Pedal operation automation device

Abstract

To provide a peal operation automation device capable of automating pedal operation and enabling operation by an occupant.SOLUTION: A pedal operation automation device can move pedals of an industrial vehicle forward and backward, and comprises: a platform fixed to a floor surface of the industrial vehicle; and a main body attached to the platform. The main body has: a drive unit having a shaft rotatable about a rotational axis extending in a horizontal direction; an arm part provided integrally with the shaft and extending in a radial direction of the rotational axis; and a contact part extending from a tip of the arm part in a direction crossing the arm part and capable of coming into contact with the pedal from a tread surface side.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a pedal operation automation device. [Background technology]

[0002] There is a growing need to automate the operation of industrial vehicles such as forklifts. Specifically, there is a strong demand for automating pedal operation such as the accelerator and brake. A device for realizing such pedal operation is known, as described in Patent Document 1 below. The device according to Patent Document 1 below mainly comprises an arm that presses and releases the pedal, and a drive unit that drives the arm. The drive unit is located above the driver's seat, and the arm occupies the pedal tread. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6612184 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to ensure the efficiency and flexibility of loading and unloading work, it is desirable for industrial vehicles to have a configuration that allows pedal operation to be automated while still allowing the occupant to operate the pedals at any time. However, in the device disclosed in Patent Document 1, the space around the seat and pedals is occupied by the drive unit and arms, so there is no space for the occupant to sit or operate the pedals.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a pedal operation automation device that automates pedal operation while also allowing operation by the occupant. [Means for solving the problem]

[0006] In order to solve the above problems, the pedal operation automation device disclosed herein is a pedal operation automation device capable of moving the pedals of an industrial vehicle forward and backward, and comprises a platform fixed to the floor of the industrial vehicle and a main body attached to the platform, and the main body has a drive unit having a shaft that can rotate around a horizontally extending rotation axis, an arm unit that is integral with the shaft and extends radially of the rotation axis, and an abutment unit that extends from the tip of the arm unit in a direction intersecting the arm unit and can abut against the pedal from the tread side. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a pedal operation automation device that automates pedal operation while also allowing operation by the occupant. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram illustrating a configuration of an industrial vehicle according to an embodiment of the present disclosure. [Figure 2] 1 is a plan view showing a configuration of a pedal operation automation device according to an embodiment of the present disclosure. FIG. [Figure 3] FIG. 2 is an enlarged perspective view of a main portion of the pedal operation automation device according to the embodiment of the present disclosure. [Figure 4] FIG. 2 is a functional block diagram illustrating a configuration of a control device according to an embodiment of the present disclosure. [Figure 5] 4 is a flowchart illustrating processing by a control device according to an embodiment of the present disclosure. [Figure 6] FIG. 1 is a hardware configuration diagram of a computer according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Forklift configuration) A forklift 2 as an example of an industrial vehicle 1 according to an embodiment of the present disclosure will be described below with reference to Fig. 1 to Fig. 6. As shown in Fig. 1, the forklift 2 includes a vehicle body 10 and a pedal operation automation device 20.

[0010] The vehicle body 10 has a body 11, wheels 12, a seat 13, a floor 14, a handlebar 15, pedals 16, a fork 17, and a mast 18.

[0011] An engine, a transmission, etc. are housed inside the vehicle body 11. Power generated by the engine is transmitted to wheels 12 via the transmission. Four wheels 12 are provided at the bottom of the vehicle body 11. A seat 13 is provided above the vehicle body 11. The seat 13 is a space for an operator to sit and drive. A floor surface 14 is formed below and in front of the seat 13, on which the operator places their feet. A pedal operation automation device 20, which will be described later, is attached to this floor surface 14.

[0012] A steering wheel 15 for changing the direction of travel of the vehicle body 10 is provided in front of the seat 13. Furthermore, pedals 16 are provided below the steering wheel 15. As shown in FIG. 2, the pedals 16 include an accelerator pedal 16a and a brake pedal 16b. When the accelerator pedal 16a is depressed, the engine speed increases. When the brake pedal 16b is depressed, the rotation of the wheels 12 is braked.

[0013] As shown in Figure 1 again, a mast 18 and forks 17 are provided at the front of the vehicle body 11. The mast 18 extends vertically and guides the forks 17 in the vertical direction. The forks 17 protrude forward. The forks 17 move back and forth vertically along the mast 18 by a hoisting device and cylinder (not shown). Various cargo handling operations are carried out by placing cargo on the forks 17.

[0014] (Configuration of automated pedal operation device) Next, the configuration of the pedal operation automation device 20 will be described with reference to Fig. 2 to Fig. 6. As shown in Fig. 1 or 2, the pedal operation automation device 20 includes a platform 21 (see Fig. 2), a main body 22 (see Fig. 2), a speed detection unit 30 (see Fig. 1), and a control device 40 (see Fig. 1).

[0015] (Platform configuration) As shown in FIG. 2, the platform 21 has a base 51, a clamp 52, and a fastening portion 53. The base 51 extends in the width direction of the vehicle body 11 on the floor surface 14 described above. A clamp 52 is provided on each side of the base 51 in the width direction. The clamp 52 has an L-shaped cross section when viewed from the front-to-rear direction of the vehicle. The L-shaped clamp 52 engages with the edge of the floor surface 14. The fastening portion 53 has a pair of screws and bolts on each side, and by tightening the bolts, the distance between the pair of clamps 52 changes in a direction that narrows. In this way, the base 51 is detachably fixed to the floor surface 14.

[0016] The bases 51 are columnar and extend widthwise, and are provided in pairs with a gap in the front-to-rear direction of the vehicle body 11. Two main bodies 22 are attached to the bases 51. One main body 22 is provided corresponding to the accelerator pedal 16a and the other to the brake pedal 16b, and is a device that enables automatic operation of these pedals 16. The main body 22 has the same configuration on both the accelerator pedal 16a side and the brake pedal 16b side. Therefore, the configuration of the main body 22 on the accelerator pedal 16a side will be described below as an example.

[0017] (Main body configuration) As shown in FIG. 2, the main body 22 has a support plate 61, a drive unit 62, an arm unit 63, and an abutment unit 64. The support plate 61 is disposed on the base 51. The support plate 61 is in the form of a plate extending in the longitudinal direction of the vehicle. A plurality of (four, for example) elongated holes 65 are formed in the support plate 61. Each of the elongated holes 65 extends in the longitudinal direction of the vehicle. By inserting screws as fixing units 66 through the elongated holes 65 into screw holes formed in the base 51, the support plate 61 itself can be fixed on the base 51.

[0018] Furthermore, since a plurality of screw holes are formed in the base 51 at intervals in the width direction, the support plate 61 is disposed on the base 51 so that its position can be adjusted in the width direction as well. Therefore, the position of the support plate 61 can be freely adjusted in the front-to-rear and width directions on the base 51. In this way, it is desirable that the main body 22 is disposed in a position that does not overlap with the pedal 16 in the horizontal direction when viewed from the tread surface 19 side of the pedal 16. This is to ensure space for the operator to place their legs when they get on and operate the machine.

[0019] A drive unit 62 is disposed on the front end side of the support plate 61. The drive unit 62 is a high-torque stepping motor, and as shown in FIG. 3, the rotation axis X of its shaft (output shaft) extends horizontally. An arm unit 63 is fixed to the end of the shaft. The arm unit 63 is columnar and extends in the radial direction of the rotation axis X. By supplying a current to the drive unit 62, the arm unit 63 can rotate around the rotation axis X by any angle.

[0020] An abutment portion 64 is provided at the tip of the arm portion 63. The abutment portion 64 has a cylindrical shape that extends horizontally, intersecting the direction in which the arm portion 63 extends. The abutment portion 64 is rotatable relative to the arm portion 63 about a second rotation axis Y that extends horizontally. When the arm portion 63 rotates toward the front side of the vehicle, the abutment portion 64 abuts against the tread surface 19 of the accelerator pedal 16a (the surface facing the rear side of the vehicle).

[0021] Here, the contact portion 64 contacts only a portion of the tread surface 19 of the accelerator pedal 16a in the horizontal direction. Specifically, in the example of Fig. 3, the contact portion 64 can contact only a portion on the right side of the tread surface 19. More specifically, the contact portion 64 has a dimension that allows it to contact only the area to the right of the horizontal center line of the tread surface 19. This is to avoid interfering with the operator's stepping on the tread surface 19.

[0022] Furthermore, the contact portion 64 can come into contact with the tread surface 19 of the accelerator pedal 16a at a position that is biased away from the pivot point of the accelerator pedal 16a (i.e., the lower edge of the accelerator pedal 16a). More specifically, the contact portion 64 comes into contact with an area above the vertical dividing line of the accelerator pedal 16a. Similarly, in the case of the brake pedal 16b, the contact portion 64 can come into contact with the tread surface 19 of the brake pedal 16b at a position that is biased away from the pivot point of the brake pedal 16b (i.e., the upper side of the brake pedal 16b). More specifically, the contact portion 64 comes into contact with an area below the vertical dividing line of the brake pedal 16b.

[0023] If the arm portion 63 continues to rotate from a state in which the abutment portion 64 abuts against the tread surface 19, the load from the arm portion 63 is transmitted to the accelerator pedal 16a through the abutment portion 64, and the accelerator pedal 16a enters a depressed state. Conversely, as the arm portion 63 rotates rearward, the load from the abutment portion 64 decreases, and the accelerator pedal 16a enters a released state. At this time, the abutment portion 64 rotates around the second rotation axis Y while abutting against the accelerator pedal 16a. In other words, the abutment portion 64 functions as a cam follower.

[0024] The operation of the arm portion 63 and the contact portion 64 is the same for the brake pedal 16b. That is, when the arm portion 63 rotates forward, the brake pedal 16b is depressed by the contact portion 64. Conversely, when the arm portion 63 rotates rearward, the load applied by the contact portion 64 decreases, and the brake pedal 16b is released.

[0025] (Configuration of speed detection unit and control device) As shown in Fig. 1, the speed detection unit 30 is attached to an arbitrary location on the vehicle body 11 and detects the moving speed of the vehicle body 11. Specifically, an acceleration sensor or a GPS sensor is used as the speed detection unit 30. The moving speed detected by the speed detection unit 30 is transmitted to the control device 40 as an electric signal. The speed detection unit 30 may be provided on the platform 21 described above.

[0026] The control device 40 compares the moving speed with a predetermined target speed to control the operation of the pedal operation automation device 20. As shown in Fig. 4, the control device 40 includes a speed acquisition unit 41, a target speed acquisition unit 42, a comparison unit 43, a drive signal generation unit 44, and a storage unit 45. The control device 40 may be provided at any location on the vehicle body 11 or on the platform 21.

[0027] The speed acquisition unit 41 acquires the moving speed of the vehicle body 11 from the speed detection unit 30. The target speed acquisition unit 42 acquires the target speed of the vehicle body 11 input, for example, by an external worker. The target speed may be stored in advance in chronological order in the memory unit 45, for example, or may be input each time by the worker. The comparison unit 43 compares these moving speeds with the target speed. The drive signal generation unit 44 generates a signal (drive signal) for driving the drive unit 62 of the pedal operation automation device 20 based on the comparison result by the comparison unit 43.

[0028] (Processing flow of the control device) Next, the processing flow of the control device 40 will be described with reference to Fig. 5. First, in step S101, the speed acquisition unit 41 acquires the moving speed V1. Next, in step S102, the target speed acquisition unit 42 acquires the target speed V2. In the following step S103, the comparison unit 43 compares the moving speed V1 with the target speed V2 to determine which is larger.

[0029] If it is determined in step S103 that the moving speed V1 is greater than the target speed V2 (step S103: Yes), in step S104, the drive signal generating unit 44 generates and transmits a drive signal to the driver 62 on the accelerator pedal 16a side to rotate the arm 63 in a direction to release the accelerator pedal 16a. As a result, the accelerator pedal 16a is released, and the moving speed of the vehicle body 11 begins to decrease.

[0030] Furthermore, in step S105, the drive signal generation unit 44 generates and transmits a drive signal to the drive unit 62 on the brake pedal 16b side to rotate the arm unit 63 in the direction in which the brake pedal 16b is depressed. As a result, the brake pedal 16b is depressed, and the moving speed of the vehicle body 11 further decreases. These steps S101, S102, S103, S104, and S105 are repeated until the moving speed and the target speed match. For example, if the target speed V2 is zero, the vehicle body 11 will eventually stop.

[0031] On the other hand, if it is determined in step S103 that the moving speed V1 is smaller than the target speed V2 (step S103: No), in step S106, the drive signal generator 44 generates and transmits a drive signal to the driver 62 on the brake pedal 16b side to rotate the arm 63 in a direction to release the brake pedal 16b. This releases the brake pedal 16b.

[0032] Furthermore, in step S107, the drive signal generation unit 44 generates and transmits a drive signal to the drive unit 62 on the accelerator pedal 16a side to rotate the arm unit 63 in the direction in which the accelerator pedal 16a is depressed. As a result, the accelerator pedal 16a is depressed, and the movement speed of the vehicle body 11 begins to increase. These steps S101, S102, S103, S106, and S107 are repeated until the movement speed matches the target speed. This completes the processing flow of the control device 40.

[0033] (Action and effect) In order to ensure the efficiency and flexibility of loading and unloading operations, it is desirable for an industrial vehicle 1 such as a forklift 2 to have a configuration that allows the pedal operation to be automated while still allowing the pedal operation by the occupant at any time. However, in conventional devices, the space around the seat 13 and pedals 16 is generally occupied by the device, which poses a problem of not being able to secure space for the occupant to sit or operate the pedals. To solve this problem, the pedal operation automation device 20 according to this embodiment employs the above-described configurations.

[0034] According to the above configuration, the arm portion 63 is disposed to the side of the pedal 16 so as to extend in the radial direction of the rotation axis X, and the arm portion 63 has a contact portion 64 at its tip that can contact the pedal 16. As a result, when the arm portion 63 rotates, the pedal 16 moves forward and backward due to the load from the contact portion 64. This allows for automated pedal operation. Furthermore, because the platform 21 is disposed on the floor surface 14, the device does not occupy the seat 13. This also ensures space for passengers to board. Furthermore, because the arm portion 63 and the contact portion 64 do not occupy the pedal 16 itself or the space around the pedal 16, automation is achieved while still allowing passengers to operate the pedal separately. As a result, cargo handling operations can be made more efficient and smoother.

[0035] According to the above configuration, the platform 21 is detachably fixed to the floor surface 14. This allows the pedal operation automation device 20 to be applied after the fact to existing industrial vehicles 1. In other words, the versatility of the pedal operation automation device 20 can be improved.

[0036] According to the above configuration, since the abutment portion 64 is a cam follower, as the arm portion 63 rotates, the abutment portion 64 can roll while pressing against the tread surface 19 of the pedal 16. This eliminates the need to match the rotation radius of the arm portion 63 with the rotation radius of the pedal 16. This allows the length of the arm portion 63 to be shortened, further reducing the size and dimensions of the device. As a result, more space is created around the pedal 16, allowing the occupant to operate the pedal 16 more comfortably.

[0037] According to the above configuration, the contact portion 64 can contact only a portion of the pedal 16 in the horizontal direction. This prevents the tread surface 19 of the pedal 16 from being occupied by the contact portion 64. Therefore, it is possible to realize automation of pedal operation while also allowing the occupant to operate the pedal.

[0038] According to the above configuration, the abutment portion 64 is positioned on the tread surface 19 of the pedal 16 away from the pivot point. This lengthens the moment arm connecting the position where the load from the abutment portion 64 acts and the pivot point of the pedal 16. This allows the pedal 16 to be moved forward and backward with less force. As a result, the torque required for the drive unit 62 is kept small, which makes it possible to reduce the size and cost of the device.

[0039] According to the above configuration, the main body 22 can be fixed at any position on the platform 21. This allows the position of the main body 22 to be adjusted regardless of the make and model of the industrial vehicle 1. This improves the versatility of the pedal operation automation device 20.

[0040] According to the above configuration, the position of the main body 22 can be adjusted horizontally and in the front-rear direction on the platform 21. This allows the position of the main body 22 to be adjusted regardless of the make and model of the industrial vehicle 1. This improves the versatility of the pedal operation automation device 20.

[0041] According to the above configuration, the main body 22 is disposed in a position that does not overlap with the pedal 16 when viewed from the tread surface 19 side of the pedal 16. This minimizes the possibility that the main body 22 will encroach on the space around the pedal 16. As a result, it is possible to automate pedal operation while ensuring a high level of stability and comfort when the occupant operates the pedal.

[0042] According to the above configuration, the control device 40 can autonomously adjust the operation amount of the pedal 16 based on the comparison result between the moving speed of the industrial vehicle 1 and the target speed. Therefore, automatic driving of the industrial vehicle 1 can be realized.

[0043] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present disclosure.

[0044] For example, in the above embodiment, an example has been described in which the pedal operation automation device 20 is applied to an engine vehicle equipped with an accelerator pedal 16a and a brake pedal 16b. However, it is also possible to apply the pedal operation automation device 20 to a forklift 2 driven by an electric motor. In this case, too, the same effects as those described above can be obtained.

[0045] The pedal operation automation device 20 can also be applied to engine vehicles equipped with a torque converter. In this case, an inching pedal is provided in addition to the brake pedal 16b. When the inching pedal is lightly depressed, the clutch is half-clutched, cutting off the driving power and achieving the same state as neutral without returning the shift lever. When the inching pedal is fully depressed, the brake is also depressed and activated, stopping the forklift 2. By applying the pedal operation automation device 20 described above to the inching pedal and accelerator pedal 16a, it is possible to automate accelerator and brake operations.

[0046] Furthermore, in the above embodiment, an example has been described in which the contact portion 64 contacts only a portion of the right side of the pedal 16. However, it is also possible to adopt a configuration in which the main body 22 is provided on the left side of the pedal 16 and the contact portion 64 contacts only a portion of the left side of the pedal 16. Even in this case, the same effects as those described above can be obtained.

[0047] Furthermore, the contact portion 64 does not necessarily have to have a cam follower-like rolling configuration as described above. As another example, the contact portion 64 can be formed from a material with low friction resistance, such as a fluororesin, so that it can slide on the tread surface 19. Even in this case, the same effects as those described above can be obtained.

[0048] It should be noted that the control device 40 in the embodiment of the present disclosure may change the order of processing as long as appropriate processing is performed.

[0049] The storage unit 45 and other storage devices in the embodiments of the present disclosure may be provided anywhere within the range where appropriate information can be transmitted and received. Furthermore, there may be multiple storage units 45 and other storage devices, and data may be stored in a distributed manner within the range where appropriate information can be transmitted and received.

[0050] The processing steps performed by the control device 40 described above are stored in the form of a program on a recording medium that can be read by the computer 200, and the above processing is performed by the computer 200 reading and executing this program. A specific example of the computer 200 is shown below.

[0051] As shown in FIG. 6, the computer 200 includes a CPU 101, a main memory 102, a storage 103, and an interface 104. For example, the above-described control device 40 is implemented in a computer 200. The operations of the above-described processing units are stored in the form of a program in storage 103. CPU 101 reads the program from storage 103, loads it into main memory 102, and executes the above-described processing in accordance with the program. Furthermore, CPU 101 allocates a storage area in main memory 102 corresponding to the above-described storage unit 45 in accordance with the program.

[0052] Examples of storage 103 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. Storage 103 may be an internal medium directly connected to the bus of computer 200, or an external medium connected to computer 200 via interface 104 or a communication line. Furthermore, when this program is distributed to computer 200 via a communication line, computer 200 that receives the program may load the program into main memory 102 and execute the above-mentioned processing. Storage 103 is a non-transitory tangible storage medium.

[0053] The program may also implement some of the functions described above. Furthermore, the program may be a file that can implement the functions described above in combination with a program already recorded in computer 200, a so-called differential file (differential program).

[0054] In addition to or instead of the above configuration, a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device), an ASIC (Application Specific Integrated Circuit), a GPU (Graphics Processing Unit), or similar processing devices may be provided. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor may be realized by the integrated circuit.

[0055] <Additional Notes> The pedal operation automation device 20 described in each embodiment can be understood, for example, as follows.

[0056] (1) The pedal operation automation device 20 according to the first aspect is a pedal operation automation device 20 capable of moving the pedal 16 of an industrial vehicle 1 forward and backward, and comprises a platform 21 fixed to the floor surface 14 of the industrial vehicle 1, and a main body portion 22 attached to the platform 21. The main body portion 22 comprises a drive unit 62 having a shaft rotatable around a rotation axis X extending horizontally, an arm portion 63 integrally formed on the shaft and extending radially from the rotation axis X, and an abutment portion 64 extending from the tip of the arm portion 63 in a direction intersecting the arm portion 63 and capable of abutting against the pedal 16 from the tread surface 19 side.

[0057] According to the above configuration, the arm portion 63 and the abutment portion 64 do not occupy the pedal 16 itself or the space around the pedal 16, so that automation is achieved while still allowing the occupant to operate the pedal separately.

[0058] (2) A pedal operation automation device 20 according to a second aspect is the pedal operation automation device 20 of (1), in which the platform 21 is detachably fixed to the floor surface 14.

[0059] According to the above configuration, the platform 21 is detachably fixed to the floor surface 14. This allows the pedal operation automation device 20 to be applied to existing industrial vehicles 1 after the fact.

[0060] (3) The pedal operation automation device 20 according to the third aspect is the pedal operation automation device 20 of (1) or (2), in which the abutment portion 64 is a cam follower that can roll while abutting against the tread surface 19 of the pedal 16.

[0061] According to the above configuration, the length of the arm portion 63 can be shortened, which makes it possible to further reduce the size and size of the device.

[0062] (4) The pedal operation automation device 20 according to the fourth aspect is a pedal operation automation device 20 according to any one of aspects (1) to (3), in which the abutment portion 64 can abut only a portion of the pedal 16 in the horizontal direction.

[0063] According to the above configuration, it is possible to realize automation of pedal operation while also allowing operation by the occupant.

[0064] (5) The pedal operation automation device 20 according to the fifth aspect is a pedal operation automation device 20 according to any one of the aspects (1) to (4), in which the abutment portion 64 is capable of abutting at a position on the tread surface 19 of the pedal 16 that is biased away from the pivot point of the pedal 16.

[0065] According to the above configuration, the pedal 16 can be moved forward and backward with a smaller force.

[0066] (6) The pedal operation automation device 20 according to the sixth aspect is a pedal operation automation device 20 according to any one of aspects (1) to (5), and further includes a fixing portion 66 that can fix the main body portion 22 at any position on the platform 21.

[0067] According to the above configuration, the versatility of the pedal operation automation device 20 can be improved.

[0068] (7) The pedal operation automation device 20 according to the seventh aspect is a pedal operation automation device 20 according to any one of aspects (1) to (6), in which the main body 22 is position adjustable horizontally and in the forward / backward direction on the platform 21.

[0069] According to the above configuration, the versatility of the pedal operation automation device 20 can be improved.

[0070] (8) The pedal operation automation device 20 according to the eighth aspect is a pedal operation automation device 20 according to any one of the aspects (1) to (7), in which the main body 22 is positioned in a position that does not overlap with the pedal 16 when viewed from the tread surface 19 side of the pedal 16.

[0071] According to the above configuration, it is possible to automate pedal operation while ensuring a high level of stability and comfort when the occupant operates the pedal.

[0072] (9) The pedal operation automation device 20 according to the ninth aspect is a pedal operation automation device 20 according to any one of the aspects (1) to (8), and further includes a control device 40 having a speed acquisition unit 41 that acquires the moving speed of the industrial vehicle, and a target speed acquisition unit 42 that acquires the target speed of the industrial vehicle 1, and that controls the operation of the drive unit 62 by comparing the moving speed with the target speed so that the moving speed becomes the target speed.

[0073] According to the above configuration, automatic driving of the industrial vehicle 1 can be realized. [Explanation of symbols]

[0074] 1...Industrial vehicle 2...Forklift 10...Vehicle body 11...Vehicle body 12...Wheels 13...Seat 14...Floor surface 15...Steering wheel 16...Pedal 16a...Accelerator pedal 16b...Brake pedal 17...Fork 18...Mast 19...Tread surface 20...Pedal operation automation device 21...Platform 22...Main body 30...Speed ​​detection unit 40...Control device 41...Speed ​​acquisition unit 42...Target speed acquisition unit 43...Comparator 44...Drive signal generation unit 45...Memory unit 51...Base 52...Clamp 53...Fastening unit 61...Support plate 62...Drive unit 63...Arm unit 64...Abutment unit 65...Elongated hole 66...Fixing unit 101...CPU 102...Main memory 103...Storage 104...Interface 200...Computer X...Rotational axis Y...Second rotational axis

Claims

1. A pedal operation automation device capable of moving pedals of an industrial vehicle forward and backward, a platform fixed to a floor surface of the industrial vehicle; a body portion attached to the platform; Equipped with The main body portion is a drive unit having a shaft rotatable about a rotation axis extending in the horizontal direction; an arm portion integrally provided on the shaft and extending in a radial direction of the rotation axis; a contact portion that extends from the tip of the arm portion in a direction intersecting the arm portion and is capable of contacting the pedal from a tread surface side; A pedal operation automation device having the same.

2. 2. The pedal operation automation device according to claim 1, wherein the platform is removably fixed to the floor surface.

3. 3. The pedal operation automation device according to claim 1, wherein the contact portion is a cam follower that can roll while contacting the tread surface of the pedal.

4. 3. The pedal operation automation device according to claim 1, wherein the contact portion is capable of contacting only a portion of the pedal in the horizontal direction.

5. 3. The pedal operation automation device according to claim 1, wherein the contact portion is capable of contacting the tread surface of the pedal at a position that is biased away from the pivot point of the pedal.

6. The pedal operation automation device according to claim 1 or 2, further comprising a fixing part that can fix the main body part at any position on the platform.

7. 3. The pedal operation automation device according to claim 1, wherein the position of the main body is adjustable on the platform in the horizontal direction and in the front-rear direction.

8. 3. The pedal operation automation device according to claim 1, wherein the main body is disposed at a position that does not overlap with the pedal when viewed from the tread surface side of the pedal.

9. a speed acquisition unit that acquires a moving speed of the industrial vehicle; a target speed acquisition unit that acquires a target speed of the industrial vehicle; a control device that controls the operation of the drive unit by comparing the moving speed with the target speed so that the moving speed becomes the target speed; The pedal operation automation device according to claim 1 or 2, further comprising:

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