Forklift, pedal weight changing system, and pedal weight estimating program

Abstract

To provide a forklift that automatically changes a weight of a pedal according to each driver.SOLUTION: A forklift 1 comprises: at least one pedal 14 of a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal; a driver storage unit 31; a driver specifying unit 32; and a weight changing unit 18. The driver storage unit 31 stores driver information about multiple drivers. The driver specifying unit 32 specifies the driver by referring to the driver information. The weight changing unit 18 changes a weight of the pedal 14 to an appropriate pedal weight for the specified driver on the basis of the appropriate pedal weight for each driver stored in a weight storage unit 39.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a pedal weight changing system for a forklift, a forklift equipped with said system, and a pedal weight estimating program. [Background technology]

[0002] There are various types of forklifts, such as reach forklifts and countertop forklifts. The number and functions of pedals on a forklift vary depending on the type of forklift.

[0003] As disclosed in Patent Document 1, a reach forklift is equipped with a brake pedal and a presence pedal. The presence pedal is configured to be able to stop the vehicle from traveling and loading and unloading, and the driver cannot travel or unload unless he or she depresses the presence pedal.

[0004] As disclosed in Patent Document 2, countertop forklifts are equipped with an accelerator pedal and a brake pedal, and engine-powered countertop forklifts are further equipped with a clutch pedal. Among battery-powered forklifts, automatic forklifts are further equipped with an inching pedal instead of a clutch pedal. By stepping on the inching pedal, the driver can put the forklift into a half-clutch state and cut off the driving power.

[0005] However, unlike passenger cars, a single forklift may be used by multiple drivers with different levels of skill. In addition, the difference in pedal operation methods between drivers with different levels of skill is greater for forklifts than for passenger cars. Therefore, it is preferable to vary the pedal weight according to the driver's level of skill, but it is troublesome for the driver to adjust the appropriate pedal weight every time they get on the forklift. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2016-047759 A [Patent Document 2] JP 2017-166663 A Summary of the Invention [Problem to be solved by the invention]

[0007] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a forklift truck capable of automatically changing the pedal resistance according to each operator. [Means for solving the problem]

[0008] In order to solve the above problems, the forklift according to the present invention comprises: At least one pedal selected from a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal; A driver storage unit that stores driver information of a plurality of drivers; a weight storage unit that stores appropriate pedal weights for each driver in association with driver information; A driver identification unit that identifies a driver by referring to the driver information; and a weight changing section for changing the pedal weight to an appropriate pedal weight corresponding to the specified driver based on the appropriate pedal weight for each driver stored in the weight storage section.

[0009] The forklift preferably comprises: a proficiency level storage unit that stores the proficiency level of each driver in association with each driver information; A weight estimation unit that estimates an appropriate pedal weight for each driver based on the driver's proficiency, The weight storage unit stores the estimated appropriate pedal weight for each driver in association with the driver information.

[0010] The forklift preferably comprises: an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift during each loading / unloading operation of each driver in association with driver information; and a proficiency level determination unit that determines the proficiency level of each driver based on the number of times the predetermined acceleration and the number of times the predetermined deceleration are exceeded, The proficiency level storage unit stores the determined proficiency level of each driver in association with the driver information.

[0011] The forklift preferably comprises: a collision frequency storage unit that stores a number of collisions of the forklift during each loading and unloading operation of each driver in association with driver information; A proficiency level determination unit that determines the proficiency level of each driver based on the stored number of collisions, The proficiency level storage unit stores the determined proficiency level of each driver in association with the driver information.

[0012] The forklift preferably comprises: a stop count storage unit that stores the number of stops of the forklift during each loading / unloading operation of each driver in association with driver information; A proficiency level determination unit that determines the proficiency level of each driver based on the stored number of stops, The proficiency level storage unit stores the determined proficiency level of each driver in association with the driver information.

[0013] The forklift preferably comprises: an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift during each loading / unloading operation of each driver in association with driver information; a stop count storage unit that stores the number of stops of the forklift during each loading / unloading operation of each driver in association with driver information; A proficiency level determination unit having a trained model, The trained model is trained in advance based on teacher data in which the number of times the forklift exceeded a predetermined acceleration, the number of times the forklift exceeded a predetermined deceleration, and the number of times the forklift stopped during each loading and unloading operation are input data, and the trained model is configured to output the driver's proficiency when the number of times the forklift exceeded a predetermined acceleration, the number of times the forklift exceeded a predetermined deceleration, and the number of times the forklift stopped during each loading and unloading operation that have been stored are input. The skill level storage unit stores the output skill level of each driver in association with the driver information.

[0014] The forklift preferably comprises: an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift during each loading / unloading operation of each driver in association with driver information; a collision frequency storage unit that stores a number of collisions of the forklift during each loading and unloading operation of each driver in association with driver information; A proficiency level determination unit having a trained model, The trained model is trained in advance based on teacher data in which the number of times a predetermined acceleration was exceeded, the number of times a predetermined deceleration was exceeded, and the number of collisions of the forklift during each loading and unloading operation are input data, and the trained model outputs the driver's proficiency when the number of times a predetermined acceleration was exceeded, the number of times a predetermined deceleration was exceeded, and the number of collisions of the forklift during each loading and unloading operation that have been stored are input. The skill level storage unit stores the output skill level of each driver in association with the driver information.

[0015] The forklift preferably comprises: an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift during each loading / unloading operation of each driver in association with driver information; a stop count storage unit that stores the number of stops of the forklift during each loading / unloading operation of each driver in association with driver information; a collision frequency storage unit that stores a number of collisions of the forklift during each loading and unloading operation of each driver in association with driver information; A proficiency level determination unit having a trained model, The trained model is trained in advance based on teacher data in which the number of times a predetermined acceleration was exceeded, the number of times a predetermined deceleration was exceeded, the number of stops, and the number of collisions of the forklift during each loading and unloading operation are input data, and the trained model outputs the driver's proficiency when the number of times a predetermined acceleration was exceeded, the number of times a predetermined deceleration was exceeded, the number of stops, and the number of collisions of the forklift during each loading and unloading operation that have been stored are input. The skill level storage unit stores the output skill level of each driver in association with the driver information.

[0016] The forklift preferably comprises: The weight estimation unit estimates the appropriate pedal weight to be heavier as the proficiency level decreases.

[0017] In order to solve the above problems, the pedal weight change system according to the present invention comprises: A pedal weight changing system for use in a forklift equipped with at least one pedal selected from the group consisting of a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal, comprising: A driver storage unit that stores driver information of a plurality of drivers; a weight storage unit that stores appropriate pedal weights for each driver in association with driver information; A driver identification unit that identifies a driver by referring to the driver information; and a weight changing section for changing the pedal weight to an appropriate pedal weight corresponding to the specified driver based on the appropriate pedal weight for each driver stored in the weight storage section.

[0018] In order to solve the above problems, a pedal weight estimation program according to the present invention comprises: At least one pedal selected from a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal; a weight changing unit that changes the weight of the pedal based on the estimated appropriate pedal weight; A pedal weight estimation program for use in a forklift comprising: The computer stores the proficiency level of each driver in association with the driver information, The pedal resistance estimation program causes the computer to operate as a pedal resistance estimation unit that estimates an appropriate pedal resistance for a driver based on the stored driver's proficiency. Effect of the Invention

[0019] The forklift according to the present invention can automatically change the pedal resistance depending on each driver. [Brief description of the drawings]

[0020] [Figure 1] 1 is a front view of a forklift according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a functional block diagram of a control unit. [Diagram 3] This is a table showing the number of times a specified acceleration was exceeded (acceleration count), the number of times a specified deceleration was exceeded (deceleration count), the number of times the vehicle stopped, and the number of times the vehicle collided during each loading and unloading operation by the driver, which are stored in each memory unit of the control unit. [Figure 4] FIG. 11 is a diagram illustrating an operation of a skill level determination unit. [Diagram 5] FIG. 11 is a flow chart showing a flow of changing the pedal weight. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a forklift, a pedal weight changing system, and a pedal weight estimating program according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0022] Fig. 1 is a front view of a forklift 1 according to this embodiment. The forklift 1 is a battery-powered countertop forklift. As shown in Fig. 1, the forklift 1 includes a plurality of wheels 10, a vehicle body 11, a driver's seat 12, a head guard 13, pedals 14 (see Fig. 2), left and right masts 15, left and right forks 16, and a camera 17. In addition, as shown in Fig. 2, the forklift 1 includes a weight changing unit 18, an acceleration / deceleration detection unit 19, a stop detection unit 20, a collision detection unit 21, and a control unit 30.

[0023] A plurality of wheels 10 are provided on all four sides of a vehicle body 11. A driver's seat 12 is provided on the vehicle body 11, and a head guard 13 is provided above the driver's seat 12.

[0024] The pedals 14 include an accelerator pedal, a brake pedal, and an inching pedal, and are provided below the driver's seat 12.

[0025] The left and right forks 16 are configured to be capable of being raised and lowered via the left and right masts 15, and the driver O raises and lowers the forks 16 to perform loading and unloading work.

[0026] The camera 17 is fixed to the head guard 13 and configured to capture an image of the face of the driver O riding in the forklift 1. The camera 17 may be configured, for example, to detect a person wearing a uniform U (i.e., the driver O) as the driver O, and automatically capture an image of the driver O when the driver O approaches the forklift 1. Alternatively, the camera 17 may be provided in the driver's seat 12 so as to capture an image of the face of the driver O seated in the driver's seat 12. The camera 17 captures an image of the face of the driver O to generate a facial image, and the generated facial image is transmitted to the control unit 30.

[0027] The weight change unit 18 changes the weight of the pedal 14 when the driver O presses it down, based on the pedal weight estimated by a weight estimation unit 38 described later. The weight change unit 18 is configured, for example, by a device capable of adjusting the weight by hydraulic pressure, or a device capable of adjusting the weight by a spring.

[0028] Also, for example, the weight change unit 18 may be an assist device that assists the pedaling force of the pedal 14. In this case, the weight change unit 18 may adjust the assist force based on the pedal weight estimated by the weight estimation unit 38, and may substantially change the pedal weight when the driver O presses the pedal.

[0029] Alternatively, the weight change unit 18 may be configured to change the magnitude of the power or braking force of each device responsive to the amount of depression force of the pedal 14, for example, based on the pedal weight estimated by the weight estimating unit 38. In this way, the weight change unit 18 effectively changes the pedal weight.

[0030] The acceleration / deceleration detection unit 19 is a known acceleration / deceleration sensor, and detects the acceleration and deceleration of the forklift 1 during each loading / unloading operation. In the present invention, "during loading / unloading operation" may refer to, for example, the time when the forklift 1 is traveling from picking up the cargo to placing it, or may include the time when the forklift 1 is unloading / unloading the cargo. The acceleration / deceleration detection unit 19 is, for example, configured with a wheel speed sensor, and detects the number of rotations and the direction of rotation of the wheels 10. The acceleration / deceleration detection unit 19 detects the acceleration and deceleration of the forklift 1 during each loading / unloading operation, and transmits the detected acceleration and deceleration to the control unit 30.

[0031] The stoppage detection unit 20 detects the number of times the forklift 1 stops during each loading and unloading operation. An experienced forklift 1 switches between forward and reverse during loading and unloading operations, i.e., stops traveling less frequently than a beginner. The purpose of the stoppage detection unit 20 is to detect the difference in the number of times the forklift 1 stops. Therefore, the stoppage in the present invention may be a complete stoppage, or may be a concept that includes stopping and switching between forward and reverse. When the stoppage detection unit 20 detects that the forklift 1 has stopped, it transmits a stoppage signal to the control unit 30.

[0032] The collision detection unit 21 detects a collision of the forklift 1 during each loading and unloading operation. The collision detection unit 21 may be configured, for example, by a known acceleration sensor or a collision sensor provided on the vehicle body 11. When the collision detection unit 21 detects a collision, a collision signal is transmitted to the control unit 30.

[0033] As a means for recognizing the start and end of loading / unloading work (i.e., when loading / unloading work is being performed), for example, the forklift 1 may further include a known load detection unit, which detects when a load is loaded, and the time when the load is loaded may be regarded as the start of loading / unloading work, and the time when the load is released may be regarded as the end of loading / unloading work. Alternatively, the forklift 1 may further include a loading / unloading start button and a loading / unloading end button, and recognize the start and end of loading / unloading work by pressing the buttons. These are merely examples, and the concept of the start and end of loading / unloading work and the method of recognizing them in the present invention are not particularly limited.

[0034] The control unit 30 is configured by a computer arranged in the vehicle body 11, and has an arithmetic unit, a storage device, and a memory. The storage device stores a pedal weight estimation program that causes the computer to operate as a weight estimation unit 38, which will be described later.

[0035] Fig. 2 is a functional block diagram of the forklift 1. As shown in Fig. 2, the control unit 30 has a driver memory unit 31, a driver identification unit 32, an acceleration / deceleration memory unit 33, a stop count memory unit 34, a collision count memory unit 35, a proficiency determination unit 36, a proficiency memory unit 37, a weight estimation unit 38, and a weight memory unit 39.

[0036] The driver memory unit 31 stores driver information for each driver O, and the driver information includes a facial image of the driver O and an identifier of the driver O (e.g., "Driver No."), and the driver memory unit 31 stores this facial image and identifier in association with each other.

[0037] The driver identification unit 32 identifies the driver O by referring to the facial image generated by the camera 17 and the facial image stored in the driver memory unit 31. The identifier of the driver O corresponding to the identified driver O is transmitted to the acceleration / deceleration memory unit 33, the stop count memory unit 34, the collision count memory unit 35, the proficiency determination unit 36, the proficiency memory unit 37, the weight estimation unit 38, and the weight memory unit 39.

[0038] The acceleration / deceleration storage unit 33 stores the number of times that the acceleration exceeding a predetermined acceleration and the number of times that the deceleration exceeding a predetermined deceleration are received during each loading and unloading operation of the forklift 1 of each driver O in association with the driver information as needed. Fig. 3 is a table showing the number of times that the predetermined acceleration was exceeded (acceleration number), the number of times that the predetermined deceleration was exceeded (deceleration number), the number of stops, and the number of collisions during each loading and unloading operation of the driver O stored in each storage unit of the control unit 30. As shown in Fig. 3, in this embodiment, each storage unit of the control unit 30 stores the driver number of the driver O, as well as the number of loading and unloading operations, the number of times that the predetermined acceleration was exceeded, the number of times that the predetermined deceleration was exceeded, the number of stops, and the number of collisions.

[0039] The stop count memory unit 34 stores the number of stops of the forklift 1 during each loading and unloading operation of each driver O in association with the driver information (in this embodiment, the driver No.) as shown in FIG. 3 based on the stop signal received from the stop detection unit 20.

[0040] The collision frequency memory unit 35 stores the number of collisions of the forklift 1 during each loading and unloading operation of each driver O in association with the driver information (in this embodiment, the driver No.) based on the collision signal received from the collision detection unit 21 as needed.

[0041] As shown in FIG. 4, the skill level determination unit 36 ​​has a trained model 360.

[0042] The trained model 360 is trained in advance based on teacher data in which the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of stops, and the number of collisions of the forklift 1 during each loading and unloading operation of each driver O are used as input data, and the proficiency of each driver O is used as output data. The trained model 360 is configured to output the proficiency when the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of stops, and the number of collisions of the forklift 1 during each loading and unloading operation of each driver O are input.

[0043] The trained model 360 may be configured, for example, by a neural network using deep learning, and the training method is not particularly limited. For example, the trained model 360 may be configured by training for each vehicle type of the forklift 1, and a trained model 360 may be configured for each vehicle type. Alternatively, the trained model 360 may be trained to include the vehicle type in the input data of the teacher data, and to output a proficiency level according to the vehicle type by inputting the vehicle type.

[0044] Trained model 360 may output the proficiency level divided into multiple stages represented by integers, such as five stages, or may output the proficiency level as a real number including a decimal point, for example, between 1 and 5.

[0045] The proficiency determination unit 36 ​​inputs the number of times the forklift 1 exceeded a predetermined acceleration, the number of times the forklift 1 exceeded a predetermined deceleration, the number of stops, and the number of collisions during each loading and unloading operation of the driver O into the trained model 360, and outputs the proficiency of the driver O. The output proficiency is transmitted to the proficiency storage unit 37 and the weight estimation unit 38.

[0046] The skill level storage unit 37 stores the received skill level in association with the driver information (driver No. in this embodiment).

[0047] The weight estimation unit 38 estimates the appropriate pedal weight for the driver O based on the proficiency of the driver O. According to some data, the higher the proficiency of the driver O, the less likely he or she is to suddenly start, brake suddenly, or collide. Looking at this data from the opposite perspective, it can be said that the lower the proficiency of the driver O, the more likely he or she is to suddenly start, brake suddenly, or collide. Therefore, for example, the weight estimation unit 38 may estimate the appropriate pedal weight to be heavier for a driver O with a lower level of proficiency in order to reduce sudden starts, sudden braking, and collisions by the driver O with a lower level of proficiency.

[0048] Furthermore, if the driver information includes the age, sex, and weight of the driver O, the weight estimation unit 38 may refer to the driver information and estimate an appropriate pedal weight for the driver O based on the age, sex, and weight of the driver O in addition to the proficiency level. In this case, the weight estimation unit 38 may weight the pedal weight estimated by the weight estimation unit 38 in accordance with the proficiency level, age, sex, and weight, but is not limited to this. Furthermore, the pedal weight appropriate for the driver O estimated by the weight estimation unit 38 may not be an estimate of the weights of all the pedals equipped in the forklift 1. In other words, in this embodiment, the weight estimation unit 38 may estimate the pedal weight of at least one of the brake pedal, the accelerator pedal, and the inching pedal.

[0049] In addition, in the case of an inching pedal, the weight estimation unit 38 may estimate only the weight of the inching pedal until the clutch is put into a half-clutch state, or may estimate the pedal weight including the weight of the inching pedal until the inching pedal is fully depressed.

[0050] The weight storage unit 39 stores an appropriate pedal weight for the driver O in association with driver information (driver No. in this embodiment).

[0051] The weight change unit 18 changes the weight of the pedal 14 of the forklift 1 to a pedal weight corresponding to the driver O identified by the driver identification unit 32, based on the appropriate pedal weight for each driver O stored in the weight memory unit 39.

[0052] <Pedal weight change flow> Next, the flow of changing the pedal weight of the forklift 1 will be described again with reference to FIG.

[0053] (1) The forklift 1 identifies the driver O riding on the forklift 1 using the driver identification unit 32, and detects the number of times that the forklift 1 exceeded a predetermined acceleration, the number of times that the forklift 1 exceeded a predetermined deceleration, the number of times that the forklift 1 stopped, and the number of collisions caused by the operation of the driver O during each loading and unloading operation using each detection unit at any time, and stores these in each memory unit at any time (see S (step) 51 in Figure 5).

[0054] (2) Next, the forklift 1 judges the proficiency of each driver O by the proficiency judgment unit 36 ​​based on the number of times that the forklift 1 exceeded a predetermined acceleration, the number of times that the forklift 1 exceeded a predetermined deceleration, the number of times that the forklift 1 stopped, and the number of times that the forklift 1 collided, which are stored by the driver O's operation (see S52 in Figure 5).

[0055] (3) Next, the forklift 1 stores the proficiency of each driver O in association with the driver information in the proficiency storage unit 37 (see S53 in FIG. 5). At this time, the proficiency corresponding to each driver O is updated.

[0056] (4) Next, the forklift 1 estimates an appropriate pedal weight for each driver O based on the proficiency of each driver O by the pedal weight estimation unit 38 (see S54 in FIG. 5).

[0057] (5) Next, the forklift 1 stores the estimated appropriate pedal weight for each driver O in association with the driver information by the pedal weight storage unit 39. At this time, the appropriate pedal weight for each driver O is updated (see S55 in FIG. 5). Through the above process, the appropriate pedal weight for each driver O is stored in a database in the computer of the forklift 1.

[0058] (6) Next, the forklift 1 photographs the driver O using the camera 17, identifies the driver O using the driver identification unit 32 (see S56 in FIG. 5), and identifies an appropriate pedal weight corresponding to the identified driver O by referring to the pedal weight memory unit 39 (see S57 in FIG. 5).

[0059] (7) Next, the forklift 1 changes the weight of the pedal 14 of the forklift 1 to the identified pedal weight (see S58 in FIG. 5).

[0060] According to this flow, the forklift 1 automatically changes the weight of the pedal 14 in accordance with the proficiency of each driver O, and can provide the driver O with a more appropriate driving operation in accordance with the proficiency. The forklift 1 can prevent the driver O from suddenly depressing the pedal 14 by estimating the appropriate pedal weight to be heavier for a driver O with a lower level of proficiency. Also, the forklift 1 can reduce the burden of the driver O with a higher level of proficiency, which is caused by the operation of the pedal 14, by estimating the appropriate pedal weight to be lower for a driver O with a higher level of proficiency. A driver O with a higher level of proficiency works a larger amount of work in a given time, and as a result, there is a possibility that the driver O operates the pedal 14 more in a given time, so it may be useful to make the pedal weight lighter for a driver O with a higher level of proficiency.

[0061] Although one embodiment of the forklift, pedal weight change system, and pedal weight estimation program according to the present invention has been described above, the present invention is not limited to the above embodiment. The forklift, pedal weight change system, and pedal weight estimation program according to the present invention may be implemented, for example, in each of the following modified examples, or in appropriate combination of the modified examples.

[0062] <Modification> The forklift 1 may be a reach forklift. The forklift 1 may be an engine-powered forklift. In this case, the pedal 14 may include a clutch pedal.

[0063] In the above embodiment, the weight estimation unit 38 estimates the appropriate pedal weight for the driver O by referring to the proficiency level, but the appropriate pedal weight may be estimated by further referring to, for example, all or any of the weight, muscle mass, and age of the driver O. In this case, the driver information includes all or any of the weight, muscle mass, and age of each driver O.

[0064] The forklift 1 may include an input unit that receives input of a name or an identifier corresponding to each driver O, or an input of a tool for identifying each driver O, such as an ID card. In this case, the driver identification unit 32 may identify the driver O based on the driver information received by the input unit.

[0065] The driver information may include a tag, a QR code (registered trademark), or the like for identifying each driver O. In this case, the helmet H may have a tag, a QR code (registered trademark), or the like for identifying each driver O, and the forklift 1 may have a tool for detecting the driver information.

[0066] The proficiency assessment unit 36 ​​may not have the learned model 360, and may assess the proficiency of the driver O using a predetermined formula based on all or any of the number of times the forklift 1 exceeded a predetermined acceleration, the number of times it exceeded a predetermined deceleration, the number of stops, and the number of collisions during each loading and unloading operation of the driver O.

[0067] The proficiency level of each driver O inputted manually may be stored in the proficiency level storage unit 37. The proficiency level of each driver O may be determined by a person, and the proficiency level storage unit 37 may store the determination result in association with the driver information. If the proficiency levels of all drivers O are determined by a person, the control unit 30 does not need to include the proficiency level determination unit 36.

[0068] The weight storage unit 39 may store an appropriate pedal weight for each driver O that is manually input. Alternatively, the appropriate pedal weight for each driver O may be estimated by a person, and the weight storage unit 39 may store the estimation result in association with the driver information. If the appropriate pedal weight for all drivers O is estimated by a person, the control unit 30 does not need to include the weight estimation unit 38. Note that when the appropriate pedal weight for the driver O is estimated by a person, the appropriate pedal weight may be estimated based on the driver's proficiency.

[0069] The control unit 30 may be configured, for example, by a server computer provided on a cloud. In this case, the forklift 1 may estimate an appropriate pedal weight for the driver O by communicating with the server computer.

[0070] The trained model 360 may not include, for example, the number of stops or collisions of the forklift during each loading and unloading operation of each driver as training data. In this case, the trained model 360 is configured to output a proficiency level when the number of times a predetermined acceleration was exceeded, the number of times a predetermined deceleration was exceeded, and the number of stops or collisions of the forklift 1 during each loading and unloading operation of each driver O are input. [Explanation of symbols]

[0071] O Driver H Helmet U uniform 1. Forklift 10 wheels 11 Body 12 Driver's seat 13 Head Guard 14 Pedals 15 Mast 16 Fork 17 Camera 18 Weight change section 19 Acceleration / deceleration detection section 20 Stopping detection unit 21 Collision detection unit 30 Control section 31 Driver memory unit 32 Driver Identification Department 33 Acceleration / deceleration memory section 34 Stop count memory unit 35 Collision count memory section 36 Proficiency Assessment Section 360 trained models 37 Proficiency Memory Section 38 Weight Estimation Section 39 Weight memory section

Claims

1. At least one pedal selected from a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal; A driver storage unit that stores driver information of a plurality of drivers; a weight storage unit that stores an appropriate pedal weight for each of the drivers in association with the driver information; A driver identification unit that identifies the driver by referring to the driver information; and a weight change unit that changes the weight of the pedal to an appropriate pedal weight corresponding to the identified driver based on the appropriate pedal weight for each driver stored in the weight memory unit.

2. a proficiency level storage unit that stores the proficiency level of each of the drivers in association with each of the driver information; a weight estimation unit that estimates an appropriate pedal weight for each of the drivers based on the proficiency of each of the drivers, The forklift according to claim 1 , wherein the weight storage unit stores the estimated appropriate pedal weight for each of the drivers in association with the driver information.

3. an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck during each loading / unloading operation of each of the drivers in association with the driver information; a proficiency level determination unit that determines the proficiency level of each of the drivers based on the number of times the predetermined acceleration has been exceeded and the number of times the predetermined deceleration has been exceeded, The forklift according to claim 2 , wherein the proficiency level storage unit stores the determined proficiency level of each of the drivers in association with the driver information.

4. a collision frequency storage unit that stores a collision frequency of the forklift during each loading / unloading operation of each of the drivers in association with the driver information; and a proficiency level determination unit that determines the proficiency level of each of the drivers based on the stored number of collisions, The forklift according to claim 2 , wherein the proficiency level storage unit stores the determined proficiency level of each of the drivers in association with the driver information.

5. a stop count storage unit that stores a number of stops of the forklift during each loading / unloading operation of each of the drivers in association with the driver information; A proficiency level determination unit that determines the proficiency level of each driver based on the stored number of stops, The forklift according to claim 2 , wherein the proficiency level storage unit stores the determined proficiency level of each of the drivers in association with the driver information.

6. an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck during each loading / unloading operation of each of the drivers in association with the driver information; a stop count storage unit that stores a number of stops of the forklift during each loading / unloading operation of each of the drivers in association with the driver information; A proficiency level determination unit having a trained model, The trained model is configured to learn in advance based on teacher data having the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of stops as input data, and the proficiency as output data, and to output the proficiency of the driver when the stored number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of stops are input, The forklift according to claim 2 , wherein the proficiency level storage unit stores the output proficiency level of each of the drivers in association with the driver information.

7. an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck during each loading / unloading operation of each of the drivers in association with the driver information; a collision frequency storage unit that stores a collision frequency of the forklift during each loading / unloading operation of each of the drivers in association with the driver information; A proficiency level determination unit having a trained model, the trained model is configured to learn in advance based on teacher data having the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of collisions as input data and the proficiency as output data, and to output the proficiency of the driver when the stored number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of collisions are input; The forklift according to claim 2 , wherein the proficiency level storage unit stores the output proficiency level of each of the drivers in association with the driver information.

8. an acceleration / deceleration storage unit that stores the number of times a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck during each loading / unloading operation of each of the drivers in association with the driver information; a stop count storage unit that stores a number of stops of the forklift during each loading / unloading operation of each of the drivers in association with the driver information; a collision frequency storage unit that stores a collision frequency of the forklift during each loading / unloading operation of each of the drivers in association with the driver information; A proficiency level determination unit having a trained model, The trained model is configured to learn in advance based on teacher data having the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of stops, and the number of collisions as input data, and the proficiency as output data, and to output the proficiency of the driver when the stored number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of stops, and the number of collisions are input, The forklift according to claim 2 , wherein the proficiency level storage unit stores the output proficiency level of each of the drivers in association with the driver information.

9. The forklift according to claim 2 , wherein the weight estimation unit estimates the appropriate pedal weight to be heavier as the proficiency level decreases.

10. A pedal weight changing system for use in a forklift equipped with at least one pedal selected from the group consisting of a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal, comprising: A driver storage unit that stores driver information of a plurality of drivers; a weight storage unit that stores an appropriate pedal weight for each of the drivers in association with the driver information; A driver identification unit that identifies the driver by referring to the driver information; and a weight change unit that changes the weight of the pedal to an appropriate pedal weight corresponding to the identified driver based on the appropriate pedal weight for each driver stored in the weight memory unit.

11. At least one pedal selected from a brake pedal, an accelerator pedal, a clutch pedal, and an inching pedal; a weight changing unit that changes the weight of the pedal based on the estimated appropriate pedal weight; A pedal weight estimation program for use in a forklift comprising: The computer stores the proficiency level of each driver in association with driver information, The pedal weight estimation program includes: a pedal weight estimation program that causes the program to operate as a pedal weight estimation unit that estimates an appropriate pedal weight for the driver based on the stored proficiency level of the driver.

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