 17c and imposes the travel prohibition (the travel restriction) of the reach truck 1 in the warning process. That is, in the standby state, the warning processing unit 2025203733 25 Jun 2026 29 performs the notification at a lower notification level by turning on the indicator on the display 17c only, compared to the notification performed in another states of the reach truck 1. This allows avoiding an excessive warning process. 5 In the present embodiment, when the protrusion of the object R is detected while the reach truck 1 is in the travel start state, the warning processing unit 29 performs the notification by turning on the indicator on the display 17c and the light 22 and emitting the warning sound and imposes the travel prohibition (the travel restriction) of the reach truck 1 in the warning 10 process. That is, in the travel start state, the warning processing unit 29 performs the notification at a higher notification level by turning on the indicator on the display 17c and the light 22 and emitting the warning sound, compared to the notification performed in another states of the reach truck 1. In the travel start state, the warning processing unit 29 performs the warning process to notify 15 the operator and the supervisor of the protrusion of the object R. This allows the supervisor to immediately instruct the operator to maintain a proper posture. In the present embodiment, when the protrusion of the object R is detected while the reach truck 1 is in the travelling state, the warning processing 20 unit 29 performs the notification by turning on the indicator on the display 17c and the light 22 and emitting the warning sound and does not impose the travel prohibition (the travel restriction) of the reach truck 1 in the warning process. That is, in the travelling state, the warning processing unit 29 performs the notification at a higher notification level by turning on the indicator on the display 25 17c and the light 22 and emitting the warning sound, compared to the notification performed in another states of the reach truck 1, but does not impose the travel restriction of the reach truck 1. This allows the reach truck 1 to continue travelling while notifying the operator and the supervisor of the protrusion of the object R to encourage them to eliminate the protrusion, thereby allowing 30 workability to be maintained. 2025203733 25 Jun 2026 In the present embodiment, when the protrusion of the object R from the main body 10 is no longer detected by the sensor 23, the warning processing unit 29 cancels the warning process. When the protrusion of the object R is detected in the standby state or the travelling state, the workability of the reach 5 truck 1 is maintained by terminating the warning process immediately when the protrusion of the object R is no longer detected by the sensor 23. In the present embodiment, the warning processing unit 29 cancels the warning process when the protrusion of the object R from the main body 10 is no 10 longer detected by the sensor 23 and the accelerator lever 17a is set to the neutral position for a predetermined time. The warning process is canceled in response to the fact that the accelerator lever 17a is intentionally set to the neutral position by the operator. This increases the safety of the reach truck 1 at the start of the reach truck 1 when the protrusion of the object R from the main 15 body 10 is no longer detected by the sensor 23 in the travel start state. In the present embodiment, the light 22 is arranged in a position visible from the circumference of the main body 10, but the arrangement of the light 22 is not limited thereto. For example, the reach truck 1 may include a light 20 disposed around the display 17c on the operator platform 17, in place of or in addition to the light 22. This configuration allows the operator of the reach truck 1 to immediately recognize the notification by the light. In the claims which follow and in the preceding description of the 25 invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention. 2025203733 25 Jun 2026 It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country.
Claims
1. An industrial vehicle comprising:a travel device;5 a travel control unit configured to control driving of the travel device;a main body including an operator platform that includes an accelerator lever, a compartment floor provided with a brake pedal, and an open through which the compartment floor is accessible;a sensor for detecting protrusion of an object from the open portion of 10 the main body; anda warning processing unit configured to,in response to the protrusion of the object being detected by the sensor, determine a warning process which is applicable based on travel state information from the travel control unit, and perform the applicable warning15 process;wherein the travel state information comprises an operating state of the accelerator lever, an operation state of the brake pedal, and a travel speed of the industrial vehicle; andthe applicable warning process includes at least one of notification of the20 protrusion of the object and travel restriction of the industrial vehicle.
2. The industrial vehicle according to claim 1, whereinthe operator platform further includes a display that is configured to display an indicator, and25 when the protrusion of the object is detected while the industrial vehicleis in a standby state in which the accelerator lever or the brake pedal is operated and the industrial vehicle is stopped, the warning processing unit performs the notification by turning on the indicator on the display and imposes travel prohibition of the industrial vehicle as the travel restriction in the warning process.
303. The industrial vehicle according to claim 1, wherein a light is disposed on the main body,2025203733 25 Jun 2026the operator platform further includes a display that is configured to display an indicator, andwhen the protrusion of the object is detected while the industrial vehicle is in a travel start state in which the accelerator lever and the brake pedal are 5 operated and the industrial vehicle is stopped, the warning processing unit performs the notification by turning on the indicator on the display and the light and emitting a warning sound in the warning process and imposes travel prohibition of the industrial vehicle as the travel restriction.10 4. The industrial vehicle according to claim 1, whereina light is disposed on the main body,the operator platform further includes a display that is configured to display an indicator, andwhen the protrusion of the object is detected while the industrial vehicle 15 is in a travelling state in which the accelerator lever and the brake pedal are operated and the industrial vehicle is travelling, the warning processing unit performs the notification by turning on the indicator on the display and the light and emitting a warning sound and does not impose travel prohibition of the industrial vehicle as the travel restriction in the warning process.
205. The industrial vehicle according to claim 1, 2 or 4, whereinthe warning processing unit cancels the warning process when the protrusion of the object is no longer detected by the sensor.25 6. The industrial vehicle according to claim 1 or 3, whereinthe warning processing unit cancels the warning process when the protrusion of the object is no longer detected by the sensor and the accelerator lever is set to a neutral position for a predetermined time.