Industrial vehicle

Abstract

To provide an industrial vehicle capable of maintaining workability of the vehicle while notifying protrusion of an object from a machine base.SOLUTION: A reach forklift 1 includes a machine base 10 including a traveling device 5, a travel control part 6, an operation base 17 having an operation lever including an accelerator lever 17a, a boarding floor 18 having an operation pedal including a brake pedal 18a, and an opening part 19 serving as an entrance of the boarding floor 18, a sensor 23 for detecting protrusion of an object R from the opening part 19, and a warning processing part 29 for executing warning processing including protrusion notification and travel restriction of the reach forklift 1 when the protrusion of the object R is detected. When the protrusion of the object R is detected, a warning processing part 29 executes warning processing of mutually different contents according to a traveling state grasped by the ON / OFF of operation in an accelerator lever 17a and a brake pedal 18a and the speed of the reach forklift 1.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to industrial vehicles. [Background technology]

[0002] An example of a conventional industrial vehicle is a material handling vehicle described in Patent Document 1. Patent Document 1 discloses an industrial vehicle and a method for keeping the legs of an operator in the industrial vehicle within an operator compartment. This conventional industrial vehicle is provided with a sensor, which is a detector that projects inspection light, which is a plurality of photoelectric beams, at the entrance to the compartment in which the operator boards. The sensor detects the presence of an object passing through the compartment entrance when the deadman's brake is released and a command to move the vehicle is input, or when the vehicle is actually moving. If the object is detected, the industrial vehicle stops. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 7,259,662 Summary of the Invention [Problem to be solved by the invention]

[0004] If an operator's feet or other parts of the vehicle protrude outside the platform, it is preferable to promptly notify the operator. On the other hand, if the vehicle's travel is restricted every time an operator's feet or other parts of the vehicle protrude outside the platform, it is thought that the operability of transport work using the vehicle will decrease.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an industrial vehicle that can alert users when an object protrudes from the machine base while maintaining the workability of the vehicle. [Means for solving the problem]

[0006] The gist of the present disclosure is as follows. [1] An industrial vehicle comprising: a machine base including a traveling device; a traveling control unit that controls the operation of the traveling device; an operation console having operation levers including an accelerator lever; a boarding floor having operation pedals including a brake pedal; and an opening that serves as an entrance and exit to the boarding floor; a sensor that detects the protrusion of the object from the opening; and a warning processing unit that, when the sensor detects the protrusion of the object from the machine base, executes warning processing including a protrusion notification and travel restriction of the vehicle, wherein, when the sensor detects the protrusion of the object from the machine base, the warning processing unit executes warning processing with different contents depending on the traveling state of the vehicle, which is determined by the operation ON / OFF of the accelerator lever and the brake pedal, and the speed of the vehicle.

[0007] In this industrial vehicle, when a sensor detects an object protruding from an opening, different warning processes are executed depending on the driving state of the vehicle. By setting the mode of notification of an object protruding from an opening and whether or not to restrict the driving of the vehicle depending on the driving state of the vehicle, it is possible to maintain the workability of the vehicle while notifying the user of an object protruding from the machine base.

[0008] [2] The industrial vehicle according to [1], wherein the control console has a display unit capable of lighting an indicator, and the warning processor, when the sensor detects that the object is protruding from the machine base, executes the warning process by lighting the indicator on the display unit and prohibiting the vehicle from traveling when the vehicle is in a traveling preparation state in which one of the accelerator lever operation and the brake pedal operation is ON and the vehicle is stopped. When the vehicle is in the traveling preparation state, the processor prohibits the vehicle from traveling, while executing a weak warning process by only lighting the indicator on the display unit. By avoiding excessive warning processes in the traveling preparation state and notifying only the operator of the protrusion, workability can be maintained.

[0009] [3] The industrial vehicle according to [1], wherein a lamp is disposed on the platform, the operation console has a display unit capable of illuminating an indicator, and the warning processor, when the sensor detects the object protruding from the platform, executes the following warning processes: lighting the indicator on the display unit, lighting the lamp, issuing a warning sound, and prohibiting the vehicle from traveling when the vehicle is in a traveling start state in which both the accelerator lever and the brake pedal are ON and the vehicle is stopped. When the vehicle is in a traveling start state, the processor prohibits the vehicle from traveling and executes a strong warning process by lighting the indicator on the display unit, lighting the lamp, and issuing a warning sound. By notifying the operator and nearby supervisors of the protrusion by the warning process in the traveling start state, the supervisor can provide on-site guidance to the operator.

[0010] [4] The industrial vehicle according to [1], wherein a lamp is disposed on the platform, the operation console has a display unit capable of illuminating an indicator, and the warning processor, when the sensor detects the object protruding from the platform, executes the warning process by lighting the indicator on the display unit, lighting the lamp, and sounding an alarm when the vehicle is in a traveling state in which both the accelerator lever and the brake pedal are ON and the vehicle is traveling, but does not execute the process to prohibit the vehicle from traveling. When the vehicle is in a traveling state, the warning processor executes the warning process by lighting the indicator on the display unit, lighting the lamp, and sounding an alarm, but does not prohibit the vehicle from traveling. By notifying the operator and nearby supervisors of the protrusion and urging them to eliminate the protrusion, and allowing the vehicle to continue traveling, workability can be maintained.

[0011] [5] In the industrial vehicle according to [1], [2], or [4], the warning processing unit cancels the warning processing when the sensor no longer detects the object protruding from the machine base after the warning processing is executed. If protrusion is detected in a travel preparation state and a travel state, the warning processing can be quickly canceled when the protrusion is no longer detected thereafter, thereby maintaining the workability of the vehicle.

[0012] [6] In the industrial vehicle according to [1] or [3], the warning processing unit cancels the warning processing when the sensor no longer detects the object protruding from the machine base and the accelerator lever has been in neutral for a predetermined time after the warning processing is executed. If protrusion is detected when the vehicle starts moving, even if protrusion is no longer detected thereafter, the warning processing can be canceled when the accelerator lever is returned to neutral at the operator's discretion, thereby improving safety when starting the vehicle. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to maintain the workability of a vehicle while alerting the driver that an object has protruded from the vehicle base. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a perspective view showing a reach forklift that is one embodiment of an industrial vehicle according to the present disclosure. FIG. [Figure 2] FIG. 2 is an enlarged perspective view of a main part showing the positional relationship of the alarm device with respect to the reach forklift. [Figure 3] FIG. 2 is a block diagram showing the functional configuration of a reach forklift including a travel control unit and a warning processing unit. [Figure 4] FIG. 10 is a diagram showing a reference table that associates a driving state with a warning process. [Figure 5] 10 is a flowchart illustrating an example of an operation of a warning processing unit. [Figure 6] 10 is a flowchart showing details of a warning process and a cancellation process in a travel preparation state. [Figure 7] 10 is a flowchart showing details of a warning process and a cancellation process in a running start state. [Figure 8] 10 is a flowchart showing details of a warning process and a cancellation process in a traveling state. DETAILED DESCRIPTION OF THE INVENTION

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an industrial vehicle according to one aspect of the present disclosure will now be described in detail with reference to the drawings.

[0016] Fig. 1 is a perspective view showing a reach forklift, which is one embodiment of an industrial vehicle according to the present disclosure. As shown in Fig. 1, the reach forklift 1 (host vehicle) includes a base 10 and a traveling device 5. The reach forklift 1 is a stand-on forklift used for transporting cargo at manufacturing sites, logistics sites, etc.

[0017] In the following description, the height direction of the base 10 is defined as D1, the front-rear direction relative to the base 10 as D2, and the width direction relative to the base 10 as D3. The height direction D1, front-rear direction D2, and width direction D3 are perpendicular to one another. When the reach forklift 1 is positioned on a horizontal plane, the height direction D1 is the direction along the vertical direction, and the front-rear direction D2 and width direction D3 are directions along the horizontal direction.

[0018] The traveling device 5 includes road tires as front wheels, drive tires and caster tires as rear wheels, a traveling motor, a steering device, a steering motor, etc. A cargo handling device (not shown) is attached to the front of the reach forklift 1. The cargo handling device includes a mast, lift brackets, forks, a cargo handling motor, etc.

[0019] The base 10 is the body of the reach forklift 1. The base 10 has a front portion 11, a pair of left and right side portions 12 and 13, and a rear portion 14, and is generally shaped like a rectangular parallelepiped. The base 10 is provided with a head guard 16 supported by a pair of pillars 15a and 15b.

[0020] The base 10 includes an operation console 17 having control levers including an accelerator lever 17a and a display 17c (display unit: see FIG. 3), a boarding floor 18 having control pedals including a brake pedal 18a, and an opening 19 serving as an entrance and exit to the boarding floor 18. The space defined by the boarding floor 18 is a space where the operator of the reach forklift 1 boards and drives the forklift. The opening 19 serving as an entrance and exit to the boarding floor 18 is provided in the rear portion 14 of the base 10. In the example of FIG. 1, the opening 19 is provided in the rear portion 14 to the right of the center in the width direction D3, along the height direction D1 from the same height as the boarding floor 18 to the top end of the rear portion 14.

[0021] On the base 10, the control console 17 is disposed across the front and sides (here, on the left side) as viewed from the boarding floor 18. As described above, the control console 17, located in front as viewed from the boarding floor 18, is provided with an accelerator lever 17a used to operate the reach forklift 1 to travel (forward and backward). As will be described later, when the reach forklift 1 is traveling, an object R (see FIG. 2), such as the operator's foot, may protrude outside the base 10. Therefore, the control console 17 is provided with a display 17c (see FIG. 3) to notify the operator that the object R has protruded outside the base 10. If the object R protrudes outside the base 10, an indicator lights up on the display 17c to notify the operator that the object R has protruded. In other words, the display 17c is capable of lighting up an indicator. In addition to the indicator, the display 17c may also display the speed of the reach forklift 1, the remaining battery charge, etc.

[0022] The operation console 17 is provided with a key 17d (see Figure 3) for starting the reach forklift 1. The key 17d is, for example, an ignition key. The operation console 17 is also provided with a buzzer 17e (see Figure 3) that sounds an alarm to alert the user that the object R has protruded beyond the base 10. The operation console 17 is also provided with an accelerator lever 17a, a display 17c, the key 17d, the buzzer 17e, as well as a reach lever, a tilt lever, etc. used to operate the reach forklift 1. A steering wheel 17b for controlling the traveling direction of the reach forklift 1 is provided on the operation console 17 on the left side as viewed from the boarding floor 18.

[0023] A brake pedal 18a is provided at a corner of the boarding floor 18 (in FIG. 1, the corner formed by the front and left operation consoles 17). The reach forklift 1 uses a deadman's type brake that is released by stepping on the brake pedal 18a. The boarding floor 18 is also provided with a floor switch 18b. The floor switch 18b is a type of safety device for the reach forklift 1 and is configured, for example, by a pressure-sensitive switch. The floor switch 18b is turned ON by the weight of the operator on the boarding floor 18 and is turned OFF when the operator leaves the boarding floor 18.

[0024] The reach forklift 1 described above travels and performs loading and unloading operations by an operator who enters the boarding floor 18 through an opening 19 in the rear section 14 of the base 10 and operates the accelerator lever 17a, brake pedal 18a, etc., of the control console 17. As mentioned above, when the reach forklift 1 travels, there is a possibility that an object R may protrude outside the base 10 because the opening 19 may not have a door or the like. For example, if the operator's feet protrude outside the opening 19, it is preferable that a nearby supervisor sense this and provide on-the-spot guidance to the operator, such as correcting their posture. Therefore, the reach forklift 1 according to this embodiment is equipped with an alarm device 20 that alerts nearby supervisors when an object R, such as the operator's feet, protrudes outside the base 10. The configuration of the alarm device 20 is described in detail below.

[0025] Fig. 2 is an enlarged perspective view of the essential parts showing the positional relationship of the alarm device with respect to the reach forklift. As shown in Fig. 2, the alarm device 20 includes a bracket 21, a bracket 28, a lamp 22, a sensor 23, and a warning processing unit 29 (see Fig. 3). The alarm device 20 may also include a display 17c and a buzzer 17e.

[0026] The bracket 21 is a member that houses at least the lamp 22 therein. In this embodiment, the bracket 21 houses the lamp 22 and a sensor 23 that includes a light-projecting unit 24, which will be described later. The bracket 21 is in the shape of a metal box and has a main surface 21a and a pair of side surfaces 21b, 21c adjacent to the main surface 21a. To ensure strength, the metal that constitutes the bracket 21 is, for example, iron or stainless steel. In this embodiment, the bracket 21 has a substantially rectangular parallelepiped shape in which the length in the height direction D1 is longer than the lengths in the front-rear direction D2 and the width direction D3.

[0027] The bracket 21 is disposed on the rear portion 14 of the machine base 10. Specifically, the bracket 21 is disposed below the opening 19 on the rear portion 14 of the machine base 10. In the example of FIG. 2 , the bracket 21 is disposed adjacent to the left edge of the lower portion of the opening 19 on the rear portion 14 of the machine base 10, with the main surface 21a facing the rear of the machine base 10 and one of the side surfaces 21b, 21c along the edge of the opening 19.

[0028] A slit 26 is provided near the center of the main surface 21a of the bracket 21 in the height direction D1, allowing the lamp 22 housed in the bracket 21 to be exposed. The slit 26 extends on the main surface 21a in the width direction D3 of the machine base 10. In this embodiment, the slit 26 is formed across the entire main surface 21a in the width direction D3 and extends to a pair of side surfaces 21b, 21c adjacent to the main surface 21a. Of the side surfaces 21b, 21c of the bracket 21, the side surface 21b on the opening 19 side is provided with a pair of upper and lower circular windows 27, 27 for passing the inspection light L from the light-projecting unit 24 of the sensor 23. The windows 27, 27 are arranged side by side in the height direction D1 on either side of the slit 26.

[0029] The sensor 23 is a device that detects whether the object R protrudes from the opening 19. For example, a photoelectric sensor is used as the sensor 23. The sensor 23 has the above-mentioned light-projecting unit 24 that projects the inspection light L and the light-receiving unit 25 that receives the inspection light L. In this embodiment, a pair of upper and lower sensors 23A and 23B are arranged in the height direction D1 of the machine base 10. In the following description, unless it is necessary to distinguish between the sensors 23A and 23B, the sensors 23A and 23B will be collectively referred to as the sensors 23. In the example of FIG. 2 , the light-projecting unit 24A of the sensor 23A and the light-projecting unit 24B of the sensor 23B are arranged at a fixed interval in the height direction D1 within the bracket 21. Within the bracket 21, the light-projecting unit 24A of the upper sensor 23A is arranged at a higher position than the slit 26, and the light-projecting unit 24B of the lower sensor 23B is arranged at a lower position than the slit 26. Each of the inspection lights L from the light-projecting units 24A and 24B passes through the window unit 27, crosses the opening 19 in the width direction D3, and travels toward the light-receiving unit 25. When the sensor 23 does not detect the protrusion of the object R, this is equivalent to when the light-receiving unit 25 receives the inspection light L. Conversely, when the sensor 23 detects the protrusion, this is equivalent to when the light-receiving unit 25 does not receive the inspection light L.

[0030] In this embodiment, when arranging light receiving portion 25A of sensor 23A and light receiving portion 25B of sensor 23B, another metal bracket 28 conforming to the shape of bracket 21 is arranged on rear portion 14 of machine base 10. Like bracket 21, bracket 28 has a main surface 28a and a pair of side surfaces 28b adjacent to main surface 28a.

[0031] Bracket 28 is disposed on the opposite side of bracket 21 across opening 19, with main surface 28a facing rearward of machine base 10 and one of a pair of side surfaces 28b disposed adjacent to the right edge of the lower portion of opening 19 so as to be along the edge of opening 19. One of the pair of side surfaces 28b of bracket 28 faces side surface 21b of bracket 21, which has window portion 27. Side surface 27b is provided with a pair of upper and lower circular windows (not shown) that allow inspection light L from light-projecting unit 24A of sensor 23A and light-projecting unit 24B of sensor 23B to pass through. Light-receiving unit 25A of sensor 23A and light-receiving unit 25B of sensor 23B are disposed side by side in bracket 28 along height direction D1 so as to correspond to the positions of the pair of upper and lower windows of side surface 27b, respectively. The light receiving units 25A and 25B output signals indicating that the inspection light L has been received to the warning processing unit 29 in response to receiving the inspection light L from the light projecting units 24A and 24B.

[0032] The lamp 22 is a device that emits light for notification. For example, an LED lamp or the like can be used as the lamp 22. Here, the lamp 22 has, for example, a light-transmitting case and emits light for notification over a wide range from the front and side of the case. The lamp 22 is disposed on the machine base 10 in a position that is visible from the periphery of the machine base 10. In this embodiment, the bracket 21 described above is disposed on the rear surface 14, and the lamp 22 housed in the bracket 21, the light-emitting portion 24A of the sensor 23A, and the light-emitting portion 24B of the sensor 23B are disposed on the rear surface 14 of the machine base 10. Furthermore, the lamp 22, the light-emitting portion 24A of the sensor 23A, and the light-emitting portion 24B of the sensor 23B are all disposed on the same side of the opening 19. In this embodiment, by being housed in the above-mentioned bracket 21, the lamp 22, the light-emitting portion 24A of the sensor 23A, and the light-emitting portion 24B of the sensor 23B are arranged adjacent to the bottom of the opening 19 so as to be on the same side (left side) of the opening 19.

[0033] Within bracket 21, lamp 22 is disposed at a height position corresponding to slit 26. As described above, slit 26 extends across main surface 21a of bracket 21 and a pair of side surfaces 21b, 21c adjacent to main surface 21a. This makes it possible to expand the visible range of the notification light emitted from lamp 22.

[0034] Fig. 3 is a block diagram showing the functional configuration of a reach forklift truck including a travel control unit and a warning processing unit. As shown in Fig. 3, the alarm device 20 is connected to the vehicle-side travel control unit 6 of the reach forklift truck 1 so that they can communicate with each other. The travel control unit 6 is physically configured, for example, by an ECU (Electronic Control Unit) mounted on the reach forklift truck 1. The ECU is an electronic control unit having a CPU, ROM, RAM, CAN communication circuit, etc. In the ECU, various functions are realized, for example, by loading a program stored in the ROM into the RAM and executing the program loaded into the RAM by the CPU.

[0035] The travel control unit 6 controls the operation of the travel device 5. Specifically, the travel control unit 6 controls the travel of the reach forklift 1 using the travel device 5 based on the operation of the accelerator lever 17a, brake pedal 18a, floor switch 18b, and key 17d. The travel control unit 6 outputs information about the travel state, including the operation states of the accelerator lever 17a and brake pedal 18a, the travel speed of the reach forklift 1 using the travel device 5, the ON / OFF status of the floor switch 18b, and the ON / OFF status of the key 17d, to the warning processing unit 29 of the alarm device 20. The travel state will be described in detail later.

[0036] The warning processor 29 is a device that executes warning processing, including issuing a protrusion notification and restricting travel of the reach forklift 1, when the sensor 23 detects that the object R has protruded beyond the base 10. The warning processor 29 is connected to the travel control unit 6 so as to be able to communicate information. The warning processor 29 is also connected to the pair of sensors 23, the lamp 22, the display 17c, and the buzzer 17e so as to be able to communicate information with each other. The warning processor 29 is physically configured, for example, by an ECU mounted on the reach forklift 1, similar to the travel control unit 6. The ECU may also function as both the travel control unit 6 and the warning processor 29. Protrusion notification is issued by, for example, turning on the lamp 22, turning on an indicator on the display 17c, and sounding an alarm from the buzzer 17e. When the warning processor 29 imposes travel restriction, it outputs information indicating that to the travel control unit 6. When the warning processor 29 lifts the travel restriction, it outputs information indicating that to the travel control unit 6.

[0037] When the sensor 23 detects that the object R has protruded from the base 10, the warning processing unit 29 executes warning processing with different contents depending on the traveling state of the reach forklift 1, which is grasped from the ON / OFF status of the key 17d, the ON / OFF status of the floor switch 18b, the ON / OFF status of the accelerator lever 17a and the brake pedal 18a, and the speed of the reach forklift 1.

[0038] As described above, this embodiment employs a deadman's brake, which applies the brake to the reach forklift 1 when the brake pedal 18a is in the OFF position, and releases the brake when the brake pedal 18a is in the ON position.

[0039] Fig. 4 is a diagram showing a lookup table that associates driving states with warning processes. The lookup table in Fig. 4 associates the speed of the vehicle, driving state, whether or not there is a driving limit, and the content of the notification process. Here, the driving state includes three states: a driving preparation state, a driving start state, and a driving state. The notification process also includes turning on / off the indicator on the display 17c, turning on / off the lamp on the lamp 22, and turning on / off the warning sound on / off the buzzer 17e.

[0040] Item "1" in Fig. 4 is set to the warning process in the travel preparation state. The travel preparation state is a state in which the key 17d is ON, the floor switch 18b is ON, one of the accelerator lever 17a and the brake pedal 18a is ON, and the reach forklift 1 is stopped (including a substantially stopped state where the speed is 0.1 km / h or less, for example). If the sensor 23 detects that the object R has protruded from the base 10 in the travel preparation state, the warning processor 29 executes the warning process shown in item "1" in Fig. 4. The warning process in the travel preparation state is a notification process by turning on the indicator on the display 17c and a travel restriction (travel prohibition process) of the reach forklift 1.

[0041] Item "2" in FIG. 4 sets the warning process for the travel start state. The travel start state is a state in which the key 17d of the reach forklift 1 is ON, the floor switch 18b is ON, both the accelerator lever 17a and the brake pedal 18a are ON, and the reach forklift 1 is stopped (including, for example, a substantially stopped state where the speed is 0.1 km / h or less). If the sensor 23 detects that the object R has protruded from the base 10 in the travel start state, the warning processor 29 executes the warning process shown in item "2" in FIG. 4. The warning process in the travel start state includes notification processing by lighting up an indicator on the display 17c, turning on a lamp, and sounding an alarm (ON), and restricting the travel of the reach forklift 1. In the travel start state, for example, a warning sound such as "beep beep beep" is sounded from the buzzer 17e.

[0042] Item "3" in FIG. 4 is set to perform warning processing in the traveling state. The traveling state refers to a state in which the key 17d of the reach forklift 1 is ON, the floor switch 18b is ON, both the accelerator lever 17a and the brake pedal 18a are ON, and the reach forklift 1 is traveling (for example, a state in which the speed is greater than 0.1 km / h). When the sensor 23 detects that the object R has protruded from the base 10 in the traveling state, the warning processor 29 executes the warning processing shown in item "3" in FIG. 4. In the traveling state, the warning processing is performed by turning on an indicator on the display 17c, lighting a lamp, and sounding a warning sound. On the other hand, no travel restrictions are imposed on the reach forklift 1. In other words, the warning processing in the traveling state is limited to the warning processing. In the traveling state, for example, a warning sound such as a "beep" is sounded from the buzzer 17e for, for example, one second.

[0043] In the travel preparation state and the travelling state, the warning processing unit 29 cancels the warning processing when the sensor 23 no longer detects that the object R is protruding from the machine base 10 after executing the warning processing as described above. Specifically, when the protrusion is no longer detected in the travel preparation state, the warning processing unit 29 turns off (OFF) the indicator that was turned on on the display 17c and causes the travel control unit 6 to permit travel so that the reach forklift 1 starts moving. When the protrusion is no longer detected in the travelling state, the warning processing unit 29 turns off (OFF) the indicator that was turned on on the display 17c, turns off (OFF) the lamp 22, and silences (OFF) the warning sound from the buzzer 17e.

[0044] In the travel start state, the warning processor 29 cancels the warning process when the sensor 23 no longer detects the object R protruding from the base 10 and the accelerator lever 17a is in neutral for a predetermined time after the warning process is executed. Specifically, when the protrusion is no longer detected in the travel start state and the accelerator lever 17a is in neutral for a predetermined time, the warning processor 29 turns off the indicators lit on the display 17c, turns off the lamp 22, silences the warning sound from the buzzer 17e, and causes the travel controller 6 to permit travel so that the reach forklift 1 can start moving. The predetermined time means a time sufficient for the operator to return the accelerator lever 17a to neutral at his / her will. The predetermined time is set to, for example, about one second. This setting prevents the warning process from being canceled if the accelerator lever 17a is returned to neutral unintentionally by the operator.

[0045] FIG. 5 is a flowchart showing an example of the operation of the warning processor. As shown in FIG. 5, the warning processor 29 first determines whether the sensor 23 has detected the object R protruding from the machine base 10 (step S01). If the warning processor 29 determines that the sensor 23 has not detected the protrusion, it terminates this processing. On the other hand, if the warning processor 29 determines in step S01 that the sensor 23 has detected the protrusion, it determines the traveling state (step S02). Next, the warning processor 29 refers to a reference table (see FIG. 4) and performs warning processing according to the determined traveling state (step S03). Thereafter, if the sensor 23 no longer detects the object R protruding from the machine base 10, the warning processor 29 cancels the warning processing and terminates this processing (step S04). The processing shown in steps S03 and S04 will be described in detail below.

[0046] FIG. 6 is a flowchart showing the details of the warning process and the cancellation process in the travel preparation state. The cancellation process is a process for canceling the warning process that has been executed. In the travel preparation state, the warning processing unit 29 executes a notification process of turning on (ON) an indicator on the display 17c and a warning process of restricting the travel of the reach forklift 1 (Step S101). Thereafter, the warning processing unit 29 determines whether the sensor 23 has detected the object R protruding from the base 10 (Step S102). If the warning processing unit 29 determines that the sensor 23 has detected the object R protruding from the base 10, it executes Step S102 again. On the other hand, if the warning processing unit 29 determines in Step S102 that the sensor 23 has not detected the object R protruding from the base 10, it turns off (OFF) the indicator that has been turned on on the display 17c and cancels the travel restriction of the reach forklift 1, thereby canceling the executed warning process (Step S103), and ends this process.

[0047] 7 is a flowchart showing the details of the warning process and the cancellation process in the traveling start state. In the traveling start state, the warning processor 29 executes the notification process of lighting the indicator on the display 17c, lighting (ON) the lamp 22, and sounding (ON) the warning sound from the buzzer 17e, as well as the warning process of restricting the traveling of the reach forklift 1 (step S201). Thereafter, the warning processor 29 determines whether the sensor 23 has detected the object R protruding from the base 10 (step S202). If the warning processor 29 determines that the sensor 23 has detected the object R protruding from the base 10, it executes step S202 again. On the other hand, if the warning processor 29 determines in step S202 that the sensor 23 has not detected the object R protruding from the base 10, it subsequently determines whether the accelerator lever 17a has been returned to neutral for a predetermined time (step S203). If the warning processor 29 determines that the accelerator lever 17a has not been returned to neutral for the predetermined time, it executes step S203 again. On the other hand, if the warning processor 29 determines in step S203 that the accelerator lever 17a has been returned to neutral for the predetermined time, it turns off the indicators that were lit on the display 17c, turns off the lamp 22, mutes the warning sound from the buzzer 17e, and cancels the travel restriction on the reach forklift 1, thereby canceling the executed warning process (step S204), and ending this process.

[0048] 8 is a flowchart showing details of the warning process and the cancellation process in the traveling state. In the traveling state, the warning processor 29 executes a notification process as the warning process, which includes turning on an indicator on the display 17c, turning on the lamp 22, and sounding an alarm from the buzzer 17e (step S301). Thereafter, the warning processor 29 determines whether the sensor 23 has detected that the object R has protruded from the machine base 10 (step S302). When the warning processor 29 determines that the sensor 23 has detected that the object R has protruded from the machine base 10, it executes step S302 again. On the other hand, when the warning processor 29 determines in step S302 that the sensor 23 has not detected that the object R has protruded from the machine base 10, it turns off the indicator on the display 17c, turns off the lamp 22, and silences the alarm from the buzzer 17e, thereby canceling the executed warning process (step S303), and ending this process.

[0049] As described above, when the sensor 23 detects that an object R has protruded from the base 10, the warning processing unit 29 provided in the reach forklift 1 executes different warning processes depending on the traveling state of the reach forklift 1. With this configuration, when the sensor 23 detects that an object R has protruded from the opening 19, different warning processes are executed depending on the traveling state of the reach forklift 1. By setting the manner of warning that an object R has protruded from the opening 19 and whether or not to restrict the traveling of the reach forklift 1 depending on the traveling state of the reach forklift 1, it is possible to maintain the operability of the reach forklift 1 while warning that an object R has protruded from the base 10.

[0050] In this embodiment, when protrusion of object R is detected and the reach forklift 1 is in the travel preparation state, the warning processor 29 executes warning processing by lighting an indicator on the display 17c and prohibiting the reach forklift 1 from traveling. When the reach forklift 1 is in the travel preparation state, the warning processor 29 prohibits the reach forklift 1 from traveling and executes weak warning processing by only lighting an indicator on the display 17c. By avoiding excessive warning processing in the travel preparation state and notifying only the operator of protrusion, operability can be maintained.

[0051] In this embodiment, when protrusion of object R is detected and the reach forklift 1 is in the travel start state, the warning processor 29 executes warning processing by lighting up an indicator on the display 17c, lighting up a lamp, and sounding a warning sound, and prohibiting the reach forklift 1. When the reach forklift 1 is in the travel start state, the warning processor 29 prohibits the reach forklift 1 from traveling and executes strong warning processing by lighting up an indicator on the display 17c, lighting up a lamp, and sounding a warning sound. By notifying the operator and nearby supervisors of the protrusion by the warning processing when the reach forklift 1 is in the travel start state, the supervisor can provide on-site guidance to the operator.

[0052] In this embodiment, when protrusion of object R is detected and the reach forklift 1 is in a traveling state, the warning processor 29 executes a warning process by lighting up an indicator on the display 17c, lighting up a lamp, and sounding a warning sound, but does not execute a process to prohibit the reach forklift 1 from traveling. When the reach forklift 1 is in a traveling state, the warning processor 29 executes a strong warning process by lighting up an indicator on the display 17c, lighting up a lamp, and sounding a warning sound, but does not prohibit the reach forklift 1 from traveling. Workability can be maintained by allowing the reach forklift 1 to continue traveling while notifying the operator and nearby supervisors of the protrusion and urging them to eliminate the protrusion.

[0053] In this embodiment, the warning processor 29 cancels the warning process when the sensor 23 no longer detects the object R protruding from the base 10 after the warning process has been executed. If protrusion is detected in the travel preparation state and the travelling state, the warning processor 29 can maintain the operability of the reach forklift 1 by quickly canceling the warning process when protrusion is no longer detected thereafter.

[0054] In this embodiment, the warning processor 29 cancels the warning process when the sensor 23 no longer detects that the object R is protruding from the base 10 and the accelerator lever 17a has been in neutral for a predetermined time after the warning process has been executed. If protrusion is detected when the reach forklift 1 starts traveling, even if protrusion is no longer detected thereafter, the warning process can be canceled when the accelerator lever 17a is returned to neutral by the operator, thereby improving safety when starting the reach forklift 1.

[0055] In the above embodiment, the lamp 22 is placed in a position visible from around the machine base 10, but the lamp placement is not limited to this. For example, the reach forklift 1 may have lamps around the display 17c on the control console 17 instead of or in addition to the lamps 22. In this case, the notification process using the lamps can be quickly and visually recognized by the operator of the reach forklift 1. [Explanation of symbols]

[0056] 1...reach forklift (industrial vehicle), 5...traveling device, 6...traveling control unit, 10...machine base, 17...operation console, 17a...accelerator lever, 17c...display (display unit), 18...boarding floor, 18a...brake pedal, 19...opening, 23 (23A, 23B)...sensor, 29...warning processing unit, R...object.

Claims

1. Running gear and a travel control unit that controls the driving of the travel device; a machine base including an operation console having operation levers including an accelerator lever, a boarding floor having operation pedals including a brake pedal, and an opening serving as an entrance and exit to the boarding floor; a sensor that detects an object protruding from the opening; a warning processing unit that, when the sensor detects that the object has protruded from the vehicle base, executes a warning process including notifying the protrusion and restricting travel of the vehicle; When the sensor detects that the object has protruded from the machine base, the warning processing unit executes warning processing with different content depending on the driving condition of the vehicle, which is determined by the operation on / off of the accelerator lever and the brake pedal, and the speed of the vehicle.

2. the operation console has a display unit capable of lighting an indicator, 2. The industrial vehicle according to claim 1, wherein when the sensor detects that the object has protruded from the machine base, and the vehicle is in a traveling preparation state in which one of the accelerator lever and the brake pedal is ON and the vehicle is stopped, the warning processing unit executes, as the warning processing, a notification processing by lighting up the indicator on the display unit and a processing to prohibit the vehicle from traveling.

3. A ramp is disposed on the machine base, the operation console has a display unit capable of lighting an indicator, 2. The industrial vehicle according to claim 1, wherein when the sensor detects that the object has protruded from the machine base, and the vehicle is in a traveling start state in which both the accelerator lever and the brake pedal are ON and the vehicle is stopped, the warning processing unit performs the following warning processing: lighting the indicator on the display unit, lighting the lamp, issuing an alarm sound, and prohibiting the vehicle from traveling.

4. A ramp is disposed on the machine base, the operation console has a display unit capable of lighting an indicator, 2. The industrial vehicle according to claim 1, wherein when the sensor detects that the object has protruded from the machine base, and when the driving state of the host vehicle is a driving state in which both the accelerator lever and the brake pedal are ON and the host vehicle is driving, the warning processing unit performs the warning processing of lighting the indicator on the display unit, lighting the lamp, and issuing a warning sound, but does not perform the driving prohibition processing of the host vehicle.

5. 5. The industrial vehicle according to claim 2, wherein the warning processing unit cancels the warning process when the sensor no longer detects the object protruding from the machine base after the warning process is executed.

6. 4. The industrial vehicle according to claim 3, wherein the warning processing unit cancels the warning processing when, after the warning processing is executed, the sensor no longer detects the object protruding from the machine base and the accelerator lever is in neutral for a predetermined time.

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