Forklift, Pedal Weight Change System, and Pedal Weight Change Program

Abstract

To provide a forklift capable of reducing the occurrence of a cargo collapse and of a collision even if an operator has a low proficiency level.SOLUTION: A forklift comprises an accelerator pedal 13, an accelerator pedal changing part 20, a condition storage part 25, a condition determination part 26, and a changing control part 27. The condition storage part 25 stores a prescribed condition and the condition determination part 26 determines whether or not it conforms to the prescribed condition stored in the condition storage part 25. The accelerator pedal changing part 20 is configured so that the weight of the accelerator pedal 13 can be heavy. The changing control part 27 makes the weight of the accelerator pedal 13 by controlling the accelerator pedal changing part 20 if the prescribed condition is met.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a pedal weight change system for a forklift, a forklift equipped with the system, and a pedal weight change program.

Background Art

[0002] Forklifts include types such as reach forklifts and counterbalanced forklifts. The number and functions of the pedals of forklifts differ depending on the type of forklift.

[0003] As disclosed in Patent Document 1, a reach forklift includes a brake pedal and a presence pedal. The presence pedal is configured to be able to stop traveling and cargo handling, and the driver cannot perform traveling and cargo handling unless the presence pedal is depressed.

[0004] Also, as disclosed in Patent Document 2, a counterbalanced forklift includes an accelerator pedal and a brake pedal, and an engine-type counterbalanced forklift further includes a clutch pedal. Among battery-powered forklifts, an automatic forklift further includes an inching pedal instead of a clutch pedal. By depressing the inching pedal, the driver can put the forklift in a semi-clutch state and cut off the driving power.

[0005] By the way, in the operation of a forklift, sudden acceleration is likely to cause load collapse and collisions and is not preferable. In this regard, it is said that the more skilled the driver of the forklift is, the less sudden acceleration and sudden stops there are. In other words, the less skilled the driver is, the more likely they are to make sudden accelerations and cause load collapses and collision accidents.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

[0007] Therefore, the problem to be solved by the present invention is to provide a forklift that can reduce the occurrence of load collapse and collision accidents even for drivers with low proficiency. [Means for Solving the Problems]

[0008] To solve the above problems, the forklift according to the present invention includes an accelerator pedal, an accelerator pedal changing unit configured to be able to increase the pedal weight of the accelerator pedal, a condition storage unit that stores predetermined conditions, a condition determination unit that determines whether or not it conforms to the predetermined conditions stored in the condition storage unit, and a change control unit that controls the accelerator pedal changing unit to increase the pedal weight of the accelerator pedal when it conforms to the predetermined conditions.

[0009] The above forklift preferably further includes a schedule storage unit that stores a handling position, a map storage unit that stores the position of a speed limit area, and a position detection unit that detects the position of the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either of the vicinity of the handling position and the speed limit area, and the change control unit increases the pedal weight of the accelerator pedal when it conforms to the first predetermined condition.

[0010] The above forklift preferably further includes a load detection unit that detects the loaded weight, The second predetermined condition is that the forklift is stopped and is loaded with a load exceeding a predetermined load capacity. When the change control unit conforms to the second predetermined condition, it makes the pedal weight of the accelerator pedal heavier.

[0011] The above forklift preferably has a brake pedal, a brake pedal change unit configured to be able to make the pedal weight of the brake pedal lighter, a schedule storage unit that stores the loading position, a map storage unit that stores the position of the speed limit area, a position detection unit that detects the position of the forklift, and an obstacle detection unit that detects obstacles and people within a predetermined distance from the forklift. The first predetermined condition is that the forklift is located in a predetermined area including both or either of the vicinity of the loading position and the speed limit area. The third predetermined condition is that the forklift is running and obstacles and people are detected within a predetermined distance from the forklift. When the change control unit conforms to the first predetermined condition or the third predetermined condition, it further controls the brake pedal change unit to make the pedal weight of the brake pedal lighter.

[0012] To solve the above problems, the pedal weight change system according to the present invention is a pedal weight change system used for a forklift equipped with an accelerator pedal, an accelerator pedal change unit configured to be able to make the pedal weight of the accelerator pedal heavier, a condition storage unit that stores predetermined conditions, a condition determination unit that determines whether or not it conforms to the predetermined conditions stored in the condition storage unit, and a change control unit that controls the accelerator pedal change unit to make the pedal weight of the accelerator pedal heavier when it conforms to the predetermined conditions.

[0013] To solve the above problems, the pedal weight change program according to the present invention is an accelerator pedal, a condition storage unit that stores predetermined conditions, a computer, and an accelerator pedal change unit configured to be able to increase the pedal weight of the accelerator pedal, and is a pedal weight change program used in a forklift, the computer is operated as a condition determination unit that determines whether or not it conforms to the predetermined conditions stored in the condition storage unit, and when it conforms to the predetermined conditions, it is operated as a change control unit that controls the accelerator pedal change unit to increase the pedal weight of the accelerator pedal.

Effect of the Invention

[0014] The forklift according to the present invention can reduce the occurrence of load collapse and collision accidents even for a driver with low proficiency.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Mode for Carrying Out the Invention

[0016] Hereinafter, an embodiment of a forklift, a pedal weight change system, and a pedal weight change program according to the present invention will be described with reference to the accompanying drawings.

[0017] FIG. 1 is a side view of a forklift 1 according to an embodiment of the present invention. The forklift 1 is a battery-powered counterbalanced forklift. As shown in FIG. 1, the forklift 1 includes a plurality of wheels 10, a vehicle body 11, a driver's seat 12, an accelerator pedal 13 (see FIG. 2), a brake pedal 14 (see FIG. 2), left and right masts 15, and left and right forks 16. Further, as shown in FIG. 2, the forklift 1 includes a load detection unit 17, a position detection unit 18, an obstacle detection unit 19, an accelerator pedal changing unit 20, a brake pedal changing unit 21, and a control unit 22.

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

[0019] The left and right forks 16 are configured to be able to move up and down by a hydraulic cylinder via the left and right masts 15, and the driver O performs a loading and unloading operation by moving the forks 16 up and down.

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

[0021] The position detection unit 18 is configured to detect the position of the forklift 1. The configuration of the position detection unit 18 is not particularly limited. The position detection unit 18 may be configured by an indoor positioning technology using, for example, GPS (Global Positioning System), Wi-Fi, beacon, RFID (Radio Frequency Identification), IMES (Indoor MEssaging System), UWB (Ultra Wide Band), etc.

[0022] The obstacle detection unit 19 detects obstacles and people within a predetermined distance from the forklift 1. The obstacle detection unit 19 is composed of a known obstacle sensor. For example, it may be composed of a camera provided on the head guard and an analysis unit that analyzes the image generated by the camera to detect obstacles and people. Note that the obstacles may include not only the obstacles arranged on the passageways in the facility but also the shelves R and walls permanently installed in the facility.

[0023] The accelerator pedal changing unit 20 and the brake pedal changing unit 21 are configured to be able to change the pedal weights of the accelerator pedal 13 and the brake pedal 14 when the driver O steps on them respectively based on commands from the change control unit 27, which will be described later. The accelerator pedal changing unit 20 and the brake pedal changing unit 21 are respectively composed of, for example, a device that can adjust the weight by hydraulic pressure, a device that can adjust the weight by a spring, and the like.

[0024] Also, for example, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 may each be an assist device that assists the pedal stepping force. In this case, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 may each adjust the assist force based on commands from the change control unit 27 and substantially change the pedal weight when the driver O steps on the pedal.

[0025] Alternatively, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 may each be configured to change the magnitude of the power or braking force of each device that responds to the amount of pedal depression based on commands from the change control unit 27, for example. Thereby, the accelerator pedal changing unit 20 and the brake pedal changing unit 21 each substantially change the pedal weights of the accelerator pedal 13 and the brake pedal 14.

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

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

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

[0029] The schedule storage unit 24 stores the schedule of the loading and unloading operations corresponding to the forklift 1. This schedule includes the loading position and the unloading position. The loading position and the unloading position may be storage spaces of a plurality of shelves R. Also, as shown in Figure 3, the area within a predetermined distance from the loading and unloading position CP where the forklift 1 performs loading and unloading (that is, within a predetermined distance from the loading position and the unloading position) is the "area near the loading and unloading position" of the present invention.

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

[0031] The first predetermined condition is that the forklift 1 is located in the area E2 near the loading and unloading position or the speed limit area E1.

[0032] The second predetermined condition is that the forklift 1 is in motion and is carrying a load W exceeding a predetermined load capacity.

[0033] Further, the third predetermined condition is that the forklift 1 is in motion and an obstacle or a person has been detected within a predetermined distance from the forklift 1. In addition, if the area E2 near the loading and unloading position and the speed limit area E1 are close to each other, the forklift 1 may be located in both the area E2 near the loading and unloading position and the speed limit area E1. Even in this case, it naturally conforms to the first predetermined condition.

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

[0035] The condition determination unit 26 determines whether or not the forklift 1 is in motion based on a vehicle speed sensor (not shown). Then, when the condition determination unit 26 determines that the forklift 1 is stopped and it has been detected by the load detection unit 17 that the forklift 1 is carrying a load W exceeding a predetermined load capacity, it transmits to the change control unit 27 that it conforms to the second predetermined condition as a second condition conformity signal.

[0036] Based on the vehicle speed sensor, the condition determination unit 26 determines whether the forklift 1 is in motion. When the condition determination unit 26 determines that the forklift 1 is in motion and the obstacle detection unit 19 has detected an obstacle and a person within a predetermined distance from the forklift 1, it transmits to the change control unit 27 that the third predetermined condition is met as a third condition compliance signal.

[0037] When the change control unit 27 receives the first condition compliance signal, it controls the accelerator pedal change unit 20 to increase the weight of the accelerator pedal 13. By increasing the weight of the accelerator pedal 13, the change control unit 27 makes it more difficult to depress the accelerator pedal 13 than normal, thereby reducing sudden acceleration when the forklift 1 is located in the area E2 near the loading position or the speed limit area E1. As a result, the forklift 1 is less likely to collide with a shelf R or the like near the loading position CP, or with other forklifts, people, doors, etc. at intersections or entrances and exits.

[0038] Also, when the change control unit 27 receives the second condition compliance signal, it controls the accelerator pedal change unit 20 to increase the weight of the accelerator pedal 13. By increasing the weight of the accelerator pedal 13, the change control unit 27 makes it more difficult to depress the accelerator pedal 13 than normal, so that when the forklift 1 is stopped and is carrying a load W exceeding a predetermined load, sudden acceleration can be reduced. As a result, the occurrence of load collapse of the forklift 1 is reduced.

[0039] Furthermore, when the change control unit 27 receives the third condition compliance signal, it controls the brake pedal change unit 21 to decrease the weight of the brake pedal 14. By decreasing the weight of the brake pedal 14, the change control unit 27 makes it easier to depress the brake pedal 14 than normal, so that when the forklift 1 is in motion and an obstacle and a person are detected within a predetermined distance from the forklift 1, it is easier to make an emergency stop. As a result, the forklift 1 is less likely to collide with the obstacle and the person.

[0040] The above has described an embodiment of the forklift, the pedal weight change system, and the pedal weight change program according to the present invention. However, the present invention is not limited to the above embodiment. The forklift, the pedal weight change system, and the pedal weight change program according to the present invention may be implemented, for example, by the following modification examples.

[0041] <Modification Example> · The forklift 1 may be a reach forklift. Further, the forklift 1 may be an engine-type forklift. Further, the forklift 1 may be a manned / unmanned forklift that can be switched between manned and unmanned operations.

Explanation of Reference Numerals

[0042] CP Loading Position E1 Speed Limit Area E2 Area Near the Loading Position O Driver R Shelf W Load 1 Forklift 10 Wheels 11 Vehicle Body 12 Driver's Seat 13 Accelerator Pedal 14 Brake Pedal 15 Mast 16 Forks 17 Load Detection Unit 18 Position Detection Unit 19 Obstacle Detection Unit 20 Accelerator Pedal Change Unit 21 Brake Pedal Change Unit 22 Control Unit 23 Map Storage Unit 24 Schedule Storage Unit 25 Condition Storage Unit 26 Condition Judgment Unit 27 Change Control Unit

Claims

1. A pedal weight change system used in a forklift equipped with an accelerator pedal, An accelerator pedal change unit configured to be able to increase the pedal weight of the accelerator pedal, A condition storage unit that stores predetermined conditions, A condition determination unit that determines whether or not it conforms to the predetermined conditions stored in the condition storage unit, A change control unit that controls the accelerator pedal change unit to increase the pedal weight of the accelerator pedal when it conforms to the predetermined conditions, A schedule storage unit that stores a handling position, A map storage unit that stores the position of a speed limit area, And a position detection unit that detects the position of the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either of the vicinity of the handling position and the speed limit area, The change control unit increases the pedal weight of the accelerator pedal when it conforms to the first predetermined condition. A pedal weight change system.

2. A pedal weight change system used in a forklift equipped with an accelerator pedal, An accelerator pedal change unit configured to be able to increase the pedal weight of the accelerator pedal, A condition storage unit that stores predetermined conditions, A condition determination unit that determines whether or not it conforms to the predetermined conditions stored in the condition storage unit, A change control unit that controls the accelerator pedal change unit to increase the pedal weight of the accelerator pedal when it conforms to the predetermined conditions, And a load detection unit that detects a load weight, The second predetermined condition is that the forklift is stopped and is loaded with a load exceeding a predetermined load weight, A pedal weight change system in which the change control unit increases the pedal weight of the accelerator pedal when the second predetermined condition is met.

3. A pedal weight change system used in a forklift equipped with a brake pedal, A brake pedal change unit configured to be able to reduce the pedal weight of the brake pedal, A condition storage unit that stores predetermined conditions, A condition determination unit that determines whether or not it conforms to the predetermined condition stored in the condition storage unit, When it conforms to the predetermined condition, a change control unit that controls the brake pedal change unit to reduce the pedal weight of the brake pedal, A schedule storage unit that stores the handling position, A map storage unit that stores the position of the speed limit area, A position detection unit that detects the position of the forklift, An obstacle detection unit that detects obstacles and people within a predetermined distance from the forklift, The first predetermined condition is that the forklift is located in a predetermined area including both or either of the vicinity of the handling position and the speed limit area, The third predetermined condition is that the forklift is running and obstacles and people are detected within a predetermined distance from the forklift, A pedal weight change system in which the change control unit controls the brake pedal change unit to reduce the pedal weight of the brake pedal when the first predetermined condition or the third predetermined condition is met.

4. An accelerator pedal, A brake pedal, A forklift equipped with the pedal weight change system according to any one of Claims 1 to 3.

5. A pedal weight change program used in the pedal weight change system according to Claim 1 or 2, The computer included in the pedal weight change system, a condition determination unit that determines whether or not it conforms to the predetermined condition stored in the condition storage unit; a change control unit that controls the accelerator pedal change unit to increase the pedal weight of the accelerator pedal when it conforms to the predetermined condition, and operates as a pedal weight change program. **Claim 6**: A pedal weight change program used in the pedal weight change system according to claim 3, the computer included in the pedal weight change system, a condition determination unit that determines whether or not it conforms to the predetermined condition stored in the condition storage unit; a change control unit that controls the brake pedal change unit to reduce the pedal weight of the brake pedal when it conforms to the predetermined condition, and operates as a pedal weight change program.

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