Fork lift, lever resistance value changing system and lever resistance value estimation program

Abstract

To provide a fork lift which can automatically change lever resistance values (weights) according to each operator.SOLUTION: A fork lift includes a lever 14 used in operation of the fork lift, an operator storage part 31, a resistance value storage part 39, an operator specifying part 32, and a resistance value changing part 18. The operator storage part 31 stores operator information on a plurality of operators, and the resistance value storage part 39 stores appropriate lever resistance values (weights) of each operator in association with the driver information. The operator specifying part 32 specifies the operator by referring to the driver information, and the resistance value changing part 18 changes an appropriate lever resistance value corresponding to the operator of which the resistance value of the lever 14 has been specified, on the basis of the appropriate lever resistance values of the respective operators stored in the resistance value storage part 39.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a lever resistance value changing system for a forklift, a forklift including the system, and a lever resistance value estimating program. [Background technology]

[0002] There are two types of forklifts: reach forklifts and counter-loading forklifts. The number and functions of the levers on a forklift vary depending on the type of forklift.

[0003] As disclosed in Patent Document 1, a reach forklift is equipped with a lift lever for raising and lowering the forks, a tilt lever for changing the vertical angle of the forks, a reach lever for moving the lifting device forward and backward, and an accelerator lever for traveling the forklift. Also, as disclosed in Patent Document 2, a countertop forklift is equipped with a tilt lever and an accelerator lever.

[0004] As disclosed in Patent Document 3, a lever is generally configured to swing forward or backward from a neutral position, and automatically returns to the neutral position by a spring when not in operation. However, the resistance of the lever by this spring, in other words the weight of the lever, tires the operator. Therefore, in order to reduce operator fatigue, the invention disclosed in Patent Document 3 assists the lever operation by an actuator when the amount of operation of the operating lever exceeds a predetermined value. In addition to Patent Document 3, for example, Patent Document 4 discloses a technology that assists the lever operation of a vehicle.

[0005] However, unlike passenger cars, a single forklift may be used by multiple drivers with different levels of skill. In addition, the difference in lever operation between drivers due to differences in skill is greater for a forklift than for a passenger car. Therefore, it is preferable to vary the resistance value of the lever depending on the driver's level of skill, but it is troublesome for the driver to adjust the appropriate lever resistance value every time he or she gets into the vehicle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2016-47745 A [Patent Document 2] JP 2017-88390 A [Patent Document 3] JP 2002-370898 A [Patent Document 4] JP 2003-301942 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 that can automatically change the lever resistance value, in other words, the weight of the lever, depending on each operator. [Means for solving the problem]

[0008] In order to solve the above problems, the forklift of the present invention includes a lever used to operate the forklift, a driver memory unit that stores driver information for a plurality of drivers, a resistance value memory unit that stores an appropriate lever resistance value for each driver in correspondence with the driver information, a driver identification unit that identifies the driver by referring to the driver information, and a resistance value change unit that changes the resistance value of the lever to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value memory unit.

[0009] The forklift preferably further includes a proficiency memory unit that stores the proficiency of each driver in association with each driver information, and a resistance value estimation unit that estimates an appropriate lever resistance value for each driver based on the proficiency of each driver, and the resistance value memory unit stores the estimated appropriate lever resistance value for each driver in association with the driver information.

[0010] The forklift preferably further includes an acceleration / deceleration memory unit that stores the number of times a predetermined acceleration and a predetermined deceleration were exceeded during each loading and unloading operation of each driver, in correspondence with driver information, and a proficiency determination unit that determines the proficiency of each driver based on the stored number of times the predetermined acceleration and the number of times the predetermined deceleration were exceeded, and the proficiency memory unit stores the determined proficiency of each driver in correspondence with the driver information.

[0011] The forklift preferably comprises: The system further includes a collision count memory unit that stores the number of collisions of the forklift during each loading and unloading operation by each driver in association with driver information, and a proficiency determination unit that determines the proficiency of each driver based on the stored number of collisions, and the proficiency memory unit stores the determined proficiency of each driver in association with the driver information.

[0012] The forklift preferably further includes a stop count memory unit that stores the number of stops of the forklift during each loading and unloading operation of each driver in association with driver information, and a proficiency determination unit that determines the proficiency of each driver based on the stored number of stops, and the proficiency memory unit stores the determined proficiency of each driver in association with the driver information.

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

[0014] The forklift preferably further includes an acceleration / deceleration storage unit that stores the number of times the forklift exceeded a predetermined acceleration and the number of times the forklift exceeded a predetermined deceleration during each loading / unloading operation of each driver in association with the driver information, a collision count storage unit that stores the number of collisions of the forklift during each loading / unloading operation of each driver in association with the driver information, and a proficiency determination unit having a learned model. The learned model is configured to learn 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 collisions are input data, and to output the driver's proficiency when the stored number of times the forklift exceeded a predetermined acceleration, the number of times the forklift exceeded a predetermined deceleration, and the number of collisions are input. The proficiency storage unit stores the output proficiency of each driver in association with the driver information.

[0015] The forklift preferably further includes an acceleration / deceleration storage unit for storing the number of times the forklift exceeded a predetermined acceleration rate and the number of times the forklift exceeded a predetermined deceleration rate during each loading / unloading operation of each driver in association with the driver information, a stop count storage unit for storing the number of times the forklift stopped during each loading / unloading operation of each driver in association with the driver information, a collision count storage unit for storing the number of times the forklift collided during each loading / unloading operation of each driver in association with the driver information, and a proficiency determination unit having a trained model. The trained model is configured to learn in advance based on teacher data in which the number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, the number of times the forklift stopped, and the number of times the forklift collided during each loading / unloading operation of each driver are input data and to output the proficiency rate of the driver when the stored number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, the number of times the forklift stopped, and the number of times the forklift collided are input data. The proficiency storage unit stores the output proficiency rate of each driver in association with the driver information.

[0016] In the forklift truck described above, the resistance value estimating unit preferably estimates the appropriate lever resistance value more strongly as the proficiency level is lower.

[0017] In order to solve the above problems, the lever resistance value changing system of the present invention is a lever resistance value changing system for a lever used to operate a forklift, and includes a driver memory unit that stores driver information for a plurality of drivers, a resistance value memory unit that stores an appropriate lever resistance value for each driver in correspondence with the driver information, a driver identification unit that identifies the driver by referring to the driver information, and a resistance value changing unit that changes the lever resistance value to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value memory unit.

[0018] In order to solve the above problems, the lever resistance value estimation program of the present invention is a lever resistance value estimation program used in a forklift equipped with a lever used to operate the forklift, a resistance value changing unit that changes the resistance value of the lever based on an estimated appropriate lever resistance value, and a computer, wherein the computer stores the proficiency of each driver in correspondence with driver information, and the lever resistance value estimation program causes the computer to operate as a resistance value estimating unit that estimates an appropriate lever resistance value for the driver based on the stored driver's proficiency. Effect of the Invention

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

[0020] [Figure 1] 1 is a perspective 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 flowchart showing a flow of changing the lever resistance value. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0022] Fig. 1 is a perspective view of a forklift 1 according to this embodiment. The forklift 1 is a battery-powered reach 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, a lever 14, 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 resistance value changing unit 18, an acceleration / deceleration detecting unit 19, a stop detecting unit 20, a collision detecting unit 21, and a control unit 30.

[0023] A plurality of wheels 10 are provided at the front and bottom of a vehicle body 11. A driver's seat 12 is provided at the right rear of the vehicle body 11, and a head guard 13 is provided at the top of the vehicle body 11.

[0024] The levers 14 include a lift lever, a tilt lever, a reach lever, and an accelerator lever, and are provided in front of the driver's seat 12.

[0025] The left and right forks 16 are configured to be able to be raised and lowered via the left and right masts 15, and the operator raises and lowers the forks 16 to perform loading and unloading work.

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

[0027] The resistance value changing unit 18 changes the resistance value of the lever 14 when operated by the driver, based on the lever resistance value estimated by a resistance value estimating unit 38, which will be described later. The resistance value changing unit 18 is configured, for example, by a device that can adjust the resistance value by hydraulic pressure, or a device that can adjust the resistance value by a spring.

[0028] Also, for example, the resistance value changing unit 18 may be an assisting device that assists in the operation of the lever 14. In this case, the resistance value changing unit 18 may adjust the assisting force based on the lever resistance value estimated by the resistance value estimating unit 38, and may substantially change the resistance value of the lever 14 when operated by the driver.

[0029] Alternatively, the resistance value changing unit 18 may be configured to change the magnitude of the power or braking force of each device responsive to the amount of operation of the lever 14, based on the lever resistance value estimated by the resistance value estimating unit 38. In this way, the resistance value changing unit 18 effectively changes the lever resistance value.

[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 lever resistance value estimation program that causes the computer to operate as a resistance value 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 resistance value estimation unit 38, and a resistance value memory unit 39.

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

[0037] The driver identification unit 32 identifies the driver by referring to the facial image generated by the camera 17 and the facial image stored in the driver memory unit 31. The driver identifier corresponding to the identified driver 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 resistance value estimation unit 38, and the resistance value 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 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 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 each loading and unloading operation, 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, in addition to the driver number of the driver.

[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 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 count memory unit 35 stores the number of collisions of the forklift 1 during each loading and unloading operation of each driver in association with the driver information (driver No. in this embodiment) 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 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 each driver are input as data, and the proficiency of each driver is output as data. The trained model 360 is configured to output the proficiency when 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 each driver are input as data.

[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 to the trained model 360, and outputs the driver's proficiency. The output proficiency is transmitted to the proficiency storage unit 37 and the resistance value 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 resistance value estimation unit 38 estimates an appropriate lever resistance value for a driver based on the driver's proficiency. According to some data, the higher the driver's proficiency, the less likely he or she is to suddenly accelerate, brake suddenly, or crash. Looking at this data from the opposite perspective, it can be said that the lower the driver's proficiency, the more likely he or she is to suddenly accelerate, brake suddenly, or crash. Therefore, for example, the resistance value estimation unit 38 may estimate an appropriate lever resistance value that is stronger for drivers with lower proficiency in order to reduce sudden acceleration, braking suddenly, and crashes by drivers with lower proficiency.

[0048] Furthermore, if the driver information includes the driver's age, sex, and weight, the resistance value estimation unit 38 may refer to the driver information and estimate an appropriate lever resistance value for the driver based on the driver's age, sex, and weight in addition to the driver's proficiency. In this case, the weighting of the driver's proficiency, age, sex, and weight for the lever resistance value estimated by the resistance value estimation unit 38 is not limited. Furthermore, the lever resistance value appropriate for the driver estimated by the resistance value estimation unit 38 does not need to estimate the resistance values ​​of all the levers 14 of the forklift 1. That is, in this embodiment, the resistance value estimation unit 38 may estimate the lever resistance value of at least one of the lift lever, tilt lever, reach lever, and accelerator lever.

[0049] The resistance value storage unit 39 stores an appropriate lever resistance value for a driver in association with driver information (driver No. in this embodiment).

[0050] The resistance value changing unit 18 changes the resistance value of the lever 14 of the forklift 1 to a lever resistance value corresponding to the driver identified by the driver identifying unit 32, based on the appropriate lever resistance value for each driver stored in the resistance value storage unit 39. This prevents a novice driver from suddenly decelerating due to a sudden depression of the accelerator lever, and prevents a novice driver from suddenly decelerating due to sudden plugging braking. In addition, by increasing the resistance value of the shift lever, the shift operation of the fork 16 is slowed down, allowing the driver to carefully align the fork 16.

[0051] <Lever resistance value change flow> Next, the flow of changing the lever resistance value of the forklift 1 will be described again with reference to FIG.

[0052] (1) The forklift 1 identifies the driver using the driver identification unit 32, and detects the number of times that the driver's operation of the forklift 1 exceeded a predetermined acceleration, the number of times that the driver's deceleration, the number of times that the forklift 1 stopped, and the number of collisions during each loading and unloading operation using each detection unit, and stores these information in each memory unit (see S (step) 51 in Figure 5).

[0053] (2) Next, the forklift 1 judges the proficiency of each driver by the proficiency judgment unit 36 ​​based on the number of times that the predetermined acceleration of the forklift 1 was exceeded, the number of times that the predetermined deceleration was exceeded, the number of times that the forklift 1 was stopped, and the number of times that the forklift 1 was hit, which are stored by the driver's operation (see S52 in FIG. 5).

[0054] (3) Next, the forklift 1 stores the skill level of each driver in association with the driver information in the skill level storage unit 37 (see S53 in FIG. 5). At this time, the skill level corresponding to each driver is updated.

[0055] (4) Next, the forklift 1 estimates an appropriate lever resistance value for each driver based on the driver's level of skill by the resistance value estimation unit 38 (see S54 in FIG. 5).

[0056] (5) Next, the forklift 1 stores the estimated appropriate lever resistance value for each driver in association with the driver information by the resistance value storage unit 39. At this time, the appropriate lever resistance value for each driver is updated (see S55 in FIG. 5). Through the above process, the appropriate lever resistance value for each driver is stored in a database in the computer of the forklift 1.

[0057] (6) Next, the forklift 1 photographs the driver using the camera 17 and identifies the driver using the driver identification unit 32 (see S56 in FIG. 5), and also refers to the resistance value memory unit 39 to identify an appropriate lever resistance value corresponding to the identified driver (see S57 in FIG. 5).

[0058] (7) Next, the forklift 1 changes the resistance value of the lever 14 of the forklift 1 to the identified lever resistance value (see S58 in FIG. 5).

[0059] According to this flow, the forklift 1 automatically changes the resistance value of the lever 14 according to the proficiency of each driver, and can provide the driver with a more appropriate driving operation according to the proficiency. The forklift 1 can prevent the driver from suddenly operating the lever 14 by estimating the appropriate lever resistance value to be stronger for drivers with lower proficiency. The forklift 1 can also reduce the burden imposed on the driver with higher proficiency by operating the lever 14 by estimating the appropriate lever resistance value to be weaker for drivers with higher proficiency. Drivers with higher proficiency have a larger amount of work to do in a given time, and as a result, there is a possibility that they operate the lever 14 more in a given time, so it may be useful to make the lever resistance value weaker for drivers with higher proficiency.

[0060] Although an embodiment of the forklift, the lever resistance value change system, and the lever resistance value estimation program according to the present invention has been described above, the present invention is not limited to the above embodiment. The forklift, the lever resistance value change system, and the lever resistance value 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.

[0061] <Modification> The forklift 1 may be a countertop forklift. Also, the forklift 1 may be an engine-powered forklift.

[0062] In the above embodiment, the resistance value estimation unit 38 estimates the appropriate lever resistance value for the driver by referring to the driver's proficiency, but the appropriate lever resistance value may be estimated by further referring to, for example, the driver's weight, muscle mass, and / or age. In this case, the driver information includes the weight, muscle mass, and / or age of each driver.

[0063] The forklift 1 may include an input unit that receives input of a name or an identifier corresponding to each driver, or an input of a tool for identifying each driver, such as an ID card. In this case, the driver identification unit 32 may identify the driver based on the driver information received by the input unit.

[0064] The driver information may include a tag, a QR code (registered trademark), etc., that identifies each driver. In this case, the helmet may have a tag, a QR code (registered trademark), etc., that identifies each driver, and the forklift 1 may have a tool for detecting the driver information.

[0065] The proficiency assessment unit 36 ​​may not have the trained model 360, and may assess the driver's proficiency 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.

[0066] The proficiency level of each driver inputted manually may be stored in the proficiency level storage unit 37. The proficiency level of each driver 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 are determined by a person, the control unit 30 does not need to include the proficiency level determination unit 36.

[0067] The resistance value storage unit 39 may store an appropriate lever resistance value for each driver that is manually input. The appropriate lever resistance value for each driver may also be estimated by a person, and the resistance value storage unit 39 may store the estimation result in association with the driver information. If the appropriate lever resistance values ​​for all drivers are estimated by a person, the control unit 30 may not have the resistance value estimation unit 38. When the appropriate lever resistance value for a driver is estimated by a person, the appropriate lever resistance value may be estimated according to the driver's proficiency.

[0068] 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 lever resistance value for the driver by communicating with the server computer.

[0069] The trained model 360 may not include, for example, the number of stops or collisions of the forklift 1 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 are input. [Explanation of symbols]

[0070] 1. Forklift 10 wheels 11 Body 12 Driver's seat 13 Head Guard 14 Lever 15 Mast 16 Fork 17 Camera 18 Resistance value 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 Resistance Estimation Unit 39 Resistance value memory section

Claims

1. A lever used to operate a forklift; A driver storage unit that stores driver information of a plurality of drivers; a resistance value storage unit that stores an appropriate lever resistance value 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 resistance value changing unit that changes the resistance value of the lever to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value 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; and a resistance value estimating unit that estimates an appropriate lever resistance value for each of the drivers based on the proficiency level of each of the drivers. The forklift according to claim 1 , wherein the resistance value storage unit stores the estimated appropriate lever resistance value 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 determination unit that determines the proficiency 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 resistance value estimating unit estimates the appropriate lever resistance value to be stronger as the proficiency level decreases.

10. A lever resistance value changing system for a lever used in operating a forklift, comprising: A driver storage unit that stores driver information of a plurality of drivers; a resistance value storage unit that stores an appropriate lever resistance value 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; A lever resistance value changing system comprising: a resistance value changing unit that changes the lever resistance value to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value memory unit.

11. A lever used to operate a forklift; a resistance value changing unit that changes a resistance value of the lever based on the estimated appropriate lever resistance value; A lever resistance value estimation program for use in a forklift comprising: The computer stores the proficiency level of each driver in association with driver information, The lever resistance value estimation program causes the computer to a lever resistance value estimation program that causes the resistance value estimation unit to operate as a resistance value estimation unit that estimates an appropriate lever resistance value for the driver based on the stored proficiency of the driver.

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