Alert system

Abstract

We provide an alert system that allows operators to easily identify dangerous behavior. [Solution] An alert system 100A includes industrial vehicles A1 and A2, area sensors 2A and 2B, wireless transmitting units 3A and 3B that transmit wireless signals according to the detection results of the area sensors 2A and 2B, receiving units provided on the industrial vehicles A1 and A2, and an alert unit that issues a warning. The work area includes a plurality of adjacent areas A1, B1, A2, and B2 adjacent to the intersection area C where the first path R1 and the second path R2 intersect. The area sensors 2A and 2B detect moving objects in each area. The wireless transmitting units 3A and 3B transmit a unique wireless signal for each area when the area sensors 2A and 2B detect a moving object. The alert unit does not issue a warning when the receiving unit receives one wireless signal, but issues a warning when it receives two or more wireless signals from the receiving unit.

Description

Technical Field

[0006] , ,

[0001] The present invention relates to an alert system.

Background Art

[0002] Conventionally, a forklift operation management system for managing the operation status of forklifts has been known. The forklift operation management system is composed of, for example, a forklift equipped with a data logger unit (hereinafter referred to as DLU), a server communicably connected to the DLU, and a management device communicably connected to the server.

[0003] The DLU can save not only the operation status of the forklift but also the dangerous acts of the forklift to the server. Therefore, the administrator of the forklift operation management system can access the server from the management device to confirm the operation status and dangerous acts of the forklift.

[0004] On the other hand, when a dangerous act occurs, the forklift warns the operator with a buzzer or a warning light. For example, when there is a step on the road surface, the forklift described in Patent Document 1 lights a warning light provided on the instrument panel of the driver's seat or sounds a buzzer to notify the operator that there is a step nearby.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Dangerous behavior involving forklifts includes not only driving on uneven surfaces but also various other actions (for example, collisions between forklifts at intersections or collisions between forklifts and people). However, as with the forklift described in Patent Document 1, if the warning means are only a buzzer and a warning light, the operator may not be able to immediately determine what kind of dangerous behavior has been detected.

[0007] This invention has been made in view of the above circumstances, and its objective is to provide an alert system that allows operators to easily identify dangerous behavior. [Means for solving the problem]

[0008] To solve the above problems, the alert system according to the present invention is Industrial vehicles that perform loading and unloading operations within a designated work area, An area sensor provided in the aforementioned work area, A wireless transmission unit that transmits a wireless signal according to the detection result of the area sensor, A receiving unit provided in the industrial vehicle for receiving the wireless signal, An alert unit that issues a warning in response to the aforementioned wireless signal, An alert system that includes, The aforementioned work area includes a plurality of adjacent areas adjacent to the intersection area where the first path and the second path intersect. The area sensor detects moving objects in each of the multiple adjacent regions. The wireless transmission unit transmits a unique wireless signal in each of the above-mentioned regions when the area sensor detects the moving object. The alert unit is characterized in that it does not issue a warning when the receiving unit receives one of the wireless signals, but issues a warning when it receives two or more of the wireless signals from the receiving unit.

[0009] In the aforementioned alert system, The industrial vehicle includes a first control unit that controls the cargo handling and driving operation, The first control unit can be configured to perform the restrictive action for the cargo handling operation when the receiving unit receives one of the radio signals, and to perform the restrictive action when it receives two or more of the radio signals from the receiving unit.

[0010] In the aforementioned alert system, The industrial vehicle further comprises a second control unit, The second control unit is: The input unit includes the aforementioned receiving unit, A storage unit that stores dangerous behavior data linking the aforementioned warning determination conditions, a unique dangerous behavior ID, and the aforementioned restricted behavior, A processing unit that determines whether the aforementioned determination conditions are met, The system includes an output unit that outputs a first signal relating to the dangerous act ID and a second signal relating to the restricted act to the first control unit, The alert unit is an audio alert unit that provides the aforementioned warning by voice, The aforementioned voice alert unit is A voice data storage unit that stores voice data linking the aforementioned dangerous activity ID with pre-stored warning voice data, A voice data processing unit that receives the first signal and plays the warning voice data in response to the first signal, The system can be configured to include a speaker that outputs the audio of the warning audio data being played.

[0011] In the aforementioned alert system, The aforementioned multiple adjacent regions are The first A region of the first path adjacent to the aforementioned intersection region, The first B region of the first path, which is opposite the first A region across the aforementioned intersection region, The second A region of the second path adjacent to the aforementioned intersection region, The second path includes the second B region of the second path which is opposite the second A region across the aforementioned intersection region, The aforementioned area sensor is A first sensor that detects the moving object in the first A region and the second A region, a second sensor that detects the moving object in the first B area and the second B area; The wireless transmission unit uses, as the wireless signal, transmit a first wireless signal when the first sensor detects the moving object in the first A area, transmit a second wireless signal when the first sensor detects the moving object in the second A area, transmit a third wireless signal when the second sensor detects the moving object in the first B area, and can be configured to transmit a fourth wireless signal when the second sensor detects the moving object in the second B area.

[0012] In the alert system, the first control unit, when the receiving unit receives the first wireless signal and the third wireless signal, or when the receiving unit receives the second wireless signal and the fourth wireless signal, perform vehicle speed limit of the industrial vehicle as the restrictive action, and can be configured to perform forced stop of the industrial vehicle as the restrictive action when the receiving unit receives the first wireless signal and the fourth wireless signal, or when the receiving unit receives the first wireless signal and the second wireless signal, or when the receiving unit receives the second wireless signal and the third wireless signal, or when the receiving unit receives the third wireless signal and the fourth wireless signal.

[0013] In the alert system, the plurality of adjacent areas include a first A area of the first road adjacent to the intersection area, a first B area of the first road facing the first A area across the intersection area, and a second A area of the second road adjacent to the intersection area. The area sensor includes a first sensor that detects the moving object in the first A area and the second A area, and a second sensor that detects the moving object in the first B area and the second A area. The wireless transmission unit uses the following as the wireless signal: When the first sensor detects the moving object in the first A region, it transmits a first wireless signal. When the area sensor detects the moving object in the 2A region, it transmits a second wireless signal. The second sensor can be configured to transmit a third wireless signal when it detects the moving object in the first B region.

[0014] In the aforementioned alert system, The first control unit, When the receiving unit receives the first radio signal and the third radio signal, it performs the restriction action of limiting the speed of the industrial vehicle. The receiving unit can be configured to perform the restricted action of forcibly stopping the industrial vehicle if it receives the first radio signal and the second radio signal, or if it receives the second radio signal and the third radio signal. [Effects of the Invention]

[0015] According to the present invention, an alert system can be provided that allows operators to easily identify dangerous behavior. [Brief explanation of the drawing]

[0016] [Figure 1] This is a diagram showing the alert system according to the first embodiment. [Figure 2] This figure shows the relationship between radio wave intensity and distance of a wireless signal according to the first embodiment. [Figure 3] This is a diagram showing a forklift according to the first embodiment. [Figure 4] This is a block diagram of the first control unit of the forklift according to the first embodiment. [Figure 5] This is a block diagram of the second control unit and the voice alert unit of the forklift according to the first embodiment. [Figure 6] This diagram shows the relationship between the forklift, server, and management device in the first embodiment. [Figure 7] This is a diagram showing the alert system according to the second embodiment. [Modes for carrying out the invention]

[0017] Hereinafter, embodiments of the alert system according to the present invention will be described with reference to the attached drawings.

[0018] [First Embodiment] Figure 1 shows an alert system 100A according to a first embodiment of the present invention. The alert system 100A includes forklifts 1A and 1B (corresponding to the "industrial vehicles" of the present invention) that perform cargo handling operations in a predetermined work area, area sensors 2A and 2B provided in the work area, and wireless transmission units 3A and 3B provided in the work area.

[0019] The work area is, for example, an area within any building such as a factory or warehouse. The work area is equipped with multiple shelves (not shown in the diagram), on which goods are stored. Furthermore, an intersection exists within the work area.

[0020] In this embodiment, there is a crossroads intersection where the first path R1 and the second path R2 intersect. This intersection includes a region C corresponding to the "intersection region" of the present invention and regions A1, B1, A2, and B2 corresponding to the "adjacent regions" of the present invention. Regions A1, B1, A2, and B2 are adjacent to region C where the first path R1 and the second path R2 intersect. Regions A1 and B1 of the first path R1 are opposite each other across region C. Similarly, regions A2 and B2 of the second path R2 are opposite each other across region C.

[0021] Region A1 corresponds to the "First Region A" of the present invention, region B1 corresponds to the "First Region B" of the present invention, region A2 corresponds to the "Second Region A" of the present invention, and region B2 corresponds to the "Second Region B" of the present invention. In Figure 1, the regions are separated for clarity, but adjacent regions (regions A1, B1, A2, B2) may be adjacent to region C.

[0022] Area sensors 2A and 2B detect moving objects within a preset detection area. Moving objects include people and industrial vehicles. Area sensors 2A and 2B have the same configuration, differing only in their detection areas. The detection areas of area sensor 2A are areas A1, C, and A2. On the other hand, the detection areas of area sensor 2B are areas B1, C, and B2. In this embodiment, the size of each detection area A1, B1, A2, and B2 is set to be approximately the same as the size of area C, but the size of the detection areas can be changed as appropriate for area sensors 2A and 2B.

[0023] Area sensor 2A corresponds to the "first sensor" of the present invention, and area sensor 2B corresponds to the "second sensor" of the present invention. For example, 2D-LiDARs having a detection area of ​​270° or more can be used as area sensors 2A and 2B.

[0024] Area sensor 2A transmits a detection signal to wireless transmission unit 3A at a predetermined interval while detecting a moving object in its detection area, and area sensor 2B transmits a detection signal to wireless transmission unit 3B at a predetermined interval while detecting a moving object in its detection area. Specifically, area sensor 2A transmits a detection signal including location information of area A1 while detecting a moving object in area A1, a detection signal including location information of area C while detecting a moving object in area C, and a detection signal including location information of area A2 while detecting a moving object in area A2. Similarly, area sensor 2B transmits a detection signal including location information of area B1 while detecting a moving object in area B1, a detection signal including location information of area C while detecting a moving object in area C, and a detection signal including location information of area B2 while detecting a moving object in area B2.

[0025] In Figure 1, area sensor 2A transmits a detection signal to wireless transmitter 3A that includes information indicating that a moving object (forklift 1A) has been detected in area A1 (location information of area A1). Meanwhile, area sensor 2B transmits a detection signal to wireless transmitter 3B that includes information indicating that a moving object (forklift 1B) has been detected in area B2 (location information of area B2).

[0026] The wireless transmitters 3A and 3B broadcast wireless signals to the forklifts 1A and 1B while receiving a detection signal, and stop broadcasting wireless signals when they stop receiving a detection signal.

[0027] The wireless transmission units 3A and 3B have the same configuration. Each wireless transmission unit 3A and 3B includes, for example, a signal generation and transmission unit that generates and broadcasts a wireless signal, a power supply unit that receives a detection signal and supplies power to the signal generation and transmission unit, and a switching means (transistor or relay) interposed in the power supply line connecting the signal generation and transmission unit and the power supply unit. The power supply unit turns on the switching means and supplies power to the signal generation and transmission unit while it is receiving a detection signal. The signal generation and transmission unit continues to broadcast a wireless signal while it is receiving power. On the other hand, when it is not receiving a detection signal, the power supply unit turns off the switching means and does not supply power to the signal generation and transmission unit. As a result, the signal generation and transmission unit is in a state where it does not broadcast a wireless signal (standby state).

[0028] A wireless signal is a signal that has unique ID information. In this embodiment, the wireless signal is a Bluetooth® signal, and the signal includes the location information described above. That is, the wireless transmitter 3A can broadcast a wireless signal (first wireless signal) containing location information for area A1, a wireless signal (second wireless signal) containing location information for area A2, and a wireless signal (wireless signal C) containing location information for area C to forklifts 1A and 1B. Similarly, the wireless transmitter 3B can broadcast a wireless signal (third wireless signal) containing location information for area B1, a wireless signal (fourth wireless signal) containing location information for area B2, and a wireless signal (wireless signal C) containing location information for area C to forklifts 1A and 1B. As the wireless transmitter 3A, for example, one beacon capable of transmitting at least three types of wireless signals can be used, or three or more beacons that transmit a single wireless signal can be used. The same applies to the wireless transmitter 3B.

[0029] In the case of Figure 1, the wireless transmitter 3A receives a detection signal from the area sensor 2A that includes location information indicating that a moving object (forklift 1A) has been detected in area A1, and broadcasts a wireless signal (first wireless signal) containing the location information of area A1 to the forklifts 1A and 1B. Meanwhile, the wireless transmitter 3B receives a detection signal from the area sensor 2B that includes location information indicating that a moving object (forklift 1B) has been detected in area B2, and broadcasts a wireless signal (fourth wireless signal) containing the location information of area B2 to the forklifts 1A and 1B.

[0030] Figure 2 shows the relationship between the radio signal strength of the wireless signals from wireless transmitters 3A and 3B and the distance. The graph in Figure 2 shows theoretical values, with the vertical axis representing the radio signal strength (received signal strength RSSI [dBm] from forklifts 1A and 1B) and the horizontal axis representing the distance [m] between forklifts 1A and 1B and wireless transmitters 3A and 3B. As shown in Figure 2, the radio signal strength (received signal strength RSSI) tends to increase as the distance decreases, and the slope also tends to increase. On the other hand, the radio signal strength (received signal strength RSSI) tends to decrease as the distance increases, and the slope also tends to decrease.

[0031] Forklifts 1A and 1B have the same configuration. Unless there is a need to distinguish between them, forklifts 1A and 1B are simply referred to as "forklift 1".

[0032] As shown in Figure 3, the forklift 1 is a counterbalanced type battery forklift and comprises a vehicle body 10, a cargo handling device 20, a sensor unit 30, a first control unit 40, a second control unit 50, an audio alert unit 60, and a battery (not shown).

[0033] The lower part of the vehicle body 10 is provided with a pair of front wheels 11 and rear wheels 12. In the forklift 1, the front wheels 11 are drive wheels driven by a travel motor, and the rear wheels 12 are steering wheels that are steered (turned) by a steering motor.

[0034] An operator's seat 13 is provided at the top of the vehicle body 10. An accelerator 14 and a brake 15 are provided at the front lower part of the driver's seat 13, and a steering wheel 16 and a cargo handling control unit 17 are provided on the dashboard in front of the driver's seat 13.

[0035] The accelerator 14 is an accelerator pedal configured to be operated by the operator in the driver's seat 13 by pressing it with their foot. When the accelerator 14 is in the ON state (pedal pressed), it accelerates the vehicle body 10 according to the amount the pedal is pressed (accelerator opening), while when it switches from the ON state to the OFF state (pedal not pressed), it generates a weak regenerative brake to decelerate the vehicle body 10.

[0036] The brake 15 is a brake pedal configured to be operated by the operator in the driver's seat 13 by pressing it with their foot. When the brake 15 is in the ON state (pedal pressed), it generates stronger regenerative braking than the regenerative braking of the accelerator 14 to decelerate the vehicle body 10, while when it is in the OFF state, it does not generate regenerative braking.

[0037] The steering wheel 16 is connected to the rear wheels 12 via a steering control mechanism 42, which will be described later. By rotating the steering wheel 16, the operator can change the direction (turning angle) of the rear wheels 12 according to the direction of rotation. When the steering wheel 16 is not being rotated (straight-line driving), the turning angle of the rear wheels 12 is 0°.

[0038] The cargo handling operation unit 17 includes a lift lever and a tilt lever. The lift lever and tilt lever are connected to the cargo handling device 20 via a cargo handling control mechanism 43, which will be described later. The operator can operate the cargo handling device 20 by operating the lift lever and tilt lever.

[0039] A head guard 18 is provided on the upper part of the vehicle body 10 and above the driver's seat 13. The head guard 18 is composed of a pair of front pillars on the left and right, a pair of rear pillars on the left and right, and the roof.

[0040] The cargo handling device 20 comprises a mast 21, a lift bracket 22, a fork 23, a backrest 24, a tilt cylinder 25, and a lift cylinder 26.

[0041] The mast 21 is located on the front side of the vehicle body 10 and raises and lowers the forks 23. The mast 21 comprises an outer mast and an inner mast. The outer mast includes a pair of left and right guide rails extending in the vertical direction and a cross beam connecting the upper ends of the guide rails. The inner mast is located inside the guide rails of the outer mast and moves up and down along the guide rails of the outer mast.

[0042] The lift bracket 22 supports the fork 23 and moves up and down along the mast 21. The lift bracket 22 is attached to one end of the lift chain and moves up and down along the inner mast while suspended by the lift chain. The other end of the lift chain is attached to the bottom of the outer mast via a chain wheel provided on the top of the lift cylinder 26.

[0043] The forks 23 are a pair of L-shaped arms, one on each side, and are mounted on the front of the lift bracket 22. The load W is loaded onto the forks 23.

[0044] The backrest 24 is a frame that prevents the load W loaded on the forks 23 from collapsing backward, and is installed on top of the lift bracket 22. When the mast 21 (inner mast) is raised or lowered, the lift bracket 22, forks 23, and backrest 24 also move up and down.

[0045] The tilt cylinder 25 is a hydraulic cylinder for tilting the mast 21 in the forward and backward directions. In this embodiment, when the tilt lever is tilted forward, the tilt cylinder 25 extends and the mast 21 tilts forward, and when the tilt lever is tilted backward, the tilt cylinder 25 retracts and the mast 21 tilts backward. When the tilt lever is returned to the neutral position (a position where it is neither tilted forward nor backward), the tilting of the mast 21 stops.

[0046] The lift cylinder 26 is a hydraulic cylinder for raising and lowering the mast 21. In this embodiment, when the lift lever is tilted forward, the lift cylinder 26 retracts and the inner mast descends, and when the lift lever is tilted backward, the lift cylinder 26 extends and the inner mast rises. When the lift lever is returned to the neutral position (neither tilted forward nor backward), the raising and lowering of the inner mast stops.

[0047] The sensor unit 30 includes an accelerator sensor 31, a brake sensor 32, and a vehicle speed sensor 33, as shown in Figure 4. The accelerator sensor 31 detects the accelerator opening degree of the accelerator 14. The brake sensor 32 detects the state of the brake 15 (on state / off state). The vehicle speed sensor 33 detects the driving speed of the vehicle body 10 (or the rotational speed of the driving motor).

[0048] The first control unit 40 is located inside the vehicle body 10 and controls the cargo handling and driving operations and communicates with the second control unit 50. As shown in Figure 4, the first control unit 40 includes a driving control mechanism 41, a steering control mechanism 42, and a cargo handling control mechanism 43.

[0049] The driving control mechanism 41 acquires detection information (detection signals) from the accelerator sensor 31, brake sensor 32, and vehicle speed sensor 33, and controls the front wheels 11, which are the drive wheels. The driving control mechanism 41 includes, for example, a driving controller, a driving inverter, a driving motor, a hydraulic circuit, etc.

[0050] The driving control mechanism 41 controls the vehicle body 10's speed to approach a predetermined target speed as part of the load handling driving operation. Specifically, the driving controller of the driving control mechanism 41 acquires the vehicle body 10's speed based on the detection signal from the vehicle speed sensor 33 and calculates the target speed based on the detection signal from the accelerator sensor 31 and / or the detection signal from the brake sensor 32. The driving controller performs PI control or PID control to bring the driving speed closer to the target speed. The target speed is calculated, for example, using the formula: Target speed = Set speed × Accelerator opening [%]. The set speed is a speed preset in the driving controller.

[0051] The steering control mechanism 42 acquires detection information (detection signals) regarding the rotation direction and amount of rotation of the steering wheel 16, and controls the rear wheels 12, which are the steering wheels. The steering control mechanism 42 includes, for example, a steering motor, a power steering device, a hydraulic circuit, etc. The steering control mechanism 42 has the same configuration as the steering control mechanism in a conventional battery forklift.

[0052] The cargo handling control mechanism 43 acquires detection information (detection signals) from the cargo handling operation unit 17 (lift lever and tilt lever) and controls the cargo handling device 20. The cargo handling control mechanism 43 includes, for example, a cargo handling controller, a cargo handling inverter, a cargo handling motor, a hydraulic circuit, etc. The cargo handling control mechanism 43 has the same configuration as the cargo handling control mechanism in conventional battery forklifts.

[0053] The second control unit 50 includes, for example, a data logger unit (DLU) and is mounted on the front pillar of the head guard 18. As shown in Figure 5, the second control unit 50 comprises an input unit 51, a storage unit 52, a processing unit 53, and an output unit 54.

[0054] The input unit 51 corresponds to the "receiving unit" of the present invention and receives wireless signals from the wireless transmission units 3A and 3B. The input unit 51 may also measure the radio wave intensity of the received wireless signal at predetermined intervals and acquire a predetermined threshold value related to the wireless signal. If the wireless signal includes threshold information (information related to a predetermined threshold value) along with position information, the input unit 51 can acquire a predetermined threshold value from the received wireless signal.

[0055] The memory unit 52 stores multiple hazardous activity data, which associates a unique hazardous activity ID (hereinafter referred to as ID), a predefined hazardous activity, a hazardous activity determination condition, and an activity that restricts cargo handling and driving operations. In this embodiment, the ID is a number, but the ID may also be a letter or a symbol, or a combination of letters, symbols, and numbers.

[0056] Operators and system administrators can modify the contents of the hazardous behavior data stored in the memory unit 52, and can also add new hazardous behavior data. For example, multiple hazardous behavior data can include the three hazardous behavior data shown in Table 1 below.

[0057] [Table 1]

[0058] The dangerous behavior data for ID "001" associates ID "001" with the dangerous behavior "Collision with an oncoming vehicle," the judgment condition "Receiving the first and third radio signals, or receiving the second and fourth radio signals," and the restrictive behavior "Vehicle speed limit." The dangerous behavior "Collision with an oncoming vehicle" defines a dangerous behavior in which forklifts 1 collide with each other on the first lane R1 or the second lane R2. The judgment condition is that the input unit 51 simultaneously receives the first and third radio signals, or simultaneously receives the second and fourth radio signals. The restrictive behavior "Vehicle speed limit" defines that if the judgment condition is met, the first control unit 40 will impose a speed limit (for example, an upper speed limit of 4 [km / h]). In other words, forklift 1 is prohibited from traveling at a speed exceeding the upper speed limit.

[0059] The dangerous behavior data for ID "002" is created by associating ID "002" with the dangerous behavior "head-on collision", the judgment condition "receiving the first radio signal and the fourth radio signal, or receiving the first radio signal and the second radio signal, or receiving the second radio signal and the third radio signal, or receiving the third radio signal and the fourth radio signal", and the restrictive behavior "forced stop". The dangerous behavior "head-on collision" defines a dangerous behavior in which forklift 1 traveling on the first lane R1 collides with forklift 1 traveling on the second lane R2. The judgment condition is that the input unit 51 simultaneously receives the first radio signal and the fourth radio signal, or simultaneously receives the first radio signal and the second radio signal, or simultaneously receives the second radio signal and the third radio signal, or simultaneously receives the third radio signal and the fourth radio signal. The restricted action "forced stop" is defined as the first control unit 40 decelerating the vehicle body 10 and ultimately bringing it to a stop if the above determination conditions are met.

[0060] For example, the first control unit 40 calculates the target speed of the vehicle body 10 using the formula: target speed = set speed × accelerator opening [%]. The accelerator opening is 0 [%] when the accelerator 14 is off, and when the accelerator 14 is on, it increases in proportion to the amount the accelerator 14 is pressed, up to a maximum of 100 [%]. When the first control unit 40 performs the above limiting action, it gradually changes the set speed to a value with a small absolute value until it is finally set to zero.

[0061] The dangerous action data for ID "003" associates ID "003" with the dangerous action "close-range collision," the judgment condition "receiving two or more radio signals including radio signal C," and the restricted action "forced stop." The dangerous action "close-range collision" defines a dangerous action in which forklift 1 in area C collides with forklift 1 traveling on the first lane R1 or the second lane R2. The judgment condition is that the input unit 51 simultaneously receives two or more radio signals including radio signal C as the condition for determining the dangerous action. Here, since the position information of radio signal C from radio transmitter 3A and radio signal C from radio transmitter 3B is the same, the first control unit 40 determines that it has received only one radio signal even if it receives radio signal C from both. The restricted action "forced stop" defines that if the judgment condition is met, the first control unit 40 slows down the vehicle body 10 and ultimately stops it.

[0062] In this embodiment, when the input unit 51 receives only one wireless signal, that is, when only one forklift 1 is present at the intersection of a crossroads, no dangerous act is defined. Furthermore, although this embodiment describes a collision between two forklifts 1, a collision between a forklift 1 and a person can, of course, also be defined as a dangerous act.

[0063] The processing unit 53 determines whether the criteria for each dangerous act are met and identifies the dangerous acts (dangerous act data) that meet the criteria. If the input unit 51 can obtain a threshold from the wireless signal, the processing unit 53 may compare the radio wave strength of the wireless signal input to the input unit 51 with the threshold, and if the radio wave strength is equal to or greater than the threshold, it may determine that the input unit 51 has received the wireless signal.

[0064] The output unit 54 transmits a first signal relating to the ID of the dangerous behavior data identified by the processing unit 53 to the voice alert unit 60, and a second signal relating to the restricted behavior associated with that ID to the first control unit 40. The transmission timing of the first signal and the second signal may be the same or different.

[0065] The voice alert unit 60 is located at the bottom of the roof of the head guard 18 and comprises a voice data storage unit 61, a voice data processing unit 62, and a speaker 63. The voice alert unit 60 provides voice warnings (alerts) to the operator of the forklift 1.

[0066] The voice of the present invention is a voice that includes linguistic speech capable of conveying information to an operator. The voice of the present invention does not include sound effects alone, such as buzzer sounds, but it may include sound effects if they are placed before or after the linguistic speech.

[0067] The audio data storage unit 61 stores multiple audio data sets, each associated with an ID and containing warning audio data (hereinafter referred to as warning audio data). These multiple audio data sets include, for example, the three audio data sets shown in Table 2 below.

[0068] [Table 2]

[0069] The audio data for ID "001" is created by linking the warning audio data "There is an oncoming vehicle." to ID "001". The warning audio data for ID "001" contains words (first information) that the operator would associate with "oncoming vehicle (forklift 1)", which is a constituent element of a dangerous act.

[0070] The audio data for ID "002" is created by associating ID "002" with the warning audio data "Apply the brakes. A collision is imminent." The warning audio data for ID "002" includes the phrase "Apply the brakes," which relates to cargo handling driving actions to avoid dangerous behavior (second information), and also includes the phrase "collision," which relates to the dangerous behavior itself (third information).

[0071] The audio data for ID "003" is created by linking the warning audio data "Apply the brakes. There is an oncoming vehicle nearby." to ID "003". In addition to the first and second pieces of information mentioned above, the warning audio data for ID "003" includes the word "nearby," which indicates distance (short distance) (fourth piece of information). Distance is a word (information) that is directly related to the danger level of the dangerous act. Therefore, the operator can immediately recognize that forklift 1 is nearby and the danger level is high.

[0072] Operators and system administrators can modify the warning audio data stored in the audio data storage unit 61 and add new audio data. For example, a memory card capable of rewriting warning audio data can be used as the audio data storage unit 61. Examples of memory cards include SD cards and USB memory sticks. Operators and administrators can, for example, generate warning audio data in a file format such as WAV and store it in the audio data storage unit 61.

[0073] The audio data processing unit 62 acquires the first signal output from the output unit 54 and plays back the warning audio data associated with the ID of the first signal in the audio data storage unit 61. For example, if the first signal related to ID "001" is received from the output unit 54, the audio data processing unit 62 plays back the warning audio data "There is an oncoming vehicle." for ID "001". The audio data processing unit 62 includes, for example, a voice player module.

[0074] Speaker 63 is connected to the audio data processing unit 62 and outputs the audio of the warning audio data being played by the audio data processing unit 62. For example, if the audio data processing unit 62 is playing the warning audio data "There is an oncoming vehicle." with ID "001", speaker 63 will output the audio "There is an oncoming vehicle."

[0075] As described above, in the alert system 100A according to this embodiment, the voice alert unit 60 provides an audible warning (alert) to the operator. Therefore, the operator can easily determine which dangerous behavior has been detected. For example, the operator can immediately determine which of IDs "001" to "003" has been detected by listening to the information contained in the voice alert unit 60, and take appropriate action.

[0076] Furthermore, in the alert system 100A according to this embodiment, defined dangerous actions are linked to actions that restrict cargo handling operations. Therefore, even if the operator's response is delayed (for example, when driving towards an intersection while reversing, or when the operator is not facing the intersection), the first control unit 40 will restrict the cargo handling operations based on the aforementioned restrictive actions. As a result, the alert system 100A according to this embodiment can avoid defined dangerous actions.

[0077] Furthermore, in the alert system 100A according to this embodiment, if the input unit 51 receives only one wireless signal, that is, if only one forklift 1 is present at the intersection of the crossroads, the voice alert unit 60 will not issue a warning. Therefore, the alert system 100A according to this embodiment can ensure safety by avoiding dangerous actions while minimizing the decrease in the work efficiency of the forklift 1.

[0078] (Frequency of activation of warning audio data) In the example above, the frequency of the warning audio data activation is assumed to be once, but the activation frequency can be changed as needed.

[0079] For example, the audio data storage unit 61 may associate the ID with the number of plays or the playback time. If the number of plays is associated, the warning audio data can be played a specified number of times, and if the playback time is associated, the warning audio data can be played repeatedly for a specified playback time.

[0080] On the other hand, playing warning audio data multiple times may cause discomfort to the operator. In this case, the storage unit 52 or the audio data storage unit 61 may associate the ID with the danger level. The audio data processing unit 62 preferably plays the warning audio data multiple times when the danger level exceeds a predetermined threshold level, and increases the number of plays as the danger level increases. For example, the danger levels may be classified as danger level 1, danger level 2, and danger level 3, and the audio data storage unit 61 may associate the ID with the danger level and the number of plays, with danger level 1 being played once, danger level 2 being played twice, and danger level 3 being played three times.

[0081] Furthermore, if the output timing of the second signal is associated with the dangerous act ID in the memory unit 52, the output timing can be set to "after a predetermined time has elapsed since the timing of outputting the first signal." Here, the predetermined time can be set appropriately according to the danger level.

[0082] As described above, when classifying the danger levels as danger level 1, danger level 2, and danger level 3, the predetermined time can be set as follows: danger level 1 is the first predetermined time, danger level 2 is the second predetermined time which is shorter than the first predetermined time, and danger level 3 is the third predetermined time which is shorter than the second predetermined time. The third predetermined time may be zero. In this way, by changing the output timing of the second signal according to the danger level of the dangerous act, it is possible to avoid dangerous acts and ensure safety while minimizing the decrease in the work efficiency of forklift 1.

[0083] (Operational Management System) As shown in Figure 6, the alert system 100A may include a server 4 and a management device 5, and constitute an operational management system for the forklift 1.

[0084] Server 4 is connected to the forklift 1 in a communication-enabled manner. Server 4 may be, for example, a physical server or a virtual server such as a cloud server. While the warning audio data is being played back, the forklift 1 can upload (save) video data captured and generated by the drive recorder (corresponding to the "shooting unit" of this invention) included in the sensor unit 30 to Server 4.

[0085] The management device 5 is connected to the server 4 in a communication-enabled manner. The management device 5 may be, for example, a personal computer (PC) or a smartphone. The management device 5 can acquire the video data from the server 4. This allows the administrator of the alert system 100A to check the video data on the management device 5 when the warning audio data is played back.

[0086] [Second Embodiment] Figure 7 shows an alert system 100B according to a second embodiment of the present invention. The alert system 100B has the same configuration as the first embodiment, except that a T-junction is present in the work area and that it includes an area sensor 2B' and a wireless transmitter 3B' instead of the area sensor 2B and wireless transmitter 3B.

[0087] As described above, the working area of ​​this embodiment includes a T-junction where the first path R1 and the second path R2' intersect. This intersection includes area C, which corresponds to the "intersection area" of the present invention, and areas A1, B1, and A2, which correspond to the "adjacent areas" of the present invention. Areas A1, B1, and A2 are adjacent to area C where the first path R1 and the second path R2' intersect. Areas A1 and B1 of the first path R1 are opposite each other across area C.

[0088] Region A1 corresponds to the "first A region" of the present invention, region B1 corresponds to the "first B region" of the present invention, and region A2 corresponds to the "second A region" of the present invention. In Figure 7, the regions are separated for clarity, but adjacent regions (regions A1, B1, and A2) may be adjacent to region C.

[0089] Area sensor 2B' has the same configuration as area sensor 2A, differing only in its detection area. The detection area of ​​area sensor 2A is areas A1, C, and A2, while the detection area of ​​area sensor 2B is areas B1, C, and A2. Area sensor 2B' corresponds to the "second sensor" of the present invention.

[0090] While the area sensor 2B' detects a moving object in its detection area, it transmits a detection signal to the wireless transmitter 3B' at a predetermined interval. Specifically, while the area sensor 2B' detects a moving object in area B1, it transmits a detection signal containing location information for area C while it detects a moving object in area C, and it transmits a detection signal containing location information for area A2 while it detects a moving object in area A2.

[0091] In the case of Figure 7, area sensor 2A transmits a detection signal to wireless transmitter 3A that includes information indicating that a moving object (forklift 1A) has been detected in area A1 (location information of area A1) and information indicating that a moving object (forklift 1B) has been detected in area A2 (location information of area A2). Meanwhile, area sensor 2B' transmits a detection signal to wireless transmitter 3B' that includes information indicating that a moving object (forklift 1B) has been detected in area A2 (location information of area A2).

[0092] Wireless transmitter 3B' has the same configuration as wireless transmitter 3A, except that it transmits different wireless signals. Wireless transmitter 3A broadcasts a wireless signal containing location information for area A1 (first wireless signal), a wireless signal containing location information for area A2 (second wireless signal), and a wireless signal containing location information for area C (wireless signal C) to forklifts 1A and 1B. On the other hand, wireless transmitter 3B' can broadcast a wireless signal containing location information for area B1 (third wireless signal), a wireless signal containing location information for area A2 (second wireless signal), and a wireless signal containing location information for area C (wireless signal C) to forklifts 1A and 1B.

[0093] In the case of Figure 7, the wireless transmitter 3A receives a detection signal containing location information for area A1 and a detection signal containing location information for area A2 from the area sensor 2A, and broadcasts the wireless signal containing location information for area A1 (first wireless signal) and the wireless signal containing location information for area A2 (second wireless signal) to the forklifts 1A and 1B. Meanwhile, the wireless transmitter 3B' receives a detection signal containing location information for area A2 from the area sensor 2B, and broadcasts the wireless signal containing location information for area A2 (second wireless signal) to the forklifts 1A and 1B. As a result, the forklifts 1A and 1B receive the first wireless signal and the second wireless signal.

[0094] In the alert system 100B according to this embodiment, similar to the first embodiment, the voice alert unit 60 provides an audible warning (alert) to the operator. Therefore, the operator can easily determine which dangerous behavior has been detected. For example, the operator can immediately determine which of IDs "001" to "003" has been detected by listening to the information contained in the voice alert unit 60, and take appropriate action.

[0095] Furthermore, in the alert system 100B according to this embodiment, similar to the first embodiment, defined dangerous actions are linked to actions that restrict cargo handling operations. Therefore, even if the operator's response is delayed, the first control unit 40 will restrict cargo handling operations based on the aforementioned restrictive actions. For this reason, the alert system 100B according to this embodiment can avoid defined dangerous actions.

[0096] Furthermore, in the alert system 100B according to this embodiment, if the input unit 51 receives only one wireless signal, that is, if only one forklift 1 is present at the T-junction, the voice alert unit 60 will not issue a warning. Therefore, in the alert system 100B according to this embodiment, similar to the first embodiment, it is possible to ensure safety by avoiding dangerous actions while minimizing the reduction in the work efficiency of the forklift 1.

[0097] [Differentiation] Although embodiments of the alert system according to the present invention have been described above, the present invention is not limited to the above embodiments.

[0098] The alert system of the present invention includes an industrial vehicle that performs cargo handling operations in a predetermined work area, an area sensor provided in the work area, a wireless transmission unit that transmits a wireless signal according to the detection result of the area sensor, a receiving unit provided in the industrial vehicle that receives the wireless signal, and an alert unit that issues a warning according to the wireless signal. The work area includes a plurality of adjacent areas adjacent to the intersection area where the first path and the second path intersect, the area sensor detects moving objects in each of the plurality of adjacent areas, the wireless transmission unit transmits a unique wireless signal for each area when the area sensor detects a moving object, and the alert unit does not issue a warning when the receiving unit receives one wireless signal, but issues a warning when it receives two or more wireless signals from the receiving unit. The configuration can be changed as appropriate.

[0099] The alert unit is preferably an audio alert unit that issues warnings by voice, but warnings may also be issued by means other than voice. The alert unit may warn the operator by, for example, illuminating a warning light or emitting a sound effect that does not include voice (e.g., a buzzer or electronic sound). By varying the color or state of the light, the type of sound effect, etc., according to the dangerous behavior, the operator can determine the dangerous behavior.

[0100] In the above embodiment, the forklift 1 was equipped with an audio alert unit 60, but the audio alert unit of the present invention can be installed in a location other than the forklift 1 (for example, in the work area).

[0101] In the above embodiment, the wireless signals from the wireless transmitters 3A and 3B are susceptible to the surrounding environment, resulting in large fluctuations in radio wave strength (received signal strength RSSI). Therefore, if the measured value of the wireless signal is used directly in the forklift 1, there is a risk that warnings and restriction actions will be repeated unnecessarily. As a countermeasure, the forklift 1 may use the average value of the radio wave strength of the wireless signal over a predetermined period of time (for example, several seconds) as the measured value.

[0102] In the above embodiment, a crossroads and a T-junction were used as examples, but other types of intersections may also be present in the work area.

[0103] Although the industrial vehicle of the present invention was described using a counterbalanced type forklift as an example in the above embodiment, it may also be a reach type forklift or another type of forklift. Furthermore, the industrial vehicle of the present invention is not limited to a forklift; any vehicle other than a forklift (for example, a transport vehicle) may be used as long as it performs cargo handling and driving operations. [Explanation of Symbols]

[0104] 100A, 100B Alert System 1, 1A, 1B Forklifts 2A, 2B area sensor 3A, 3B Wireless transmitter 10 Vehicle Body 11 Front Wheel 12 Rear wheels 13. Driver's seat 14 Accelerator 15 Brake 16 handle 17. Cargo Handling Operations Section 18 Headguard 20 Cargo handling equipment 21 Mast 22 Lift Bracket 23 Forks 24 Backrest 25 Tilt Cylinder 26 Lift Cylinder 30 Sensor section 31 Accelerator sensor 32 Brake Sensor 33. Vehicle speed sensor 40 First Control Unit 50 Second Control Unit 60 Voice Alert Unit

Claims

1. Industrial vehicles that perform loading and unloading operations within a designated work area, An area sensor provided in the aforementioned work area, A wireless transmission unit that transmits a wireless signal according to the detection result of the area sensor, A receiving unit provided in the industrial vehicle for receiving the wireless signal, An alert unit that issues a warning in response to the aforementioned wireless signal, An alert system that includes, The aforementioned work area includes a plurality of adjacent areas adjacent to the intersection area where the first path and the second path intersect. The area sensor detects moving objects in each of the multiple adjacent regions. The wireless transmission unit transmits a unique wireless signal in each of the above-mentioned regions when the area sensor detects the moving object. The alert unit does not issue the warning if the receiving unit receives one of the radio signals, but issues the warning if it receives two or more of the radio signals from the receiving unit. An alert system characterized by the following features.

2. The industrial vehicle includes a first control unit that controls the cargo handling and driving operation, The first control unit shall not perform the restriction action on the cargo handling operation if the receiving unit receives one of the radio signals, and shall perform the restriction action if it receives two or more of the radio signals from the receiving unit. The alert system according to feature 1.

3. The aforementioned industrial vehicle further comprises a second control unit, The second control unit is, The input unit includes the aforementioned receiving unit, A storage unit that stores dangerous behavior data linking the aforementioned warning determination conditions, a unique dangerous behavior ID, and the aforementioned restricted behavior, A processing unit that determines whether the aforementioned determination conditions are met, The system includes an output unit that outputs a first signal relating to the dangerous act ID and a second signal relating to the restricted act to the first control unit, The alert unit is an audio alert unit that provides the aforementioned warning by voice, The aforementioned voice alert unit is A voice data storage unit that stores voice data linking the aforementioned dangerous behavior ID with pre-stored warning voice data, A voice data processing unit that receives the first signal and plays back the warning voice data in response to the first signal, It includes a speaker that outputs the audio of the warning audio data being played. The alert system according to feature 2.

4. The aforementioned multiple adjacent regions are The first A region of the first path adjacent to the aforementioned intersection region, The first B region of the first path, which is opposite the first A region across the aforementioned crossing region, The second A region of the second path adjacent to the aforementioned intersection region, The second B region of the second path is adjacent to the second A region across the aforementioned intersection region, The aforementioned area sensor is A first sensor that detects the moving object in the first A region and the second A region, The system includes a second sensor that detects the moving object in the first B region and the second B region, The wireless transmission unit uses the following as the wireless signal: When the first sensor detects the moving object in the first A region, it transmits a first wireless signal. When the first sensor detects the moving object in the second A region, it transmits a second wireless signal. When the second sensor detects the moving object in the first B region, it transmits a third wireless signal. The second sensor transmits a fourth wireless signal when it detects the moving object in the second B region. The alert system according to feature 2.

5. The first control unit is, If the receiving unit receives the first radio signal and the third radio signal, or if the receiving unit receives the second radio signal and the fourth radio signal, the restrictive action is to limit the speed of the industrial vehicle. When the receiving unit receives the first radio signal and the fourth radio signal, or when the receiving unit receives the first radio signal and the second radio signal, or when the receiving unit receives the second radio signal and the third radio signal, or when the receiving unit receives the third radio signal and the fourth radio signal, the restricted action is to forcibly stop the industrial vehicle. The alert system described in feature 4.

6. The aforementioned multiple adjacent regions are The first A region of the first path adjacent to the aforementioned intersection region, The first B region of the first path, which is opposite the first A region across the aforementioned crossing region, The second A region of the second path adjacent to the intersection region, The aforementioned area sensor is A first sensor that detects the moving object in the first A region and the second A region, The system includes a second sensor that detects the moving object in the first B region and the second A region, The wireless transmission unit uses the following as the wireless signal: When the first sensor detects the moving object in the first A region, it transmits a first wireless signal. When the area sensor detects the moving object in the second A region, it transmits a second wireless signal. The second sensor transmits a third wireless signal when it detects the moving object in the first B region. The alert system according to feature 2.

7. The first control unit is, When the receiving unit receives the first radio signal and the third radio signal, it performs the restriction action of limiting the speed of the industrial vehicle. If the receiving unit receives the first radio signal and the second radio signal, or if the receiving unit receives the second radio signal and the third radio signal, the restrictive action is to forcibly stop the industrial vehicle. The alert system described in feature 6.

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