cargo handling vehicle

Abstract

To provide a cargo handling vehicle capable of changing the volume of warning voice data depending on the operating state of the vehicle body. [Solution] A forklift (1) comprising a vehicle body (10) equipped with a loading device (20), an audio alert unit (2), a display (4), and a control unit, wherein the control unit includes a first control unit (40) that controls the vehicle body (10), a second control unit (50) that controls the audio alert unit (2), and a third control unit (60) that controls the display (4), wherein the second control unit (50) comprises a memory unit that stores multiple pieces of dangerous act data linked to information relating to the judgment conditions for dangerous acts, the operating state of the vehicle body (10), and the volume when playing warning audio data, a processing unit that judges whether the judgment conditions are met and identifies the operating state and volume, and an output unit that issues playback instructions to the audio alert unit (2), and the third control unit (60) displays a volume setting screen on the display unit to change the volume for each operating state.

Description

[Technical Field]

[0001] The present invention relates to a cargo handling vehicle such as a forklift. [Background technology]

[0002] Conventionally, forklifts have been known that warn operators with buzzers or warning lights when dangerous behavior occurs. For example, when there is a step on the road surface, the forklift described in Patent Document 1 lights up a warning light provided on the instrument panel in the driver's seat or sounds a buzzer to notify the operator that a step is nearby.

[0003] However, dangerous behaviors of forklifts include not only driving on roads with uneven surfaces but also various other behaviors (for example, colliding with an obstacle above or with a person). For this reason, there is a problem that if the warning means used by the forklift described in Patent Document 1 are only a buzzer and a warning light, the operator cannot immediately determine what kind of dangerous behavior has been detected.

[0004] To solve the above problems, the inventor of the present application invented an alert system that defines dangerous behaviors in advance and issues an audio warning (audio alert) when a defined dangerous behavior occurs (see, for example, Patent Document 2). The alert system described in Patent Document 2 allows a forklift operator to immediately determine which dangerous behavior has been detected by the audio alert and take appropriate action. Furthermore, the alert system described in Patent Document 2 classifies dangerous behaviors into risk levels and changes the frequency of audio alerts (for example, playback time or number of playbacks) according to the risk level, thereby avoiding dangerous behaviors and ensuring safety while minimizing declines in work efficiency.

[0005] Depending on the operating state of the vehicle body, there are cases where it is better to play back the warning audio data at a higher volume, and cases where it is better to play back the warning audio data at a lower volume. However, the alert system described in Patent Document 2 has a problem in that it is not possible to change the volume of the warning audio data depending on the operating state of the vehicle body (for example, to play back the warning audio data at a higher volume when the operating noise of the vehicle body is loud). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 9-272700 [Patent Document 2] Patent No. 7623096 Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a cargo handling vehicle that is capable of changing the volume of warning audio data depending on the operating state of the vehicle body. [Means for solving the problem]

[0008] In order to solve the above problem, the cargo handling vehicle according to the present invention comprises: a vehicle body provided with a loading device; a voice alert unit that stores a plurality of pieces of warning audio data and reproduces at least one piece of warning audio data from the plurality of pieces of warning audio data to give a voice alert; a display including a display unit and an input unit; a control unit that controls the vehicle body, the audio alert unit, and the display; A cargo handling vehicle comprising: The control unit a first control unit that controls the traveling operation and the cargo handling operation of the vehicle body; a second control unit that controls the audio alert unit; a third control unit that controls the display, The second control unit is a storage unit that stores a plurality of pieces of risky behavior data, each piece of which is linked to first information on a condition for determining a risky behavior, second information on an operating state of the vehicle body, and third information on a volume of the warning audio data when it is reproduced; a processing unit that determines whether the determination condition is satisfied based on the first information, identifies the operating state based on the second information, and identifies the volume based on the third information; an output unit that issues a playback instruction to the audio alert unit so that the warning audio data is played back at the volume when the determination condition is satisfied, The third control unit is In response to an input operation on the input unit, a volume setting screen for changing the volume for each of the operating states is displayed on the display unit.

[0009] In the cargo handling vehicle, the vehicle body includes an engine as a power source for the traveling operation and the loading / unloading operation, The operation state included in the second information is a first operating state in which the engine is stopped; a second operating state in which the engine speed is relatively low; a third operating state in which the rotation speed is relatively high, the third information includes a first volume in the first operating state, a second volume in the second operating state, and a third volume in the third operating state; The third control unit can be configured to cause the display unit to display the volume setting screen for changing the first volume, the second volume, and the third volume.

[0010] In the cargo handling vehicle, the vehicle body includes a battery and at least one electric motor driven by the electric power of the battery as a power source for the traveling operation and the cargo handling operation, The operation state included in the second information is a first operating state in which the traveling operation and the loading operation are not being performed; a second operating state in which the traveling operation is being performed while the loading / unloading operation is not being performed; a third operating state in which the loading operation is being performed while the traveling operation is not being performed, the third information includes a first volume in the first operating state, a second volume in the second operating state, and a third volume in the third operating state; The third control unit can be configured to cause the display unit to display the volume setting screen for changing the first volume, the second volume, and the third volume.

[0011] In the cargo handling vehicle, the operation state included in the second information includes a fourth operation state in which the traveling operation and the loading operation are being performed, the third information includes a fourth volume in the fourth operating state; The third control unit can be configured to cause the display unit to display the volume setting screen for changing the fourth volume.

[0012] In the cargo handling vehicle, The second operating state is a 2-1 operating state in which the traveling speed of the vehicle body is relatively slow; a second-2 operating state in which the running speed is relatively high; the third information includes a 2-1 volume in the 2-1 operating state and a 2-2 volume in the 2-2 operating state; The third control unit can be configured to cause the display unit to display the volume setting screen for changing the 2-1 volume and the 2-2 volume.

[0013] In the cargo handling vehicle, The third operating state is a 3-1 operating state in which the rotation speed of the electric motor is relatively low; a 3-2 operating state in which the rotation speed is relatively high; the third information includes a 3-1 volume in the 3-1 operating state and a 3-2 volume in the 3-2 operating state; The third control unit can be configured to cause the display unit to display the volume setting screen for changing the 3-1 volume and the 3-2 volume.

[0014] In the cargo handling vehicle, The third control unit can be configured to display a first volume input field for inputting the volume level on the volume setting screen.

[0015] In the cargo handling vehicle, the third control unit displays, on the volume setting screen, a time zone setting field for setting a time zone and a second volume input field for inputting the level of the volume; The output section of the second control section can be configured to issue the playback instruction so that the warning audio data is played at a volume that is equal to or lower than the level entered in the second volume input field during the time period set in the time period setting field. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a cargo handling vehicle that is capable of changing the volume of warning audio data depending on the operating state of the vehicle body. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a side view of a forklift according to the present invention. [Figure 2] FIG. 2 is a block diagram of a first control unit according to the present invention. [Figure 3] FIG. 4 is a block diagram of a second control unit and a voice alert unit according to the present invention. [Figure 4] FIG. 3 is a diagram showing first to third control units and a display according to the present invention. [Figure 5]10 is an example of a screen of a display when a set value of a control operation is changed. [Figure 6] 10 is an example of a screen of the display when the definition of a risky act is changed. [Figure 7] FIG. 2 is a diagram showing screens S101 to S108 of a display. [Figure 8] FIG. 10 is a diagram showing screens S109 to S116 of a display. [Figure 9] FIG. 10 is a diagram showing screens S117 to S122 of a display. [Figure 10] FIG. 10 is a diagram showing screens S123 to S128 of a display. [Figure 11] FIG. 10 is a diagram showing screens S129 to S135 of a display. [Figure 12] FIG. 10 is a diagram showing screens S136 to S140 of a display. [Figure 13] FIG. 10 is a diagram showing screens S141 to S144 of a display. [Figure 14] FIG. 10 is a diagram showing screens S136' to S139' of a display. DETAILED DESCRIPTION OF THE INVENTION

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a cargo handling vehicle according to the present invention will be described with reference to the accompanying drawings.

[0019] Figure 1 shows a forklift 1 according to one embodiment of the present invention. The forklift 1 is a counterbalance type forklift and corresponds to the "cargo handling vehicle" of the present invention. The forklift 1 travels and handles cargo in a predetermined work area.

[0020] The work area is, for example, an area within any building such as a factory or a warehouse. The work area is provided with a plurality of shelves, and the shelves store cargo (including pallets) to be carried by the forklift 1.

[0021] The forklift 1 includes an audio alert unit 2, a warning unit 3, and a display 4. The audio alert unit 2 issues an audio warning (audio alert) to the operator of the forklift 1 by playing back pre-stored audio data. The warning unit 3 issues a warning to the operator by means other than audio. The display 4 is configured to be operable by an operator (manager) or a serviceman (customer engineer). Details of the audio alert unit 2, warning unit 3, and display 4 will be described later.

[0022] The forklift 1 includes a vehicle body 10, a cargo handling device 20, a sensor unit 30, a first control unit 40, a second control unit 50, a third control unit 60, and a battery (not shown). The battery supplies power to a travel motor, a steering motor, and a cargo handling motor (described later). The travel motor, the steering motor, and the cargo handling motor correspond to the "electric motor" of the present invention, and together with the battery, constitute the power source for travel and cargo handling operations.

[0023] The vehicle body 10 is equipped with a key switch for turning the power of the vehicle body 10 on and off. The key switch is configured to be operable by an operator and is switched between a key-on state and a key-off state by the operator's operation. When the key switch is in the key-on state, the battery supplies power supply voltage to the electrical system of the vehicle body 10 (e.g., the first control unit 40, the second control unit 50, the third control unit 60, and the display 4) directly or via a DC / DC converter provided in the vehicle body 10. When the key switch is in the key-off state, the battery does not supply power supply voltage. Note that a part of the electrical system (e.g., various controllers of the first control unit 40) may be supplied with power supply voltage at all times, and the second control unit 50 may be supplied with power supply voltage from a power source other than the battery. In this embodiment, the various controllers of the first control unit 40, the second control unit 50, the audio alert unit 2, and the warning unit 3 are assumed to be supplied with power supply voltage at all times.

[0024] A pair of left and right front wheels 11 and rear wheels 12 are provided on the lower part of the vehicle body 10. In the forklift 1, the front wheels 11 are drive wheels driven by a traveling motor, and the rear wheels 12 are steered wheels steered (turned) by a steering motor.

[0025] 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 seat 13, and a display 4, a steering wheel 16, and a cargo handling operation section 17 are provided on the dashboard in front of the seat 13, as well as a parking brake operation lever (not shown).

[0026] The accelerator 14 is an accelerator pedal configured to be operable by the operator in the driver's seat 13. When the accelerator 14 is in an on state (pedal depressed), it accelerates the vehicle body 10 in accordance with the amount of depression of the pedal (accelerator opening), and when it is switched from the on state to an off state (pedal not depressed), it generates weak regenerative braking to decelerate the vehicle body 10.

[0027] The brake 15 is a brake pedal that can be operated by the operator in the driver's seat 13 by stepping on it with his / her foot. When the brake 15 is in the on state (pedal is depressed), it generates regenerative braking that is stronger than the regenerative braking of the accelerator 14, thereby decelerating the vehicle body 10, but when it is in the off state, it does not generate regenerative braking.

[0028] The handlebars 16 are connected to the rear wheels 12 via a steering control mechanism 42, which will be described later. By rotating the handlebars 16, the operator can change the direction (turning angle) of the rear wheels 12 according to the direction of rotation. When the handlebars 16 are not being rotated (when traveling straight), the turning angle of the rear wheels 12 is 0°.

[0029] The cargo handling operation unit 17 includes a lift lever and a tilt lever. The lift lever and the tilt lever are connected to the cargo handling device 20 via a cargo handling control mechanism 43, which will be described later. An operator can operate the cargo handling device 20 by operating the lift lever and the tilt lever.

[0030] The parking brake includes a brake mechanism provided inside the vehicle body 10 and an operating unit (in this embodiment, an operating lever) provided on the dashboard in front of the driver's seat 13. When the operator operates the operating unit to tilt it from a predetermined first position to a predetermined second position, the brake mechanism keeps at least one of the front wheels 11 and the rear wheels 12 stationary (locks the wheels). In this embodiment, this state is referred to as the on state of the parking brake. On the other hand, when the operator operates the operating unit to return from the second position to the first position, the brake mechanism releases the stationary state (unlocks the wheels). In this embodiment, this state is referred to as the off state of the parking brake. Note that the operating unit does not have to be an operating lever and may be, for example, an operating pedal that can be operated by the operator with his or her foot.

[0031] 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 made up of a pair of left and right front pillars, a pair of left and right rear pillars, and a roof.

[0032] The cargo handling device 20 includes a mast 21, a lift bracket 22, a fork 23, a backrest 24, a tilt cylinder 25, and a lift cylinder 26.

[0033] The mast 21 is provided at the front of the vehicle body 10 and raises and lowers the fork 23. The mast 21 comprises an outer mast and an inner mast. The outer mast comprises a pair of left and right guide rails extending vertically, and a cross beam connecting the upper ends of the guide rails. The inner mast rises and lowers along the guide rails of the outer mast at half the speed of the fork 23 and backrest 24. The outer mast does not rise or lower.

[0034] The lift bracket 22 supports the forks 23 and moves up and down along the mast 21. The forks 23 are a pair of left and right L-shaped arms and are provided on the front surface of the lift bracket 22. The forks 23 hold the cargo. The backrest 24 is a frame that prevents the cargo held by the forks 23 from tipping backward, and is provided on the upper part of the lift bracket 22. When the mast 21 (inner mast) moves up and down, the lift bracket 22, the forks 23, and the backrest 24 also move up and down.

[0035] The tilt cylinder 25 is a hydraulic cylinder for tilting the mast 21 (forks 23) 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 (forks 23) tilts forward, and when the tilt lever is tilted backward, the tilt cylinder 25 contracts and the mast 21 (forks 23) tilts backward. When the tilt lever is returned to the neutral position (a position that does not tilt the mast 21 either forward or backward), the tilting of the mast 21 (forks 23) stops.

[0036] 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 contracts and the inner mast lowers, 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 (a position where the inner mast is neither tilted forward nor backward), the raising and lowering of the inner mast stops.

[0037] The sensor unit 30 corresponds to a "monitoring unit" and includes a load sensor 31, a vehicle speed sensor 32, a turning angle sensor 33, an accelerator sensor 34, and a brake sensor 35. The measurements taken by each of the sensors 31 to 35 correspond to "monitoring target values." Furthermore, the sensor unit 30 includes a human detection sensor SA and an acceleration sensor SB.

[0038] The load sensor 31 measures the load of the cargo held by the forks 23. The load sensor 31 may be, for example, a pressure sensor that measures the presence or absence of a load from the pressure (hydraulic pressure) in the lift cylinder 26. The first control unit 40 and / or the second control unit 50 can calculate the value of the load based on the pressure (hydraulic pressure) value in the lift cylinder 26 measured by the pressure sensor. The vehicle speed sensor 32 measures the speed of the vehicle body 10. The vehicle speed sensor 32 may be, for example, a speed sensor that measures the traveling speed (vehicle speed) of the vehicle body 10 from the rotation speed and rotation direction of the travel motor. The turning angle sensor 33 measures the turning angle of the rear wheels 12. The turning angle sensor 33 may be, for example, an angle sensor that measures the turning angle of the rear wheels 12 from the rotation angle of the handlebars 16, or an angle sensor that measures the turning angle of the rear wheels 12 from the rotation angle of the pivot of the rear wheels 12. The accelerator sensor 34 measures the accelerator opening of the accelerator 14. The brake sensor 35 measures the state of the brake 15 (on state / off state).

[0039] The human detection sensor SA is configured to detect people around the vehicle body 10. The human detection sensor SA of this embodiment is provided under the roof of the head guard 18 and includes a camera unit that captures images of the area around the vehicle body 10 to generate video data, and a video processing unit that extracts people from the video data. The video processing unit can extract people from the video data using any known image processing method and can also calculate the distance from the vehicle body 10 to the person. That is, the human detection sensor SA can distinguish between people who are relatively far away and people who are relatively close. The human detection sensor SA includes, for example, at least one drive recorder (corresponding to a camera unit and a video processing unit). When the human detection sensor SA detects a person, it outputs a detection signal to the first control unit 40, the second control unit 50, and / or the third control unit 60. The human detection sensor SA can be provided at any location on the vehicle body 10.

[0040] The acceleration sensor SB is configured to detect the acceleration of the vehicle body 10. In this embodiment, the acceleration sensor SB is provided in the second control unit 50, and detects acceleration in the front-rear direction (first acceleration), acceleration in the left-right direction (second acceleration), and acceleration in the up-down direction (third acceleration). The acceleration sensor SB outputs, as detection signals, signals relating to the instantaneous values ​​of the first acceleration, second acceleration, and third acceleration to at least the second control unit 50. The acceleration sensor SB can be provided at any location on the vehicle body 10.

[0041] The sensor unit 30 may include sensors other than the sensors 31 to 35. For example, the sensor unit 30 may include a sensor that measures the direction and amount of rotation of the handle 16, or a sensor that measures the amount of operation of the cargo handling operation unit 17 (lift lever and tilt lever). The sensor unit 30 may also include a sensor (seat leaving sensor) that detects the operator leaving the driver's seat 13, or a sensor provided in the driver's seat 13 that detects whether a seat belt is fastened or not fastened. The sensor that detects leaving the seat (seat leaving sensor) is, for example, a pressure sensor or microswitch provided in the driver's seat 13, or an infrared sensor provided near the driver's seat 13. The seat belt sensor is, for example, a sensor that detects whether a seat belt is fastened or not fastened by detecting whether the tongue plate of the seat belt is inserted into the buckle. The sensor unit 30 may also include a sensor that detects whether the key switch is in the key-on state or the key-off state, and the sensor outputs a detection signal to the first control unit 40, the second control unit 50 and / or the third control unit 60.

[0042] The first control unit 40 is provided inside the vehicle body 10 and controls the operation of the vehicle body 10. As shown in Fig. 2, the first control unit 40 includes a travel control mechanism 41, a steering control mechanism 42, a cargo handling control mechanism 43, and a warning control mechanism 44.

[0043] The cruise control mechanism 41 acquires signals related to measurement values ​​(hereinafter referred to as measurement signals) from the sensor unit 30 and controls the front wheels 11, which are drive wheels. The cruise control mechanism 41 includes, for example, a cruise controller, a cruise inverter, a cruise motor, and a hydraulic circuit. The cruise control mechanism 41 acquires the vehicle speed of the vehicle body 10 based on the measurement signal from the vehicle speed sensor 32, and calculates a target speed based on the measurement signal from the accelerator sensor 34 and / or the measurement signal from the brake sensor 35. The cruise control mechanism 41 performs PI control or PID control to bring the vehicle speed closer to the target speed. The target speed is calculated, for example, using the formula: target speed = set speed x accelerator opening [%]. The set speed is a speed that is preset in the cruise controller.

[0044] The steering control mechanism 42 acquires measurement signals relating to the direction and amount of rotation of the steering wheel 16 from the sensor unit 30, and controls the rear wheels 12, which are steered wheels. The steering control mechanism 42 may acquire measurement signals from a turning angle sensor 33. The steering control mechanism 42 includes, for example, a steering motor, a power steering device, a hydraulic circuit, etc.

[0045] The cargo handling control mechanism 43 acquires measurement signals from the cargo handling operation unit 17 (lift lever and tilt lever) via the sensor unit 30 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.

[0046] The warning control mechanism 44 acquires a measurement signal from the sensor unit 30 and controls the warning unit 3. The warning control mechanism 44 includes a warning controller configured with a digital circuit such as a microcomputer. The warning control mechanism 44 sets a setting value for the control operation of the warning unit 3, and when the measurement value of the sensor unit 30 exceeds the setting value, outputs a warning instruction to the warning unit 3 to cause the warning unit 3 to issue a warning.

[0047] The warning unit 3 includes, for example, a stack light that emits visible light as a warning to the operator, and a buzzer that emits a sound other than voice (buzzer sound) as a warning to the operator. For example, the warning control mechanism 44 sets a set value for the vehicle speed and a set value for the load, and causes the stack light and / or the buzzer to issue a warning when the measurement value of the sensor unit 30 exceeds the set value (in the case of excessive vehicle speed or excessive load). Note that the warning unit 3 may issue a warning when a dangerous behavior defined by the second control unit 50 occurs.

[0048] 3 shows a block diagram of the second control unit 50 and the audio alert unit 2. The second control unit 50 sets a definition of a dangerous act, and instructs the audio alert unit 2 to play warning audio data when the definition is met.

[0049] The second control unit 50 includes, for example, a data logger unit (DLU) and is provided on the front pillar of the head guard 18. The second control unit 50 includes an input unit 51, a storage unit 52, a processing unit 53, and an output unit 54. The second control unit 50 is configured to be able to communicate with an external device (for example, a personal computer provided outside the forklift 1), and can update multiple pieces of dangerous act data, which will be described later, by communicating with the external device.

[0050] The input unit 51 acquires measurement signals (including detection signals from the human detection sensor SA and the acceleration sensor SB) from the sensor unit 30. Information about the measurement signals acquired by the input unit 51 is output to the storage unit 52 and / or the processing unit 53.

[0051] The storage unit 52 stores a plurality of pieces of risky behavior data. The risky behavior data is data in which definitions of risky behaviors are set (for example, first data to third data described below). The storage unit 52 also stores data for changing part of the definitions of risky behaviors (for example, fourth data and fifth data described below).

[0052] The definition of a dangerous act is, for example, a unique dangerous act ID (hereinafter referred to as ID), the name of the dangerous act, and the criteria for determining the dangerous act, all of which are linked together. The definition of a dangerous act may include restricted acts of traveling and / or loading and unloading. Note that the structure of the dangerous act data is the same as the structure of the dangerous act data described in Patent Document 2, which was explained in the background art, and therefore a detailed explanation will be omitted here.

[0053] The storage unit 52 of this embodiment includes, as the dangerous behavior data, first data related to a parking brake warning, second data related to a human detection warning, and third data related to an impact detection warning. The storage unit 52 of this embodiment also includes, as data for linking the operating state of the vehicle main body 10 (including the loading device 20) with the volume of the warning audio data when it is played, fourth data related to the audio alert volume, and fifth data related to a volume limit warning as data for changing (limiting) the linked volume.

[0054] In this embodiment, the volume is set to seven levels: level 0 (displayed as "--" on the display 4) and levels 1 to 6, where 0 means the volume is zero and the higher the number from 1 to 6, the higher the volume. The operator can change the volume level on the display 4. Note that changing the volume level is simply referred to as changing the volume.

[0055] The first data is, for example, a combination of ID = "001", name of dangerous act = "parking brake warning", judgment condition (first judgment condition) = "key switch is in key on state, parking brake is in off state, and operator has left the driver's seat 13 (seat leaving sensor detects leaving)", and judgment condition (second judgment condition) = "key switch is in key off state, and parking brake is in off state".

[0056] The second data is, for example, a combination of ID = "002", the name of the dangerous act = "human detection warning", and the judgment condition = "human detection sensor SA detects a person". Note that the second data may be composed of the following 2-1 data, 2-2 data, and 2-3 data.

[0057] The 2-1 data is, for example, a combination of ID = "002-1", a name of the dangerous behavior = "human detection warning", and a judgment condition = "the human detection sensor SA detects a person, the distance to the person is short, and the vehicle body 10 is moving". The 2-2 data is, for example, a combination of ID = "002-2", a name of the dangerous behavior = "human detection warning", and a judgment condition = "the human detection sensor SA detects a person, the distance to the person is short, and the vehicle body 10 is stopped". The 2-3 data is, for example, a combination of ID = "002-3", a name of the dangerous behavior = "human detection warning", and a judgment condition = "the human detection sensor SA detects a person, and the distance to the person is long". The operator can change the threshold value (the threshold value for distinguishing between short distance and long distance) on the display 4.

[0058] The third data is, for example, a combination of ID = "003", name of the dangerous act = "impact detection warning", and judgment condition = "the acceleration [G] detected by the acceleration sensor SB exceeds a predetermined threshold value". The threshold value may be set to a common value (e.g., 3.0 [G]) for the forward / backward acceleration (first acceleration), left / right acceleration (second acceleration), and up / down acceleration (third acceleration), or individual values ​​may be set. In the case of individual values, exceeding at least one threshold value becomes the judgment condition. The operator can change the threshold value on the display 4.

[0059] The fourth data includes a plurality of operation states and sound volumes associated with each operation state. In this embodiment, the plurality of operation states include a first operation state in which neither traveling nor loading / unloading is performed, a second operation state in which traveling is performed but not loading / unloading, a third operation state in which loading / unloading is performed but not traveling, and a fourth operation state in which traveling and loading / unloading are performed. The four sound volumes associated with each operation state may be set to the same level, or may be set to different levels. The operator can change the sound volumes associated with each operation state on the display 4.

[0060] The fifth data is data for limiting the volume of the volume associated with each operating state. The fifth data includes information regarding an ON / OFF setting for limiting the volume, information regarding the volume when the volume is limited, and information regarding the time period during which the volume is limited. The operator can change the ON / OFF setting, the volume, and the time period on the display 4.

[0061] In this embodiment, the ID is a number, but the ID may be a letter or a symbol, or a combination of letters, symbols, and numbers. The name of the dangerous act is also an example, and can be set as appropriate.

[0062] The processing unit 53 determines whether or not the definition (determination condition) of each risky act is satisfied based on the measurement signal of the sensor unit 30 input to the input unit 51, and identifies risky act data that satisfies the definition. The processing unit 53 also determines the operating state of the vehicle main body 10 (which of the first to fourth operating states it is) and the volume associated with the operating state based on the measurement signal of the sensor unit 30 input to the input unit 51. The processing unit 53 also includes a timer circuit for acquiring the current time, and identifies the time period during which volume restriction is to be implemented and the volume during volume restriction.

[0063] When the definition of a dangerous act is satisfied, the output unit 54 instructs the audio alert unit 2 to play audio data. Specifically, the output unit 54 transmits a first signal to the audio alert unit 2, the first signal relating to the ID of the dangerous act data identified by the processing unit 53 and the volume associated with the operating state identified by the processing unit 53 (the volume limited if volume limiting is performed in the fifth data). The output unit 54 also transmits a second signal relating to the restricted act associated with the ID to the first control unit 40 as a restriction instruction. The restriction instruction is, for example, to stop the traveling operation of the vehicle body 10 and / or stop the loading operation of the loading device 20. The timing of transmission of the first signal (playback instruction) and the second signal (restriction instruction) may be the same or different.

[0064] The audio alert unit 2 issues an audio warning (audio alert) upon receiving a playback instruction from the second control unit 50. The audio of the present invention is audio including linguistic audio that can convey information to the operator. The audio alert unit 2 is provided, for example, below the roof of the head guard 18. The audio alert unit 2 includes an audio data storage unit 2A, an audio data processing unit 2B, and a speaker 2C.

[0065] The voice data storage unit 2A stores a plurality of voice data in which data of a warning voice (warning voice data) is linked to an ID. Note that the configuration of the voice data is the same as the configuration of the voice data described in Patent Document 2 explained in the background art, and therefore a detailed explanation will be omitted here.

[0066] The voice data storage unit 2A of this embodiment stores first voice data corresponding to the first data, second voice data corresponding to the second data, third voice data corresponding to the third data, and each voice data corresponding to each other dangerous data.

[0067] The first voice data is, for example, ID = "001" linked to warning voice data (voice data for parking brake warning) = "Please apply the parking brake." The second voice data is, for example, ID = "002" linked to warning voice data (voice data for human detection warning) = "There is a person." The third voice data is, for example, ID = "003" linked to warning voice data (voice data for impact detection warning) = "An impact has been detected."

[0068] When the second data is composed of 2-1 data, 2-2 data, and 2-3 data, the second voice data is also composed of 2-1 voice data, 2-2 voice data, and 2-3 voice data. The 2-1 voice data is, for example, a combination of ID = "002-1" and warning voice data = "Please apply the brakes. There is a person nearby." The 2-2 voice data is, for example, a combination of ID = "002-2" and warning voice data = "There is a person nearby." The 2-3 voice data is, for example, a combination of ID = "002-3" and warning voice data = "There is a person nearby."

[0069] The audio data processing unit 2B acquires the first signal output from the output unit 54 and plays back the warning audio data linked to the ID of the first signal in the audio data storage unit 2A at the volume specified in the first signal. The audio data processing unit 2B includes, for example, a voice player module.

[0070] The speaker 2C is connected to the audio data processing unit 2B and outputs the sound of the warning audio data being reproduced by the audio data processing unit 2B. The speaker 2C can adjust the volume of the sound under the control of the second control unit 50. That is, the speaker 2C can output the sound at the volume specified by the first signal.

[0071] FIG. 4 shows the relationship between the third control unit 60 and the display 4. The third control unit 60 is provided inside the vehicle body 10 and controls the display 4. The third control unit 60 is configured with a digital circuit such as a microcomputer. The third control unit 60 displays a setting screen on the display 4 for changing and / or disabling the definition of a dangerous act, and changes and / or disabling the definition in response to an input operation on the display 4. Similarly, the third control unit 60 displays a setting screen on the display 4 for changing and / or disabling the setting value of the control operation for the warning unit 3, and changes and / or disabling the setting value in response to an input operation on the display 4. Note that changing the definition of a dangerous act includes changing the volume within a range of 1 to 6, and disabling the definition of a dangerous act includes changing the volume to 0.

[0072] The display 4 is provided on the dashboard of the vehicle body 10 and includes a display unit 4A and an input unit 4B. The display 4 is, for example, a liquid crystal display, and the display unit 4A and the input unit 4B are, for example, liquid crystal screens controlled by the third control unit 60.

[0073] The display unit 4A displays, for example, a screen including a menu area A1 and a submenu area A2. One item is displayed in the menu area A1, and multiple (three in this embodiment) sub-items and a cursor are displayed in the submenu area A2.

[0074] The input unit 4B includes various switches B1 to B4. In this embodiment, switch B1 is a switch marked "OK" and is used to confirm a selected item or fix a setting. Switch B2 is a switch marked "C" and is used to return to the previous screen. Switch B3 is a switch marked "▲" and is used to move the cursor up or increase a numerical value. Switch B4 is a switch marked "▼" and is used to move the cursor down or decrease a numerical value. Note that the various switches B1 to B4 may be physical switches.

[0075] In the forklift 1 according to this embodiment, the definition of a dangerous act can be changed and / or invalidated on the display 4 without changing the software for the audio alert (for example, software for updating multiple pieces of dangerous act data stored in the storage unit 52). Therefore, the forklift 1 according to this embodiment can significantly reduce the number of times the software for the audio alert needs to be changed.

[0076] FIG. 5 shows a screen displayed on the display unit 4A for changing or disabling the set value of the control operation (speed warning) for the warning unit 3.

[0077] The control operation (speed warning) is an operation in which, when the vehicle speed (measured value) of the vehicle body 10 exceeds a set value, the warning control mechanism 44 of the first control unit 40 issues a warning instruction to the warning unit 3. Upon receiving the warning instruction, the warning unit 3 emits, for example, a buzzer sound.

[0078] Screen S1 displayed on display unit 4A is an administrator setting screen. The administrator setting screen is a screen that can be operated, for example, by an operator (administrator) with predetermined authority. On screen S1, an "Administrator Setting" item is displayed in menu area A1, sub-items including "Speed ​​Warning" are displayed in sub-menu area A2, and the cursor is positioned on "Speed ​​Warning." When switch B1 is operated in this state, third control unit 60 causes screen S2 to be displayed on display unit 4A. Furthermore, when switch B2 is operated while screen S2 is displayed, third control unit 60 causes display unit 4A to display screen S1, which is the previous screen.

[0079] On screen S2, the "Speed ​​Warning" item is displayed in menu area A1, and a setting value area A3 is displayed in place of submenu area A2. A numerical input field for inputting a setting value is displayed in setting value area A3, with the range of values ​​that can be input displayed below it. The setting value can be increased or decreased within the range of 1 to 15 km / h by operating switches B3 and B4. By operating switches B3 and B4 and entering "--" in the numerical input field, the setting value is invalidated and no warning is issued (no buzzer sound is generated).

[0080] In this embodiment, the setting value of the control operation (speed warning) is linked to the threshold value of the dangerous behavior (overspeeding). The dangerous behavior (overspeeding) is an behavior in which the vehicle speed (measured value) of the vehicle body 10 exceeds a threshold value, and the threshold value is a vehicle speed value included in the judgment conditions of the dangerous behavior data. When the vehicle speed exceeds the threshold value, the second control unit 50 instructs the audio alert unit 2 to play. Upon receiving the playback instruction, the audio alert unit 2 issues an audio alert.

[0081] When the set value of the control operation (speed warning) is changed or disabled by an input operation, the third control unit 60 issues a change instruction to change or disable the threshold value of the dangerous act (excessive speeding) in conjunction with the changed set value. Upon receiving the change instruction, the second control unit 50 changes or disables the threshold value of the dangerous act (excessive speeding) in conjunction with the set value of the control operation (speed warning).

[0082] The second control unit 50 of this embodiment changes the set value of the control operation (speed warning) and the threshold value of the dangerous act (excessive speeding) so that they are the same value. As a result, when the vehicle speed (measured value) of the vehicle body 10 exceeds the set value, the warning unit 3 emits a buzzer sound and the audio alert unit 2 issues an audio alert. When the set value is disabled, the warning unit 3 does not emit a buzzer sound and the audio alert unit 2 does not issue an audio alert.

[0083] As described above, the threshold value for the risky act is changed or invalidated in conjunction with the set value of the control operation, so there is no need to change or invalidate the set value and the threshold value separately. As a result, the time required for the change or invalidation can be reduced. Note that if the default set value and the default threshold value are different, instead of changing the set value and the threshold value to be the same, the amount of increase or decrease in the set value and the amount of increase or decrease in the threshold value may be made the same.

[0084] The above describes the set value of the control operation (speed warning) and the threshold value of the dangerous act (excessive speeding), but the set value of another control operation may be linked and linked to the threshold value of another dangerous act as long as the object being monitored by the sensor unit 30 is the same. For example, by linking the set value of the control operation (excessive load) with the threshold value of the dangerous act (excessive load) (for example, by making the set value and the threshold value the same), when the load is exceeded, the warning unit 3 may emit a buzzer sound and the audio alert unit 2 may give an audio alert.

[0085] 6 shows screens S11 to S14 that are displayed on the display unit 4A and are used to change or invalidate the definition of a risky act. On screens S11 to S14, operating switch B1 advances to the next screen, and operating switch B2 returns to the previous screen.

[0086] On the screen S11, the menu area A1 displays the item "Administrator Settings," and the sub-menu area A2 displays sub-items including "Riskful Action Determination," with the cursor positioned on "Riskful Action Determination."

[0087] On screen S12, the menu area A1 displays the item "Riskful Action Determination," and the sub-menu area A2 displays sub-items "Riskful Action 1" to "Riskful Action 3," with the cursor positioned on "Riskful Action 1." "Riskful Action 1" to "Riskful Action 3" are, for example, the names of risky actions included in the definition of risky actions. On screen S12, by operating switch B4, "Riskful Action 4" and onward can be displayed. Note that the sub-items on screen S12 from "Riskful Action 1" onward may be displayed on screen S11 instead of "Riskful Action Determination."

[0088] Screen S13 corresponds to the "ON / OFF setting screen" of the present invention. On screen S13, the item "Dangerous Action 1" is displayed in menu area A1, and an ON / OFF setting area A4 is displayed instead of submenu area A2. "ON", "OFF", and a cursor are displayed in ON / OFF setting area A4, and "ON" or "OFF" can be selected by moving the cursor by operating switches B3 and B4. When "Dangerous Action 1" is set to "ON", the second control unit 50 enables the definition of "Dangerous Action 1" and issues a playback command to the audio alert unit 2 when the definition (the judgment condition included in the definition) is satisfied. On the other hand, when "Dangerous Action 1" is set to "OFF", the second control unit 50 disables the definition of "Dangerous Action 1" and does not issue a playback command to the audio alert unit 2.

[0089] On screen S14, the menu area A1 displays the item "Risky Act 1," and the threshold area A5 is displayed instead of the submenu area A2. The threshold area A5 displays a numerical input field for inputting a threshold value, with a reference value displayed below it. The threshold value can be increased or decreased within a predetermined numerical range by operating switches B3 and B4. Instead of displaying the previous screen, screen S13, it is also possible to input "--" into the numerical input field on screen S14, and to invalidate the threshold by inputting "--." If the threshold for "Risky Act 1" is invalidated, the definition of "Risky Act 1" is invalidated.

[0090] The reference value displayed in the threshold area A5 is the same monitored value as the threshold, for example, the maximum monitored value within a predetermined time period including the occurrence of risky behavior 1. When "risky behavior 1" is speeding, the second control unit 50 stores the vehicle speed measured by the sensor unit 30 from the occurrence of the speeding until a predetermined time period (for example, 5 minutes) has elapsed, and identifies the maximum vehicle speed. The third control unit 60 displays the maximum vehicle speed as a reference value in the threshold area A5.

[0091] When the threshold value for "Risky Act 1" is changed or invalidated by an input operation, the third control unit 60 issues a change instruction to change or invalidate the threshold value for "Risky Act 1." Upon receiving the change instruction, the second control unit 50 changes or invalidates the threshold value for "Risky Act 1."

[0092] 7 to 13 show screens S101 to S144 displayed on the display unit 4A for changing or invalidating the definition of other risky acts. Note that in Figs. 7 to 11, the reference value (for example, the maximum value of the previous measurement value) displayed in the threshold area A5 is omitted.

[0093] [Sudden turn warning] Screens S101 and S102 are screens for changing or disabling the definition of a dangerous act (sudden turn warning). The definition of a dangerous act (sudden turn warning) includes the following judgment condition for a sudden turn warning: "The turning angle (left turning angle or right turning angle) of the rear wheels 12 exceeds the limit start angle [°], and the vehicle speed exceeds the vehicle speed limit value [km / h]." When this definition (judgment condition) is met, the audio alert unit 2 plays warning audio data stating "A sharp turn has been detected" as an audio alert.

[0094] On screen S101, the menu area A1 displays the "Administrator Settings" item, and sub-menu area A2 displays sub-items including "Sudden Turn Warning," with the cursor positioned on "Sudden Turn Warning." On screen S102, the menu area A1 displays the "Sudden Turn Warning" item, and threshold area A5 displays a numerical input field and numerical range. The numerical input field is used to input an increase or decrease value [km / h] in the vehicle speed limit value as a threshold. The threshold value can be increased or decreased by operating switches B3 and B4, and entering "--" in the numerical input field disables the setting and results in no playback command.

[0095] When the threshold value (the increase / decrease value of the vehicle speed limit value) is changed or invalidated by an input operation, the third control unit 60 issues a change instruction to change or invalidate the vehicle speed limit value. Upon receiving the change instruction, the second control unit 50 changes or invalidates the vehicle speed limit value for the sudden turn warning.

[0096] [Sudden acceleration / deceleration warning] Screens S103 and S104 are screens for collectively changing or invalidating the definitions of the dangerous actions (sudden acceleration while moving forward, sudden acceleration while moving backward, sudden deceleration while moving forward, and sudden deceleration while moving backward). The definition of the dangerous action (sudden acceleration while moving forward) includes the judgment condition "accelerating by more than a first threshold value [km / h / s] per second while moving forward," and the definition of the dangerous action (sudden acceleration while moving backward) includes the judgment condition "accelerating by more than a second threshold value [km / h / s] per second while moving backward." The definition of the dangerous action (sudden deceleration while moving forward) includes the judgment condition "deceleration by more than a third threshold value [km / h / s] per second while moving forward," and the definition of the dangerous action (sudden deceleration while moving backward) includes the judgment condition "deceleration by more than a fourth threshold value [km / h / s] per second while moving backward." If any of the definitions (judgment conditions) is satisfied, the audio alert unit 2 during sudden acceleration plays warning audio data saying "Sudden acceleration has been detected" as an audio alert, and the audio alert unit 2 during sudden deceleration plays warning audio data saying "Sudden deceleration has been detected" as an audio alert.

[0097] On screen S103, the menu area A1 displays an "Administrator Settings" item, and the submenu area A2 displays submenus including "Sudden Acceleration / Deceleration Warning." The cursor is positioned on "Sudden Acceleration / Deceleration Warning." On screen S103, dangerous actions (sudden acceleration while moving forward, sudden acceleration while moving backward, sudden deceleration while moving forward, and sudden deceleration while moving backward) are collectively displayed as "Dangerous Actions (Sudden Acceleration / Deceleration Warning)." On screen S104, the menu area A1 displays the "Sudden Acceleration / Deceleration Warning" item, and the threshold area A5 displays a numerical input field and a numerical range. A common threshold [km / h / s] for the first, second, third, and fourth thresholds is input into the numerical input field. The common threshold is an absolute value of acceleration, and its value can be increased or decreased by operating switches B3 and B4. When "--" is input into the numerical input field by operating switches B3 and B4, the common threshold is disabled, and no regeneration command is issued.

[0098] When the common threshold is changed or invalidated by an input operation, the third control unit 60 issues a change instruction to change or invalidate the first threshold, the second threshold, the third threshold, and the fourth threshold all at once. Upon receiving the change instruction, the second control unit 50 changes or invalidates the first threshold, the second threshold, the third threshold, and the fourth threshold included in each definition all at once.

[0099] [Sudden reversal warning] Screens S105 and S106 are screens for enabling or disabling the definition of dangerous behavior (sudden reversal warning). The definition of dangerous behavior (sudden reversal warning) includes a condition for determining the sudden reversal warning: "The time during which the vehicle speed when reversing forward or backward is equal to or less than the speed limit [km / h] is less than a first time [s]." If this definition (determination condition) is met, the audio alert unit 2 plays warning audio data saying, "Please pause and then reverse" as an audio alert.

[0100] The forward / reverse reversal operation is an operation that occurs, for example, when the accelerator 14 is left on and the forward / reverse lever located in front of the driver's seat 13 is switched from a position tilted forward (forward position) to a position tilted backward (reverse position), or when it is switched from the reverse position to the forward position.

[0101] On screen S105, the item "Administrator Settings" is displayed in menu area A1, and sub-items including "Sudden Reverse Warning" are displayed in sub-menu area A2, with the cursor positioned on "Sudden Reverse Warning." On screen S106, the item "Sudden Reverse Warning" is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0102] When "ON" is set on screen S106, the second control unit 50 enables the definition of the dangerous act (sudden reversal warning) and issues a playback instruction to the audio alert unit 2 when the definition is met. On the other hand, when "OFF" is set on screen S106, the second control unit 50 disables the definition of the dangerous act (sudden reversal warning) and does not issue a playback instruction to the audio alert unit 2. Note that instead of displaying the ON / OFF setting area A4 on screen S106, a threshold area A5 for changing or disabling (no playback instruction) the speed limit [km / h] may be displayed.

[0103] [Loaded load] Screens S107 and S108 are screens for collectively changing the load threshold for multiple dangerous actions whose definitions include the load threshold [kg]. The multiple dangerous actions include, for example, excessive load, a warning about simultaneous operation while traveling, and a warning about simultaneous operation while loading and unloading, which will be described later. For example, when the definition of excessive load is met, the audio alert unit 2 plays warning audio data saying "Excessive load" as an audio alert.

[0104] On screen S107, the menu area A1 displays the item "Administrator Settings," and sub-menu area A2 displays sub-items including "Loaded Load," with the cursor positioned on "Loaded Load." On screen S107, multiple dangerous actions that include a load threshold in their definition are displayed together as "Dangerous Actions (Loaded Load)." On screen S108, the menu area A1 displays the item "Loaded Load," and threshold area A5 displays a numeric input field and a numeric range. The numeric value of the load threshold is entered in the numeric input field. The numeric value of the load threshold can be increased or decreased in increments of a predetermined amount (for example, 10 kg) by operating switches B3 and B4.

[0105] When the load threshold is changed by an input operation, the third control unit 60 issues a change instruction to collectively change the load thresholds included in the definitions of multiple risky actions. Upon receiving the change instruction, the second control unit 50 collectively changes the load thresholds included in the definitions of multiple risky actions.

[0106] [Driving and simultaneous operation warning] Screens S109 and S110 are screens for changing or disabling the definition of the dangerous act (warning for simultaneous operation while traveling). The definition of the dangerous act (warning for simultaneous operation while traveling) includes "during loading and unloading operations" as a judgment condition (condition for simultaneous operation while traveling) for the warning for dangerous act (warning for simultaneous operation while traveling). In this embodiment, the loading and unloading operations include the raising and lowering of the forks 23, and the traveling operations include traveling with turning (forward or reverse) and traveling without turning (forward or reverse), so there are four definitions of the dangerous act (warning for simultaneous operation while traveling). If any of the definitions (judgment conditions) is met, the audio alert unit 2 plays warning audio data saying "Do not perform simultaneous operations" as an audio alert.

[0107] On screen S109, the menu area A1 displays an "Administrator Settings" item, and sub-menu area A2 displays sub-items including "Driving Simultaneous Operation Warning," with the cursor positioned on "Driving Simultaneous Operation Warning." On screen S110, the menu area A1 displays the "Driving Simultaneous Operation Warning," and a condition setting area A6 is set. A condition selection field is displayed in the condition setting area A6, and various conditions that can be selected by operating switches B3 and B4 are displayed in the condition selection field. The various conditions include "Always," "Loaded," "Turning," "Turning with Loaded," and "OFF." Note that the above various conditions may also include "Exceeding Vehicle Speed ​​Limit."

[0108] The third control unit 60 issues a change instruction to change or disable the definition of the dangerous act (driving simultaneous operation warning) according to the selected condition. The second control unit 50, upon receiving the change instruction, changes or disables the definition of the dangerous act (driving simultaneous operation warning). For example, if "Always" is selected, the second control unit 50 issues a playback instruction to the audio alert unit 2 when any of the four definitions of the dangerous act (driving simultaneous operation warning) is met. If "Loaded" is selected, the second control unit 50 adds a load threshold condition to the above definition. The load threshold can be changed on the screen S108. If "Turning" is selected, the second control unit 50 adds a turning angle condition to the above definition. This limits the driving operation to driving operation with turning. If "Turning with Load" is selected, the second control unit 50 adds a load threshold condition and a turning angle condition to the above definition. If "OFF" is selected, the second control unit 50 disables the above definition and does not issue a playback instruction.

[0109] [Simultaneous cargo handling operation warning] Screens S111 and S112 are screens for changing or disabling the definition of a dangerous act (simultaneous cargo-handling operation warning). The definition of a dangerous act (simultaneous cargo-handling operation warning) includes "multiple cargo-handling operations in progress" as a judgment condition (simultaneous cargo-handling operation condition) for a simultaneous cargo-handling operation warning. Multiple cargo-handling operations are two or more different cargo-handling operations, such as tilting the mast 21 and raising and lowering the forks 23. When the definition (judgment condition) is met, the audio alert unit 2 plays warning audio data saying "Do not perform simultaneous operations" as an audio alert.

[0110] On screen S111, the "Administrator Settings" item is displayed in menu area A1, and sub-items including "Simultaneous Loading Operation Warning" are displayed in sub-menu area A2, with the cursor positioned on "Simultaneous Loading Operation Warning." On screen S112, the "Simultaneous Loading Operation Warning" item is displayed in menu area A1, and condition setting area A6 is set. The condition selection field in condition setting area A6 displays various conditions that can be selected by operating switches B3 and B4. The various conditions include "Always," "Load Present," and "OFF." These conditions are the same as those for the simultaneous loading and unloading operation warning.

[0111] The third control unit 60 issues a change instruction to change or disable the definition of the dangerous act (simultaneous loading and unloading operation warning) according to the selected condition. The second control unit 50, upon receiving the change instruction, changes or disables the definition of the dangerous act (simultaneous loading and unloading operation warning). For example, if "Always" is selected, the second control unit 50 issues a playback instruction to the audio alert unit 2 when the above definition is met. If "Loaded" is selected, the second control unit 50 adds a load threshold condition to the above definition. If "OFF" is selected, the second control unit 50 disables the above definition and does not issue a playback instruction.

[0112] [Turning warning during claw removal] Screens S113 and S114 are screens for enabling or disabling the definition of a dangerous act (turning warning while removing claws). The definition of a dangerous act (turning warning while removing claws) includes "removing claws and turning" as a determination condition for the turning warning while removing claws. When this definition (determination condition) is met, the audio alert unit 2 plays warning audio data saying "Do not turn, claws are being removed" as an audio alert.

[0113] The second control unit 50 determines that the forks 23 are being removed when, for example, "the load is less than a fifth threshold value [kg] and the distance traveled backward by the vehicle body 10 from the time the load became less than the fifth threshold value is within a predetermined first distance [m]." The fifth threshold value is set separately from the load threshold value and is set to a value that can distinguish between a loaded state and an unloaded state. The first distance is set to a value that can determine whether the forks 23 have completely removed from the pallet containing the load. The second control unit 50 also determines that the forks 23 are being removed when, for example, "the turning angle of the rear wheels 12 is equal to or greater than a predetermined first angle [°]." The first angle can be set to any value greater than 0 [°].

[0114] On screen S113, the item "Administrator Settings" is displayed in menu area A1, and sub-items including "Turn Warning During Claw Removal" are displayed in sub-menu area A2, with the cursor positioned on "Turn Warning During Claw Removal." On screen S114, the item "Turn Warning During Claw Removal" is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0115] When "ON" is set on the screen S114, the second control unit 50 enables the definition of the dangerous action (turning warning while removing claws) and issues a playback instruction to the audio alert unit 2 when the definition is met. On the other hand, when "OFF" is set on the screen S114, the second control unit 50 disables the definition of the dangerous action (turning warning while removing claws) and does not issue a playback instruction to the audio alert unit 2. Note that instead of displaying the ON / OFF setting area A4 on the screen S114, a threshold area A5 for changing at least one of the fifth threshold, the first distance, and the first angle may be displayed.

[0116] [Warning when driving other than backward leaning] Screens S115 and S116 are screens for changing or disabling the definition of dangerous behavior (warning for driving in a manner other than leaning backward). The definition of dangerous behavior (warning for driving in a manner other than leaning backward) includes a judgment condition for warning for driving in a manner other than leaning backward, which is "driving with the forks 23 tilted forward, or driving with the forks 23 horizontal." When this definition (judgment condition) is met, the audio alert unit 2 plays warning audio data as an audio alert saying, "Lean backward, you are driving."

[0117] On screen S115, the menu area A1 displays the "Administrator Settings" item, and sub-menu area A2 displays sub-items including "Warning when driving other than leaning backward," with the cursor positioned on "Warning when driving other than leaning backward." On screen S116, the menu area A1 displays the "Warning when driving other than leaning backward" item, and condition setting area A6 is set. The condition selection field in condition setting area A6 displays various conditions that can be selected by operating switches B3 and B4. The various conditions include "Always," "Loaded," and "OFF." These conditions are the same as those for the warning when operating while driving.

[0118] The third control unit 60 issues a change instruction to change or disable the definition of dangerous behavior (warning for driving other than leaning backward) depending on the selected condition. The second control unit 50, upon receiving the change instruction, changes or disables the definition of dangerous behavior (warning for driving other than leaning backward). For example, if "Always" is selected, the second control unit 50 issues a playback instruction to the audio alert unit 2 when the above definition is met. If "Loaded" is selected, the second control unit 50 adds a load threshold condition to the above definition. If "OFF" is selected, the second control unit 50 disables the above definition and does not issue a playback instruction.

[0119] [Non-level lift warning] Screens S117, S118, and S118' are screens for changing or disabling the definition of a dangerous act (non-level lift warning). The definition of a dangerous act (non-level lift warning) includes the following conditions for determining a non-level lift warning: "The forks 23 are ascending with their tilted forward position, the forks 23 are ascending with their tilted backward position, the forks 23 are descending with their tilted forward position, or the forks 23 are descending with their tilted backward position." When the definition (determination condition) is met, the audio alert unit 2 plays warning audio data saying, "Please keep the forks level. A lift operation is in progress."

[0120] On screen S117, the menu area A1 displays an "Administrator Settings" item, and submenu area A2 displays submenus including "Non-Level Lift Warning," with the cursor positioned on "Non-Level Lift Warning." On screen S118, the menu area A1 displays an "Non-Level Lift Warning - Up" item, and condition setting area A6 is set. Various conditions selectable by operating switches B3 and B4 are displayed in the condition selection field of condition setting area A6. The various conditions include "Always," "Loaded," and "Off," which are the same as those for the simultaneous operation while traveling warning, as well as "Loaded, leaning forward" and "No load." On screen S118', the menu area A1 displays an "Non-Level Lift Warning - Down" item, and condition setting area A6 is set. The various conditions selectable in condition setting area A6 are the same as those on screen S118.

[0121] In this embodiment, the definition of "rising with the forks 23 tilted forward, rising with the forks 23 tilted backward" can be changed or invalidated on the screen S118, and the definition of "descending with the forks 23 tilted forward, and descending with the forks 23 tilted backward" can be changed or invalidated on the screen S118'. Note that the definition of dangerous acts (non-level lift warning) may be changed or invalidated on a single screen.

[0122] The third control unit 60 issues a change instruction to change or disable the definition of the dangerous act (unlevel lift warning) depending on the selected condition. The second control unit 50, upon receiving the change instruction, changes or disables the definition of the dangerous act (unlevel lift warning). For example, if "Always" is selected, the second control unit 50 issues a playback instruction to the audio alert unit 2 when the above definition is met. If "Loaded" or "No Load" is selected, the second control unit 50 adds a load threshold condition to the above definition ("Loaded" requires the load threshold to be exceeded, and "No Load" requires the load to be equal to or less than the load threshold). If "Loaded and Leaning Forward" is selected, the second control unit 50 adds a load threshold condition (exceeding the load threshold) to the above definition and also adds a condition that the fork 23 is in a forward leaning state. If "OFF" is selected, the second control unit 50 disables the above definition and does not issue a playback instruction. That is, when "OFF" is selected on screen S118, the second control unit 50 disables part of the definition "The forks 23 are ascending while tilted forward, and the forks 23 are ascending while tilted backward," and issues a playback instruction when the forks 23 are descending while tilted forward or when the forks 23 are descending while tilted backward. When "OFF" is selected on screen S118', the second control unit 50 disables part of the definition "The forks 23 are descending while tilted forward, and the forks 23 are descending while tilted backward," and issues a playback instruction when the forks 23 are ascending while tilted forward or when the forks 23 are ascending while tilted backward.

[0123] [Nail down warning] Screens S119 and S120 are screens for enabling or disabling the definition of a dangerous action (nail down warning). The definition of a dangerous action (nail down warning) includes "load applied when key is off" as a judgment condition for the nail down warning. When this definition (judgment condition) is met, audio alert unit 2 plays warning audio data saying "Have you forgotten to lower the nail?" as an audio alert.

[0124] The second control unit 50 determines that the conditions for issuing a pawl-down warning are met when the key switch is in the key-off state and the load exceeds the sixth threshold. The sixth threshold is set separately from the load threshold and is set to a value that can distinguish between a loaded state and an unloaded state, similar to the fifth threshold, or a value that can distinguish between a state in which the forks 23 are on the ground and a state in which the forks 23 are not on the ground. For example, if the load when the forks 23 are not on the ground but are unloaded is set to 0 kg, the load when the forks 23 are on the ground but are unloaded will be a negative value, so the sixth threshold is set to a value that is greater than the negative value and less than 0, which is the load when the forks 23 are not on the ground but are unloaded.

[0125] On screen S119, the "Administrator Settings" item is displayed in menu area A1, and sub-items including "Nails Forgotten to Lower Warning" are displayed in sub-menu area A2, with the cursor positioned on "Nails Forgotten to Lower Warning." On screen S120, the "Nails Forgotten to Lower Warning" item is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0126] When "ON" is set on screen S120, the second control unit 50 enables the definition of the dangerous action (nail down warning) and issues a playback instruction to the audio alert unit 2 when the definition is met. On the other hand, when "OFF" is set on screen S120, the second control unit 50 disables the definition of the dangerous action (nail down warning) and does not issue a playback instruction to the audio alert unit 2. Note that instead of displaying the ON / OFF setting area A4 on screen S120, a threshold area A5 for changing the sixth threshold [kg] may be displayed.

[0127] [Load Fall Warning] Screens S121 and S122 are screens for enabling or disabling the definition of a dangerous act (cargo fall warning). The definition of a dangerous act (cargo fall warning) includes the following criteria for determining a cargo fall warning: "there is no cargo handling operation, and the load (a load exceeding the load threshold) has decreased by a predetermined amount (e.g., ¼ of the load) or more, and this sudden load change continues for a predetermined time (e.g., 2 seconds)." If this definition (determination criteria) is met, the audio alert unit 2 plays warning audio data saying "The cargo has fallen" as an audio alert.

[0128] On screen S121, the item "Administrator Settings" is displayed in menu area A1, sub-items including "Falling Cargo Warning" are displayed in sub-menu area A2, and the cursor is positioned on "Falling Cargo Warning." On screen S122, the item "Falling Cargo Warning" is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0129] When "ON" is set on the screen S122, the second control unit 50 enables the definition of the dangerous act (cargo fall warning) and issues a playback instruction to the audio alert unit 2 when the definition is met. On the other hand, when "OFF" is set on the screen S122, the second control unit 50 disables the definition of the dangerous act (cargo fall warning) and does not issue a playback instruction to the audio alert unit 2. Note that instead of displaying the ON / OFF setting area A4 on the screen S122, a threshold area A5 for changing the above-mentioned predetermined amount (e.g., 1 / 4 of the load) and / or predetermined time (e.g., 2 seconds) may be displayed.

[0130] [Loading point insufficient warning] Screens S123 and S124 are screens for enabling or disabling the definition of a dangerous act (insufficient cargo landing warning). The definition of a dangerous act (insufficient cargo landing warning) includes the following conditions for determining an insufficient cargo landing warning: "The load is reduced by a predetermined amount during a loading operation, and the load is reduced to less than a seventh threshold value [kg] while the vehicle body 10 is reversing within a preset second distance [m] from the point at which the load was reduced." The second distance is set to a value that determines whether the forks 23 have completely come off the pallet containing the cargo. The seventh threshold value is set separately from the load threshold value and is set to a value that can distinguish between a loaded state and an unloaded state. When the above definition (determination condition) is met, the audio alert unit 2 plays warning audio data stating, "The load has not been properly landed."

[0131] On screen S123, the item "Administrator Settings" is displayed in menu area A1, and sub-items including "Insufficient Landing Site Warning" are displayed in sub-menu area A2, with the cursor positioned on "Insufficient Landing Site Warning." On screen S124, the item "Insufficient Landing Site Warning" is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0132] When "ON" is set on screen S124, the second control unit 50 enables the definition of the dangerous act (insufficient landing site warning) and issues a playback instruction to the audio alert unit 2 when the definition is met. On the other hand, when "OFF" is set on screen S124, the second control unit 50 disables the definition of the dangerous act (insufficient landing site warning) and does not issue a playback instruction to the audio alert unit 2. Note that instead of displaying the ON / OFF setting area A4 on screen S124, a threshold area A5 for changing at least one of the seventh threshold and the second distance may be displayed.

[0133] [Away Warning] Screens S125 and S126 are screens for enabling or disabling the definition of a dangerous act (seat leaving warning). The definition of a dangerous act (seat leaving warning) includes "the key switch is in the key-on state and the operator has left the driver's seat 13" as a judgment condition (seat leaving condition) for the seat leaving warning. When this definition (judgment condition) is met, the audio alert unit 2 plays warning audio data saying "Please sit correctly" as an audio alert.

[0134] On screen S125, the menu area A1 displays the item "Administrator Settings," and sub-menu area A2 displays sub-items including "Away Alert," with the cursor positioned on "Away Alert." On screen S126, the menu area A1 displays the item "Away Alert," and ON / OFF setting area A4 displays "ON," "OFF," and the cursor.

[0135] When "ON" is set on screen S126, the second control unit 50 enables the definition of the dangerous behavior (avoidance warning) and, when the definition is met, issues a playback instruction to the audio alert unit 2. On the other hand, when "OFF" is set on screen S126, the second control unit 50 disables the definition of the dangerous behavior (avoidance warning) and does not issue a playback instruction to the audio alert unit 2.

[0136] [Seatbelt warning] Screens S127 and S128 are screens for enabling or disabling the definition of a dangerous act (seat belt warning). The definition of a dangerous act (seat belt warning) includes "seat belt not fastened and driving or loading operation" as a judgment condition (first seat belt condition) for a seat belt warning. When this definition (judgment condition) is met, the audio alert unit 2 plays warning audio data saying "Please fasten your seat belt" as an audio alert.

[0137] On screen S127, the menu area A1 displays the item "Administrator Settings," and sub-menu area A2 displays sub-items including "Seat Belt Warning," with the cursor positioned on "Seat Belt Warning." On screen S128, the menu area A1 displays the item "Seat Belt Warning," and ON / OFF setting area A4 displays "ON," "OFF," and the cursor.

[0138] When "ON" is set on the screen S128, the second control unit 50 enables the definition of the dangerous act (seat belt warning) and, when the definition is satisfied, issues a playback instruction to the audio alert unit 2. On the other hand, when "OFF" is set on the screen S128, the second control unit 50 disables the definition of the dangerous act (seat belt warning) and does not issue a playback instruction to the audio alert unit 2.

[0139] Furthermore, the definition of a dangerous act (seat belt warning) may include "the seat belt is fastened and the operator has left the driver's seat 13" as a condition for determining whether the seat belt warning is issued (second seat belt condition). The sensor unit 30 detects whether the seat belt is fastened or not by, for example, whether the tongue plate of the seat belt is properly inserted into the buckle, and therefore there is a risk that the sensor unit 30 may determine that the seat belt is fastened even if the operator has left the driver's seat 13. In this regard, by setting the condition for determining a seat belt warning (second seat belt condition) and issuing an audio alert as described above, it is possible to prevent the dangerous act of so-called false seat belt fastening (false seat belt fastening).

[0140] [Parking brake warning] Screens S129 and S130 are screens for enabling or disabling the definition of a dangerous act (parking brake warning). The definition of a dangerous act (parking brake warning) includes the following judgment conditions: a first judgment condition = "the key switch is in the key-on state, the parking brake is in the off state, and the operator is away from the driver's seat 13" and a second judgment condition = "the key switch is in the key-off state, and the parking brake is in the off state." When the definition (the first judgment condition or the second judgment condition) is satisfied, the audio alert unit 2 plays warning audio data saying "Please apply the parking brake" as an audio alert.

[0141] On screen S129, the item "Administrator Settings" is displayed in menu area A1, sub-items including "Parking Brake Warning" are displayed in sub-menu area A2, and the cursor is positioned on "Parking Brake Warning." On screen S130, the item "Parking Brake Warning" is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0142] When "ON" is set on screen S130, the second control unit 50 enables the definition of the dangerous act (parking brake warning) and, when the definition is met, issues a playback instruction to the audio alert unit 2. On the other hand, when "OFF" is set on screen S130, the second control unit 50 disables the definition of the dangerous act (parking brake warning) and does not issue a playback instruction to the audio alert unit 2.

[0143] [Human detection warning] Screens S131 and S132 are screens for enabling or disabling the definition of a dangerous act (human detection warning). The definition of a dangerous act (human detection warning) includes the determination condition, "human detection sensor SA detects a person." If this definition is met, audio alert unit 2 plays warning audio data saying "There is a person present" as an audio alert.

[0144] On screen S131, the "Administrator Settings" item is displayed in menu area A1, and sub-items including "Human Detection Warning" are displayed in sub-menu area A2, with the cursor positioned on "Human Detection Warning." On screen S132, the "Human Detection Warning" item is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0145] When "ON" is set on the screen S132, the second control unit 50 enables the definition of the dangerous act (human detection warning) and, when the definition is met, issues a playback instruction to the audio alert unit 2. On the other hand, when "OFF" is set on the screen S132, the second control unit 50 disables the definition of the dangerous act (human detection warning) and does not issue a playback instruction to the audio alert unit 2.

[0146] [Impact detection warning] Screens S133 to S135 are screens for enabling or disabling the definition of a dangerous act (impact detection warning). The definition of a dangerous act (impact detection warning) includes, as a determination condition, "the acceleration [G] detected by the acceleration sensor SB exceeds a predetermined threshold." If this definition is met, the audio alert unit 2 plays warning audio data stating "impact has been detected" as an audio alert.

[0147] On screen S133, the "Administrator Settings" item is displayed in menu area A1, and sub-items including "Impact Detection Warning" are displayed in sub-menu area A2, with the cursor positioned on "Impact Detection Warning." On screen S134, the "Impact Detection Warning" item is displayed in menu area A1, and "ON," "OFF," and the cursor are displayed in ON / OFF setting area A4.

[0148] When "ON" is set on screen S134, the second control unit 50 enables the definition of the dangerous act (impact detection warning) and, when the definition is met, issues a playback instruction to the audio alert unit 2. On the other hand, when "OFF" is set on screen S134, the second control unit 50 disables the definition of the dangerous act (impact detection warning) and does not issue a playback instruction to the audio alert unit 2.

[0149] On screen S135, the menu area A1 displays an "Impact Detection Warning" item, and the threshold area A5 displays a numerical value input field and a numerical value range. A common threshold value [G] for the first acceleration, second acceleration, and third acceleration is input into the numerical value input field. The operator can increase or decrease the common threshold value within a predetermined range (in this embodiment, 0.1 to 5.0 [G] in increments of 0.1 [G]) by operating switches B3 and B4.

[0150] When the common threshold is changed by an input operation, the third control unit 60 issues a change instruction to the second control unit 50. Upon receiving the change instruction, the second control unit 50 changes the common threshold of the risky behavior data (third data). Note that, although the case of a common threshold has been described in FIG. 11, the third control unit 60 may also display numerical input fields in the threshold area A5 for changing the thresholds of the first acceleration, second acceleration, and third acceleration.

[0151] [Audio Alert Volume] Screens S136 to S140 are screens for changing or disabling the definition of a dangerous act (audio alert volume). Although the audio alert volume does not directly correspond to a dangerous act, depending on the operating state of the vehicle body (for example, when the operating noise of the vehicle body is loud), a low audio alert volume may make it difficult to avoid the dangerous act. Therefore, in this embodiment, the audio alert volume is treated as a dangerous act.

[0152] On the screen S136, the item "Administrator Settings" is displayed in the menu area A1, sub-items including "Audio Alert Volume" are displayed in the sub-menu area A2, and the cursor is positioned on "Audio Alert Volume".

[0153] On screen S137, the menu area A1 displays the item "Volume (No Driving, No Loading)." Volume (No Driving, No Loading) is the volume of the audio alert in the first operating state in which neither driving nor loading is being performed. Furthermore, on screen S137, a volume setting area A7 is displayed instead of submenu area A2 (screen S137 corresponds to the "volume setting screen" of the present invention). The volume setting area A7 displays a numerical input field and a numerical range (1 to 6 in this embodiment) that correspond to the "first volume input field" of the present invention. A numerical value (level) for the audio alert volume is entered in the numerical input field. The numerical value (level) can be increased or decreased by operating switches B3 and B4. Entering "--" in the numerical input field sets the volume to zero, and the definition of a dangerous act is invalidated. Note that "0" may be entered instead of "--."

[0154] On screen S138, the menu area A1 displays the item "Volume (traveling, no loading)." Volume (traveling, no loading) is the volume of the audio alert in the second operation state in which traveling is occurring but no loading is occurring. Also, on screen S138, like screen S137, a numeric input field and a numeric range are displayed in the volume setting area A7.

[0155] On screen S139, the menu area A1 displays the item "Volume (No Travel, Loading)." Volume (No Travel, Loading) is the volume of the audio alert in the third operation state in which loading and unloading operations are being performed but no traveling operations are being performed. Also, on screen S139, like screen S137, a numeric input field and a numeric range are displayed in the volume setting area A7.

[0156] On screen S140, the menu area A1 displays the item "Volume (traveling, loading and unloading)." Volume (traveling, loading and unloading) is the volume of the audio alert in the fourth operation state in which traveling and loading and unloading operations are being performed. Also, on screen S140, like screen S137, a numeric input field and a numeric range are displayed in volume setting area A7.

[0157] When the volume is changed by an input operation in the volume setting area A7, the third control unit 60 issues a change instruction to the second control unit 50. The second control unit 50, having received the change instruction, changes the volume setting of the fourth data. When the volume is changed within the range of 1 to 6, the second control unit 50 identifies the operating state of the vehicle main body 10 and the volume when the definition of a dangerous act is met, and issues a playback instruction to the audio alert unit 2. On the other hand, when the volume is changed to zero ("--" in FIG. 12), the second control unit 50 does not issue a playback instruction to the audio alert unit 2.

[0158] In the above description, the operating states are divided into four states, namely, the first operating state, the second operating state, the third operating state, and the fourth operating state. However, the operating states may be divided into three states, namely, the first operating state, the third operating state, and the third operating state may be further subdivided. For example, the second operating state may include a 2-1 operating state in which the vehicle body 10 travels at a relatively slow speed and a 2-2 operating state in which the vehicle body 10 travels at a relatively fast speed. If the volume in the 2-1 operating state is set to the 2-1 volume and the volume in the 2-2 operating state is set to the 2-2 volume, the third control unit 60 preferably displays a volume setting screen including a volume setting area A7 for changing the 2-1 volume and the 2-2 volume. The third control unit 60 may also display a volume setting screen that allows the volume to be changed in small increments in proportion to the traveling speed of the vehicle body 10. For example, the third control unit 60 may cause the display 4 to display a screen on which the operator can set a vehicle speed threshold X [km / h], and the second control unit 50 may instruct the audio alert unit 2 to play the sound so that the volume level increases by one level every time the vehicle speed increases by the threshold X.

[0159] Similarly, the third operating state may include a 3-1 operating state in which the rotation speed of the cargo handling motor is relatively low and a 3-2 operating state in which the rotation speed of the cargo handling motor is relatively high. If the volume in the 3-1 operating state is set to 3-1 volume and the volume in the 3-2 operating state is set to 3-2 volume, the third control unit 60 preferably displays a volume setting screen including a volume setting area A7 for changing the 3-1 volume and the 3-2 volume. The third control unit 60 may also display a volume setting screen that allows the operator to change the volume in small increments in proportion to the rotation speed of the cargo handling motor. For example, the third control unit 60 may display on the display 4 a screen that allows the operator to set a threshold value Y [rpm] for the rotation speed of the cargo handling motor, and the second control unit 50 may issue a playback instruction to the audio alert unit 2 so that the volume level increases by one level each time the rotation speed of the cargo handling motor increases by the threshold value Y.

[0160] [Volume limit warning] Screens S141 to S144 are screens for limiting the volume of the sound associated with each operating state. Note that the volume limit warning does not directly correspond to a dangerous act, but depending on the surrounding environment of the work area, a loud volume may cause a nuisance to neighbors. Therefore, in this embodiment, the volume limit warning is treated as a dangerous act.

[0161] On the screen S141, the menu area A1 displays the item "Administrator Settings", the sub-menu area A2 displays sub-items including "Volume Limit Warning", and the cursor is positioned on "Volume Limit Warning".

[0162] On screen S142, the menu area A1 displays the item "Volume Limit Warning," and the ON / OFF setting area A4 displays "ON," "OFF," and a cursor. When "ON" is set on screen S142, volume is limited, whereas when "OFF" is set on screen S142, volume is not limited. When switch B1 is operated with "ON" selected on screen S142 (when "ON" is set), the screen transitions to screen S143.

[0163] On screen S143, a "Volume Limit Warning" item is displayed in menu area A1, and a numeric input field and numeric range are displayed in volume setting area A7, similar to screen S137. However, the numeric input field on screen S143 corresponds to the "second volume input field" of the present invention.

[0164] On screen S144, a "Volume Limit Warning" item is displayed in menu area A1, and a time period setting field for inputting the time period during which the volume limit is to be applied is displayed in threshold area A5. The operator can set the start and end times of the volume limit by operating switches B3 and B4. If the settings are as shown on screen S144 in FIG. 13, the volume limit will start at 6:00 PM and end at 6:00 AM.

[0165] When the setting is turned OFF, or when the setting is turned ON, the volume is changed, and the time period is set, the third control unit 60 issues a change instruction to the second control unit 50. Upon receiving the change instruction, the second control unit 50 changes the information in the fifth data. Furthermore, when reproducing warning audio data during the time period set in the time period setting field, the second control unit 50 issues a reproduction instruction to the audio alert unit 2 so that the warning audio data is reproduced at the volume of the numerical value (level) set on the screen S143.

[0166] In addition, if the volume value (level) set on screens S137 to S140 is smaller than the value (level) set on screen S143, the second control unit 50 may issue a playback instruction to the audio alert unit 2 so that the warning audio data is played at the volume of the value (level) set on screens S137 to S140, even if it is during the time period set in the time period setting field.

[0167] According to the forklift 1 of this embodiment, the volume of the warning audio data can be increased or decreased depending on the operating state of the vehicle body 10 (including the cargo handling device 20). Therefore, even if the operating noise of the vehicle body 10 is loud, for example, the danger can be reliably notified to the operator by increasing the volume.

[0168] Furthermore, according to the forklift 1 of this embodiment, the volume is limited by the volume limit warning, so that the audio alert can be prevented to some extent from being a nuisance to neighbors.

[0169] Although the embodiment of the cargo handling vehicle according to the present invention has been described above, the present invention is not limited to the above embodiment.

[0170] [Variations] In the above embodiment, the forklift 1 is described as having a battery and electric motors (travel motor, steering motor, and cargo handling motor) as power sources for traveling and cargo handling operations, but the forklift 1 may also be an engine forklift having an engine as a power source for traveling and cargo handling operations.

[0171] The engine forklift is similar in most respects to the forklift 1, except that it has an engine instead of a battery and an electric motor, and the content of the operating state stored in the fourth data is different.

[0172] The fourth data includes a plurality of operating states and sound volumes associated with each operating state. In this modification, the plurality of operating states include a first operating state in which the engine is stopped, a second operating state in which the engine speed is greater than zero and less than a predetermined threshold value Z [rpm] (e.g., a state including idling), and a third operating state in which the engine speed is equal to or greater than the threshold value Z (e.g., a state including an accelerator pedal operation). The operator can change the sound volumes associated with each operating state on the display 4.

[0173] Furthermore, in the engine forklift, the screens displayed on the display unit 4A (screens for changing or invalidating the definition of dangerous acts) are the same as those of the forklift 1, except that screens S136' to S139' are included instead of screens S136 to S140. Screens S136' to S139' are screens for changing or invalidating the definition of dangerous acts (audio alert volume).

[0174] On screen S136', the menu area A1 displays the item "Administrator Settings," and sub-menu area A2 displays sub-items including "Audio Alert Volume," with the cursor positioned on "Audio Alert Volume." Screen S136' is the same as screen S136.

[0175] On screen S137', the menu area A1 displays the item "Volume (Engine Stopped)." Volume (Engine Stopped) is the volume of the audio alert in the first operating state when the engine is stopped. Also, on screen S137', a volume setting area A7 is displayed instead of the submenu area A2 (screen S137' corresponds to the "volume setting screen" of the present invention). The volume setting area A7 is the same as on screen S137.

[0176] On screen S138', the menu area A1 displays the item "Volume (Low Engine RPM)." Volume (Low Engine RPM) is the volume of the audio alert in the second operating state in which the engine RPM is greater than zero and less than threshold value Z. Also, on screen S138', like screen S137', a numeric input field and a numeric range are displayed in volume setting area A7.

[0177] On screen S139', the menu area A1 displays the item "Volume (High Engine RPM)." Volume (High Engine RPM) is the volume of the audio alert in the third operating state where the engine RPM is equal to or greater than threshold value Z. Also, on screen S139', a numeric input field and a numeric range are displayed in the volume setting area A7, similar to screen S137'.

[0178] When the volume is changed by an input operation in the volume setting area A7, the third control unit 60 issues a change instruction to the second control unit 50. The second control unit 50, having received the change instruction, changes the volume setting of the fourth data. When the volume is changed within the range of 1 to 6, the second control unit 50 identifies the operating state of the vehicle main body 10 and the volume when the definition of a dangerous act is met, and issues a playback instruction to the audio alert unit 2. On the other hand, when the volume is changed to zero ("--" in FIG. 14), the second control unit 50 does not issue a playback instruction to the audio alert unit 2.

[0179] In the above description, the operating states are divided into three states, namely, the first operating state, the second operating state, and the third operating state, but they may be divided into four or more states. The third control unit 60 may display a volume setting screen that allows the operator to change the volume in small increments in proportion to the engine speed. For example, the third control unit 60 may display on the display 4 a screen that allows the operator to set a threshold Z' [rpm] for the engine speed, and the second control unit 50 may issue a playback instruction to the audio alert unit 2 so that the volume level increases by one level each time the engine speed increases by the threshold Z'.

[0180] [Other variations] The cargo handling vehicle according to the present invention is a cargo handling vehicle comprising: a vehicle body provided with a cargo handling device; an audio alert unit that stores a plurality of warning audio data and plays back at least one of the plurality of warning audio data to issue an audio alert; a display including a display unit and an input unit; and a control unit that controls the vehicle body, the audio alert unit, and the display, wherein the control unit includes a first control unit that controls the traveling operation and cargo handling operation of the vehicle body, a second control unit that controls the audio alert unit, and a third control unit that controls the display, and the second control unit receives first information relating to the conditions for determining a dangerous act and the movement of the vehicle body. The device is equipped with: a memory unit that stores multiple pieces of dangerous behavior data linked to second information on the operating state and third information on the volume at which warning audio data is played back; a processing unit that determines whether a judgment condition is met based on the first information, identifies the operating state based on the second information, and identifies the volume based on the third information; and an output unit that, if the judgment condition is met, issues a playback instruction to the audio alert unit so that the warning audio data is played back at the above-mentioned volume, and the third control unit can be configured as appropriate as long as it causes a volume setting screen for changing the volume for each operating state to be displayed on the display unit in response to an input operation on the input unit.

[0181] In the above embodiment, the combination of the menu area A1 with the ON / OFF setting area A4, threshold area A5, or condition setting area A6 can be changed as needed. Entering "--" in the value input field of the threshold area A5 results in no playback instruction, but the display when no value is entered (the above "--") can be changed as needed. The content of the audio alert (the content of the warning audio data) can also be changed as needed.

[0182] In the above embodiment, for example, screens S101 to S144 have been described as administrator setting screens, but at least some of screens S101 to S144 may be service setting screens that cannot be operated by operators but can be operated by service personnel (customer engineers). For example, the access level of the setting screen for changing and / or invalidating the definition of a dangerous act can be set for each dangerous act.

[0183] In the above embodiment, the third control unit 60 may cause the display 4 to display a screen that allows the volume of all warning audio data to be changed collectively during playback. Although the volume level is set to seven levels, the volume level may be six levels or less, or eight levels or more. For example, the volume level may be three levels, from 0 to 2.

[0184] In the above embodiment, the cargo handling vehicle of the present invention has been described using a counterbalance type forklift as an example, but it may also be a reach type forklift or another type of forklift. Furthermore, the cargo handling vehicle of the present invention is not limited to a forklift, and may be a vehicle other than a forklift (for example, a transport vehicle) as long as it is equipped with a cargo handling device that can be raised and lowered. [Explanation of symbols]

[0185] 1 forklift 2. Audio alert section 3 Warning part 4. Display 4A display section 4B Input section 10 Vehicle body 11 Front wheel 12 rear wheels 13 Driver's seat 14 Axel 15 Brake 16 Handle 17 Cargo handling operation section 18 Head Guard 20 Cargo handling equipment 21 Mast 22 Lift bracket 23 Fork 24 Backrest 25 Tilt cylinder 26 Lift cylinder 30 Sensor unit 31 Load sensor 32 Vehicle speed sensor 33 Rotation angle sensor 34 Accelerator sensor 35 Brake sensor 40 First Control Section 50 Second Control Section 60 Third Control Section

Claims

1. a vehicle body provided with a loading device; a voice alert unit that stores a plurality of pieces of warning audio data and reproduces at least one of the plurality of pieces of warning audio data to give a voice alert; a display including a display unit and an input unit; a control unit that controls the vehicle body, the audio alert unit, and the display; A cargo handling vehicle comprising: The control unit a first control unit that controls the traveling operation and the cargo handling operation of the vehicle body; a second control unit that controls the audio alert unit; a third control unit that controls the display, The second control unit is a storage unit that stores a plurality of pieces of risky behavior data, each piece of which is linked to first information on a determination condition for a risky behavior, second information on an operating state of the vehicle body, and third information on a volume of the warning audio data when it is reproduced; a processing unit that determines whether the determination condition is satisfied based on the first information, identifies the operating state based on the second information, and identifies the volume based on the third information; an output unit that issues a playback instruction to the audio alert unit so that the warning audio data is played back at the volume when the determination condition is satisfied, The third control unit is a volume setting screen for changing the volume for each of the operating states in response to an input operation on the input unit; A cargo handling vehicle characterized by:

2. the vehicle body includes an engine as a power source for the traveling operation and the loading / unloading operation, The operation state included in the second information is a first operating state in which the engine is stopped; a second operating state in which the engine speed is relatively low; a third operating state in which the rotation speed is relatively high, the third information includes a first volume in the first operating state, a second volume in the second operating state, and a third volume in the third operating state; The third control unit causes the display unit to display the volume setting screen for changing the first volume, the second volume, and the third volume.

2. The cargo handling vehicle according to claim 1.

3. the vehicle body includes a battery and at least one electric motor driven by electric power from the battery as a power source for the traveling operation and the cargo handling operation; The operation state included in the second information is a first operating state in which the traveling operation and the loading operation are not being performed; a second operating state in which the traveling operation is being performed while the loading / unloading operation is not being performed; a third operating state in which the loading operation is being performed while the traveling operation is not being performed, the third information includes a first volume in the first operating state, a second volume in the second operating state, and a third volume in the third operating state; The third control unit causes the display unit to display the volume setting screen for changing the first volume, the second volume, and the third volume.

2. The cargo handling vehicle according to claim 1.

4. the operation state included in the second information includes a fourth operation state in which the traveling operation and the loading operation are being performed, the third information includes a fourth volume in the fourth operating state; The third control unit causes the display unit to display the volume setting screen for changing the fourth volume.

4. The cargo handling vehicle according to claim 3.

5. The second operating state is a second-1 operating state in which the vehicle body is traveling at a relatively slow speed; a second-2 operating state in which the traveling speed is relatively high, the third information includes a 2-1 volume in the 2-1 operating state and a 2-2 volume in the 2-2 operating state; The third control unit causes the display unit to display the volume setting screen for changing the second-first volume and the second-second volume.

4. The cargo handling vehicle according to claim 3.

6. The third operating state is a 3-1 operating state in which the rotation speed of the electric motor is relatively small; a 3-2 operating state in which the rotation speed is relatively high; The third information includes a 3-1 volume in the 3-1 operating state and a 3-2 volume in the 3-2 operating state, The third control unit causes the display unit to display the volume setting screen for changing the 3-1 volume and the 3-2 volume.

4. The cargo handling vehicle according to claim 3.

7. The third control unit displays a first volume input field for inputting the volume level on the volume setting screen.

2. The cargo handling vehicle according to claim 1.

8. the third control unit displays, on the volume setting screen, a time zone setting field for setting a time zone and a second volume input field for inputting the level of the volume; The output unit of the second control unit issues the reproduction instruction so that the warning audio data is reproduced at the volume equal to or less than the level input in the second volume input field during the time period set in the time period setting field.

8. A cargo handling vehicle according to claim 7.

Images