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

Abstract

To provide a forklift capable of reducing the occurrence of a cargo collapse and of a collision even if an operator has a low proficiency level.SOLUTION: A forklift comprises an accelerator pedal 13, an accelerator pedal changing part 20, a condition storage part 25, a condition determination part 26, and a changing control part 27. The condition storage part 25 stores a prescribed condition and the condition determination part 26 determines whether or not it conforms to the prescribed condition stored in the condition storage part 25. The accelerator pedal changing part 20 is configured so that the weight of the accelerator pedal 13 can be heavy. The changing control part 27 makes the weight of the accelerator pedal 13 by controlling the accelerator pedal changing part 20 if the prescribed condition is met.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 the system, and a pedal weight changing 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] By the way, when driving a forklift, sudden starts are not desirable because they are likely to cause the load to shift or a collision. In this regard, it is said that the more skilled a forklift driver is, the less likely he or she is to make sudden starts or sudden stops. In other words, the less skilled a driver is, the more likely he or she is to make sudden starts, shift the load, or cause a collision. [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] Therefore, an object of the present invention is to provide a forklift that can reduce the occurrence of load shifting and collision accidents even when the driver is less skilled. [Means for solving the problem]

[0008] In order to solve the above problems, the forklift according to the present invention comprises: Accelerator pedal and An accelerator pedal change unit configured to increase the pedal weight of the accelerator pedal; A condition storage unit that stores predetermined conditions; a condition determination unit that determines whether or not a predetermined condition stored in a condition storage unit is met; The vehicle is provided with a change control section which controls the accelerator pedal change section to make the pedal resistance of the accelerator pedal heavier when a predetermined condition is met.

[0009] The forklift preferably comprises: A schedule storage unit that stores loading and unloading positions; A map storage unit that stores the locations of speed limit areas; A position detection unit that detects a position of the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either one of a vicinity of a loading position and a speed limit area, The change control unit increases the pedal resistance of the accelerator pedal when a first predetermined condition is met.

[0010] The forklift preferably comprises: A load detection unit is further provided to detect a load, The second predetermined condition is that the forklift is stopped and is carrying a load exceeding a predetermined load capacity. The change control unit increases the pedal resistance of the accelerator pedal when a second predetermined condition is met.

[0011] The forklift preferably comprises: Brake pedal and A brake pedal modification unit configured to reduce the pedal weight of the brake pedal; A schedule storage unit that stores loading and unloading positions; A map storage unit that stores the locations of speed limit areas; a position detection unit that detects a position of the forklift; and an obstacle detection unit that detects obstacles and people within a predetermined distance from the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either one of a vicinity of a loading position and a speed limit area, The third predetermined condition is that the forklift is traveling and an obstacle and a person are detected within a predetermined distance from the forklift. When the first predetermined condition or the third predetermined condition is met, the change control unit further controls the brake pedal change unit to reduce the pedal resistance of the brake pedal.

[0012] 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 an accelerator pedal, comprising: An accelerator pedal change unit configured to increase the pedal weight of the accelerator pedal; A condition storage unit that stores predetermined conditions; a condition determination unit that determines whether or not a predetermined condition stored in a condition storage unit is met; The vehicle is provided with a change control section which controls the accelerator pedal change section to make the pedal resistance of the accelerator pedal heavier when a predetermined condition is met.

[0013] In order to solve the above problems, a pedal weight changing program according to the present invention comprises: Accelerator pedal and A condition storage unit that stores predetermined conditions; A computer, A pedal weight changing program for use in a forklift including an accelerator pedal changing unit configured to make the pedal weight of an accelerator pedal heavier, Computer, a condition determination unit that determines whether or not a predetermined condition stored in a condition storage unit is met; When the predetermined condition is met, the accelerator pedal change unit is controlled to operate as a change control unit that makes the pedal resistance of the accelerator pedal heavier. Effect of the Invention

[0014] The forklift according to the present invention can reduce the occurrence of load shifting and collision accidents even if the driver is not very skilled. [Brief description of the drawings]

[0015] [Figure 1] 1 is a side view of a forklift according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a functional block diagram of the forklift shown in FIG. [Diagram 3] This is a plan view showing a map of the facility, where A indicates the speed limit area and B indicates the area near the loading and unloading position. [Figure 4] 4 is a flow chart showing a determination operation by a condition determination unit as to whether or not a first predetermined condition is met. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a forklift, a pedal weight changing system, and a pedal weight changing program according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0017] Fig. 1 is a side view of a forklift 1 according to an embodiment of the present invention. 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, an accelerator pedal 13 (see Fig. 2), a brake pedal 14 (see Fig. 2), left and right masts 15, and left and right forks 16. In addition, as shown in Fig. 2, the forklift 1 includes a load detection unit 17, a position detection unit 18, an obstacle detection unit 19, an accelerator pedal change unit 20, a brake pedal change unit 21, and a control unit 22.

[0018] A plurality of wheels 10 are provided on all four sides of a vehicle body 11, and a driver's seat 12 is provided on the vehicle body 11. An accelerator pedal 13 and a brake pedal 14 are provided below the driver's seat 12.

[0019] The left and right forks 16 are configured to be movable up and down by hydraulic cylinders via the left and right masts 15, and the driver O lifts and lowers the forks 16 to perform loading and unloading work.

[0020] The load detection unit 17 detects the weight of the load W loaded on the fork 16. The load detection unit 17 may be, for example, a sensor that measures the pressure applied to a hydraulic cylinder, and is not particularly limited.

[0021] The position detection unit 18 is configured to detect the position of the forklift 1. There is no particular limitation on the configuration of the position detection unit 18. The position detection unit 18 may be configured with indoor positioning technology using, for example, a global positioning system (GPS), Wi-Fi, a beacon, radio frequency identification (RFID), an indoor messaging system (IMES), ultra wide band (UWB), or the like.

[0022] The obstacle detection unit 19 detects obstacles and people within a predetermined distance from the forklift 1. The obstacle detection unit 19 is configured with a known obstacle sensor, and may be configured with, for example, a camera provided on the head guard and an analysis unit that detects obstacles and people by analyzing an image generated by the camera. Note that the obstacles may include not only obstacles placed in the passages in the facility, but also shelves R and walls permanently installed in the facility.

[0023] Accelerator pedal changing unit 20 and brake pedal changing unit 21 are configured to change the pedal weight of accelerator pedal 13 and brake pedal 14 when depressed by driver O, based on a command from change control unit 27, which will be described later. Accelerator pedal changing unit 20 and brake pedal changing unit 21 are each configured, for example, by a device that can adjust the weight by hydraulic pressure, or a device that can adjust the weight by a spring, or the like.

[0024] Further, for example, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 may each be an assisting device that assists the pedal depression force. In this case, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 may each adjust the assisting force based on a command from the change control unit 27, and may substantially change the pedal weight when the driver O depresses the pedal.

[0025] Alternatively, each of the accelerator pedal changing unit 20 and the brake pedal changing unit 21 may be configured to change the magnitude of the power or braking force of each device responsive to the amount of pedal effort, for example, based on a command from the change control unit 27. In this way, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 effectively change the pedal weight of the accelerator pedal 13 and the brake pedal 14, respectively.

[0026] The control unit 22 is configured by a computer arranged inside the vehicle body 11, and has an arithmetic unit, a storage device, and a memory. The storage device stores a pedal weight change program that causes the computer to operate as a condition determination unit 26 and a change control unit 27, which will be described later.

[0027] Fig. 2 is a functional block diagram of the forklift 1. As shown in Fig. 2, the control unit 22 has a map storage unit 23, a schedule storage unit 24, a condition storage unit 25, a condition determination unit 26, and a change control unit 27.

[0028] 3 is a plan view showing a map of the facility, where A indicates a speed limit area E1 and B indicates an area E2 near the loading / unloading position. The loading / unloading position CP is a position where the forklift 1 stops to load and unload the load W. The map storage unit 23 stores a map of the facility, and more specifically, as shown in FIG. 3, the map stores the passage of the forklift 1, the position of the shelf R, and the speed limit area E1. In this embodiment, the speed limit area E1 includes, for example, an area near an intersection or an area near an entrance / exit, but is merely an example and is not limited to this.

[0029] The schedule storage unit 24 stores a schedule of loading and unloading operations corresponding to the forklift 1. This schedule includes a loading and unloading position and a loading and unloading position. The loading and unloading positions may be storage spaces that the shelf R has in plurality. As shown in FIG. 3, the area within a predetermined distance from the loading position CP where the forklift 1 loads and unloads the load (i.e., within a predetermined distance from the loading and unloading positions) is the "vicinity of the loading and unloading position" of the present invention.

[0030] The condition storage unit 25 stores the following three predetermined conditions.

[0031] The first predetermined condition is that the forklift 1 is located in the loading position vicinity area E2 or the speed limited area E1.

[0032] The second predetermined condition is that the forklift 1 is traveling and carrying a load W that exceeds a predetermined load capacity.

[0033] The third predetermined condition is that the forklift 1 is traveling and an obstacle or a person is detected within a predetermined distance from the forklift 1. If the area E2 near the loading position or the speed limited area E1 is close to each other, the forklift 1 may be located in both the area E2 near the loading position and the speed limited area E1. Naturally, this case also satisfies the first predetermined condition.

[0034] As shown in Fig. 4, the condition determination unit 26 determines whether or not the first predetermined condition is satisfied in the following flow, and transmits the result to the change control unit 27. The condition determination unit 26 refers to the position of the forklift 1 detected by the position detection unit 18 and the loading / unloading position CP derived from the loading / unloading work schedule (see S41 and S42 in Fig. 4). Next, the condition determination unit 26 determines whether or not the forklift 1 is located within the loading / unloading position vicinity area E2 (see S43 in Fig. 4). In addition, the condition determination unit 26 refers to the position of the forklift 1 detected by the position detection unit 18 and the position of the speed limit area E1 stored in the map storage unit 23 (see S41 and S44 in Fig. 4), and determines whether or not the forklift 1 is located within the speed limit area E1 (see S45 in Fig. 4). Next, when the condition determination unit 26 determines that the forklift 1 is located within the speed limit area E1 or within the area E2 near the loading position (Yes in S43 or Yes in S45 in FIG. 4), it transmits a first condition compliance signal to the change control unit 27 indicating that the first predetermined condition is satisfied (see S46 in FIG. 4).

[0035] The condition determination unit 26 determines whether the forklift 1 is traveling based on a vehicle speed sensor (not shown). When the condition determination unit 26 determines that the forklift 1 is stopped and the load detection unit 17 detects that the forklift 1 is carrying a load W that exceeds a predetermined load weight, the condition determination unit 26 transmits a second condition satisfaction signal to the change control unit 27 indicating that the second predetermined condition is satisfied.

[0036] The condition determination unit 26 determines whether the forklift 1 is traveling based on the vehicle speed sensor. When the condition determination unit 26 determines that the forklift 1 is traveling and that the obstacle detection unit 19 has detected an obstacle and a person within a predetermined distance from the forklift 1, the condition determination unit 26 transmits a third condition satisfaction signal to the change control unit 27 indicating that the third predetermined condition is satisfied.

[0037] When the change control unit 27 receives the first condition satisfaction signal, it controls the accelerator pedal change unit 20 to make the accelerator pedal 13 heavier. By making the accelerator pedal 13 heavier, the change control unit 27 makes it harder to depress the accelerator pedal 13 than usual, thereby reducing sudden acceleration when the forklift 1 is located in the loading position vicinity area E2 or the speed limit area E1. As a result, the forklift 1 is less likely to collide with a shelf R or the like near the loading position CP, or with another forklift, a person, a door, or the like at an intersection or an entrance / exit.

[0038] Furthermore, when the change control unit 27 receives the second condition satisfaction signal, it controls the accelerator pedal change unit 20 to make the accelerator pedal 13 heavier. By making the accelerator pedal 13 heavier, the change control unit 27 makes it more difficult to depress the accelerator pedal 13 than usual, thereby reducing sudden acceleration when the forklift 1 is stopped and carrying a load W that exceeds a predetermined load weight. As a result, the forklift 1 is less likely to collapse.

[0039] Furthermore, when the change control unit 27 receives the third condition satisfaction signal, it controls the brake pedal change unit 21 to reduce the weight of the brake pedal 14. By reducing the weight of the brake pedal 14, the change control unit 27 makes it easier to depress the brake pedal 14 than usual, which makes it easier to bring the forklift 1 to a sudden stop when an obstacle or person is detected within a predetermined distance from the forklift 1 while the forklift 1 is traveling. As a result, the forklift 1 is less likely to collide with obstacles or people.

[0040] Although an embodiment of the forklift, pedal weight changing system, and pedal weight changing program according to the present invention has been described above, the present invention is not limited to the above embodiment. The forklift, pedal weight changing system, and pedal weight changing program according to the present invention may be embodied, for example, in the following modified examples.

[0041] <Modification> The forklift 1 may be a reach forklift. The forklift 1 may be an engine-powered forklift. The forklift 1 may be a manned / unmanned forklift that can be switched between manned and unmanned. [Explanation of symbols]

[0042] CP Loading Position E1 Speed ​​limit area E2 Area near loading position O Driver R shelf W load 1. Forklift 10 wheels 11 Body 12 Driver's seat 13 Accelerator pedal 14 Brake pedal 15 Mast 16 Fork 17 Load detection unit 18 Position detection unit 19 Obstacle detection section 20 Accelerator pedal modification section 21 Brake pedal modification part 22 Control section 23 Map memory section 24 Schedule memory section 25 Condition memory section 26 Condition judgment section 27 Change Control Section

Claims

1. Accelerator pedal and an accelerator pedal change unit configured to increase the pedal weight of the accelerator pedal; A condition storage unit that stores predetermined conditions; a condition determination unit that determines whether the predetermined condition stored in the condition storage unit is met; and a change control unit that controls the accelerator pedal change unit to increase the pedal resistance of the accelerator pedal when the predetermined condition is met.

2. A schedule storage unit that stores loading and unloading positions; A map storage unit that stores the locations of speed limit areas; A position detection unit that detects a position of the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either one of the vicinity of the loading position and the speed limit area, The forklift according to claim 1 , wherein the change control unit increases the pedal resistance of the accelerator pedal when the first predetermined condition is met.

3. A load detection unit is further provided to detect a load, The second predetermined condition is that the forklift is stopped and is carrying a load exceeding a predetermined load capacity, The forklift according to claim 1 , wherein the change control unit increases the pedal resistance of the accelerator pedal when the second predetermined condition is met.

4. Brake pedal and a brake pedal modification unit configured to reduce the pedal weight of the brake pedal; A schedule storage unit that stores loading and unloading positions; A map storage unit that stores the locations of speed limit areas; a position detection unit for detecting a position of the forklift; and an obstacle detection unit that detects obstacles and people within a predetermined distance from the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either one of the vicinity of the loading position and the speed limit area, The third predetermined condition is that the forklift is traveling and an obstacle and a person are detected within a predetermined distance from the forklift, 2. The forklift according to claim 1, wherein the change control unit further controls the brake pedal change unit to reduce the pedal weight of the brake pedal when the first predetermined condition or the third predetermined condition is met.

5. A pedal weight changing system for use in a forklift equipped with an accelerator pedal, comprising: an accelerator pedal change unit configured to increase the pedal weight of the accelerator pedal; A condition storage unit that stores predetermined conditions; a condition determination unit that determines whether the predetermined condition stored in the condition storage unit is met; a change control unit that controls the accelerator pedal change unit to make the pedal resistance of the accelerator pedal heavier when the predetermined condition is met.

6. Accelerator pedal and A condition storage unit that stores predetermined conditions; A computer, and an accelerator pedal change unit configured to increase the pedal weight of the accelerator pedal. The computer, a condition determination unit that determines whether the predetermined condition stored in the condition storage unit is met; a pedal resistance change program that operates as a change control unit that controls the accelerator pedal change unit to make the pedal resistance of the accelerator pedal heavier when the predetermined condition is met;

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