Forklift, lever resistance value change system and lever resistance value estimation program

Abstract

To provide a fork lift which can automatically change lever resistance values (weights) according to each operator.SOLUTION: A fork lift includes a lever 14 used in operation of the fork lift, an operator storage part 31, a resistance value storage part 39, an operator specifying part 32, and a resistance value changing part 18. The operator storage part 31 stores operator information on a plurality of operators, and the resistance value storage part 39 stores appropriate lever resistance values (weights) of each operator in association with the driver information. The operator specifying part 32 specifies the operator by referring to the driver information, and the resistance value changing part 18 changes an appropriate lever resistance value corresponding to the operator of which the resistance value of the lever 14 has been specified, on the basis of the appropriate lever resistance values of the respective operators stored in the resistance value storage part 39.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a lever resistance value changing system for a forklift, a forklift equipped with the system, and a lever resistance value estimating program. [Background technology]

[0002] There are two types of forklifts: reach forklifts and counter-load forklifts. The number and functions of forklift levers vary depending on the type of forklift.

[0003] As disclosed in Patent Document 1, a reach forklift is equipped with a lift lever for raising and lowering the forks, a tilt lever for changing the vertical angle of the forks, a reach lever for moving the lifting device forward and backward, and an accelerator lever for driving the forklift. Also, as disclosed in Patent Document 2, a counter-load forklift is equipped with a tilt lever and an accelerator lever.

[0004] As disclosed in Patent Document 3, levers are generally configured to swing forward or backward from a neutral position and are automatically returned to the neutral position by a spring when not in operation. However, the resistance of the lever due to this spring, in other words the weight of the lever, causes fatigue to the operator. Therefore, in order to reduce operator fatigue, the invention disclosed in Patent Document 3 assists lever operation by an actuator when the amount of operation of the operating lever exceeds a predetermined value. In addition to Patent Document 3, other documents that disclose technology for assisting lever operation of a vehicle include, for example, Patent Document 4.

[0005] Unlike passenger cars, a single forklift may be used by multiple drivers with different levels of skill. The differences in lever operation between drivers due to differences in skill level are greater for forklifts than for passenger cars. Therefore, while it is desirable to vary the lever resistance value depending on the driver's skill level, it is a hassle for the driver to adjust the appropriate lever resistance value each time they get into the vehicle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2016-47745 A [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-88390 [Patent Document 3] Japanese Patent Application Laid-Open No. 2002-370898 [Patent Document 4] Japanese Patent Application Laid-Open No. 2003-301942 Summary of the Invention [Problem to be solved by the invention]

[0007] SUMMARY OF THE INVENTION An object of the present invention is to provide a forklift truck that can automatically change the lever resistance value, in other words, the weight of the lever, depending on the operator. [Means for solving the problem]

[0008] In order to solve the above problems, the forklift according to the present invention includes a lever used to operate the forklift, a driver memory unit that stores driver information for a plurality of drivers, a resistance value memory unit that stores appropriate lever resistance values ​​for each driver in association with the driver information, a driver identification unit that identifies the driver by referring to the driver information, and a resistance value change unit that changes the resistance value of the lever to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value memory unit.

[0009] The forklift preferably further includes a proficiency memory unit that stores the proficiency of each driver in association with each driver's information, and a resistance value estimation unit that estimates an appropriate lever resistance value for each driver based on the proficiency of each driver, and the resistance value memory unit stores the estimated appropriate lever resistance value for each driver in association with the driver information.

[0010] The forklift preferably further includes an acceleration / deceleration memory unit that stores the number of times the forklift exceeds a predetermined acceleration rate and the number of times it exceeds a predetermined deceleration rate during each loading and unloading operation for each driver, in association with driver information; and a proficiency determination unit that determines the proficiency rate of each driver based on the stored number of times the forklift exceeds the predetermined acceleration rate and the number of times the forklift exceeds the predetermined deceleration rate, and the proficiency memory unit stores the determined proficiency rate of each driver in association with the driver information.

[0011] The forklift preferably comprises: The system further includes a collision count memory unit that stores the number of collisions of the forklift during each loading and unloading operation by each driver, in association with driver information, and a proficiency determination unit that determines the proficiency of each driver based on the stored number of collisions, and the proficiency memory unit stores the determined proficiency of each driver in association with the driver information.

[0012] The forklift preferably further includes a stop count memory unit that stores the number of times the forklift stops during each loading and unloading operation by each driver, in association with driver information, and a proficiency determination unit that determines the proficiency of each driver based on the stored number of stops, and the proficiency memory unit stores the determined proficiency of each driver in association with the driver information.

[0013] The forklift preferably further includes an acceleration / deceleration memory unit that stores the number of times the forklift exceeded a predetermined acceleration rate and the number of times the forklift exceeded a predetermined deceleration rate during each loading / unloading operation for each driver, in association with driver information; a stop count memory unit that stores the number of times the forklift stopped during each loading / unloading operation for each driver, in association with driver information; and a proficiency determination unit having a trained model. The trained model is pre-trained based on training data that uses the number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, and the number of stops as input data and proficiency as output data, and is configured to output the driver's proficiency when the stored number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, and the number of stops are input. The proficiency memory unit stores the output proficiency rate of each driver in association with the driver information.

[0014] The forklift preferably further includes an acceleration / deceleration memory unit that stores the number of times the forklift exceeded a predetermined acceleration rate and the number of times the forklift exceeded a predetermined deceleration rate during each loading / unloading operation for each driver, in association with driver information; a collision count memory unit that stores the number of collisions of the forklift during each loading / unloading operation for each driver, in association with driver information; and a proficiency determination unit having a trained model. The trained model is pre-trained based on training data that uses the number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, and the number of collisions as input data and proficiency as output data, and is configured to output the driver's proficiency when the stored number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, and the number of collisions are input. The proficiency memory unit stores the output proficiency of each driver in association with the driver information.

[0015] The forklift preferably further includes an acceleration / deceleration memory unit that stores the number of times the forklift exceeded a predetermined acceleration rate and the number of times the forklift exceeded a predetermined deceleration rate during each loading / unloading operation for each driver, in association with driver information; a stop count memory unit that stores the number of times the forklift stopped during each loading / unloading operation for each driver, in association with the driver information; a collision count memory unit that stores the number of collisions of the forklift during each loading / unloading operation for each driver, in association with the driver information; and a proficiency determination unit having a trained model. The trained model is pre-trained based on training data that uses the number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, the number of times the forklift stopped, and the number of times the forklift crashed during each loading / unloading operation for each driver as input data and outputs the driver's proficiency level when the stored number of times the forklift exceeded a predetermined acceleration rate, the number of times the forklift exceeded a predetermined deceleration rate, the number of times the forklift stopped, and the number of times the forklift crashed is input. The proficiency memory unit stores the output proficiency level of each driver in association with the driver information.

[0016] In the forklift truck, the resistance value estimating unit preferably estimates an appropriate lever resistance value more strongly as the proficiency level decreases.

[0017] In order to solve the above problems, the lever resistance value changing system of the present invention is a lever resistance value changing system for a lever used to operate a forklift, and includes a driver memory unit that stores driver information for multiple drivers, a resistance value memory unit that stores an appropriate lever resistance value for each driver in correspondence with the driver information, a driver identification unit that identifies the driver by referring to the driver information, and a resistance value changing unit that changes the lever resistance value to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value memory unit.

[0018] In order to solve the above problem, the lever resistance value estimation program of the present invention is a lever resistance value estimation program used in a forklift equipped with a lever used to operate the forklift, a resistance value changing unit that changes the resistance value of the lever based on an estimated appropriate lever resistance value, and a computer, wherein the computer stores the proficiency level of each driver in association with driver information, and the lever resistance value estimation program causes the computer to operate as a resistance value estimating unit that estimates an appropriate lever resistance value for the driver based on the stored driver proficiency level. [Effects of the Invention]

[0019] The forklift according to the present invention can automatically change the lever resistance value depending on each operator. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a perspective view of a forklift according to an embodiment of the present invention. [Figure 2] FIG. 2 is a functional block diagram of a control unit. [Figure 3] This is a table showing the number of times a specified acceleration was exceeded (acceleration count), the number of times a specified deceleration was exceeded (deceleration count), the number of times the vehicle stopped, and the number of times it collided during each loading and unloading operation by the driver, which are stored in each memory unit of the control unit. [Figure 4] FIG. 10 is a diagram illustrating the operation of a skill level determination unit. [Figure 5] FIG. 10 is a flowchart showing a procedure for changing the lever resistance value. DETAILED DESCRIPTION OF THE INVENTION

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a forklift, a lever resistance value changing system, and a lever resistance value estimating program according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0022] Fig. 1 is a perspective view of a forklift 1 according to this embodiment. The forklift 1 is a battery-powered reach forklift. As shown in Fig. 1, the forklift 1 includes a plurality of wheels 10, a vehicle body 11, a driver's seat 12, a head guard 13, a lever 14, left and right masts 15, left and right forks 16, and a camera 17. As shown in Fig. 2, the forklift 1 also includes a resistance value changing unit 18, an acceleration / deceleration detection unit 19, a stop detection unit 20, a collision detection unit 21, and a control unit 30.

[0023] A plurality of wheels 10 are provided at the front and bottom of a vehicle body 11. A driver's seat 12 is provided at the rear right side of the vehicle body 11, and a head guard 13 is provided above the vehicle body 11.

[0024] The levers 14 include a lift lever, a tilt lever, a reach lever, and an accelerator lever, and are provided in front of the driver's seat 12.

[0025] The left and right forks 16 are configured to be able to be raised and lowered via the left and right masts 15, and the operator raises and lowers the forks 16 to perform cargo handling work.

[0026] Camera 17 is fixed to the rear of head guard 13 and configured to capture an image of the face of the driver riding in forklift 1. Camera 17 may be configured, for example, to detect a person wearing a uniform (i.e., the driver) as the driver and automatically capture an image of the driver when the driver approaches forklift 1. Alternatively, camera 17 may be provided in driver's seat 12 so as to capture an image of the face of the driver seated in driver's seat 12. Camera 17 captures an image of the driver's face to generate a facial image, and the generated facial image is sent to control unit 30.

[0027] Resistance value changing unit 18 changes the resistance value of lever 14 when operated by the driver, based on the lever resistance value estimated by resistance value estimating unit 38, which will be described later. Resistance value changing unit 18 is configured, for example, by a device that can adjust the resistance value using hydraulic pressure, or a device that can adjust the resistance value using a spring.

[0028] Furthermore, for example, resistance value changing unit 18 may be an assist device that assists in the operation of lever 14. In this case, resistance value changing unit 18 may adjust the assist force based on the lever resistance value estimated by resistance value estimating unit 38, thereby substantially changing the resistance value of lever 14 when operated by the driver.

[0029] Alternatively, the resistance value changing unit 18 may be configured to change the magnitude of the power or braking force of each device responsive to the amount of operation of the lever 14, for example, based on the lever resistance value estimated by the resistance value estimating unit 38. In this way, the resistance value changing unit 18 effectively changes the lever resistance value.

[0030] The acceleration / deceleration detection unit 19 is a known acceleration / deceleration sensor that detects the acceleration and deceleration of the forklift 1 during each loading / unloading operation. In the present invention, "during loading / unloading operation" may refer to, for example, the period from when the forklift 1 is traveling until when the forklift 1 picks up and places the cargo, or may also include the period during which the forklift 1 is unloaded. The acceleration / deceleration detection unit 19 is configured, for example, with a wheel speed sensor that detects the rotation speed and direction of the wheels 10. The acceleration / deceleration detection unit 19 detects the acceleration and deceleration of the forklift 1 during each loading / unloading operation, and transmits the detected acceleration and deceleration to the control unit 30.

[0031] The stoppage detection unit 20 detects the number of times the forklift 1 stops during each loading and unloading operation. An experienced forklift 1 switches between forward and reverse during loading and unloading operations, i.e., temporarily stops traveling less frequently than a beginner. The purpose of the stoppage detection unit 20 is to detect the difference in the number of times the forklift 1 stops. Therefore, the stoppage in the present invention may refer to a complete stop, or may be a concept that includes stopping and switching between forward and reverse. When the stoppage detection unit 20 detects that the forklift 1 has stopped, it transmits a stoppage signal to the control unit 30.

[0032] The collision detection unit 21 detects collisions of the forklift 1 during each loading and unloading operation. The collision detection unit 21 may be configured, for example, by a known acceleration sensor or a collision sensor provided on the vehicle body 11. When the collision detection unit 21 detects a collision, a collision signal is transmitted to the control unit 30.

[0033] As a means for recognizing the start and end of loading / unloading operations (i.e., when loading / unloading operations are being performed), for example, the forklift 1 may further include a known load detection unit that detects when a load is loaded, and the time when the load is loaded may be regarded as the start of loading / unloading operations, and the time when the load is released may be regarded as the end of loading / unloading operations. Alternatively, the forklift 1 may further include a loading / unloading start button and a loading / unloading end button, and recognize the start and end of loading / unloading operations by pressing these buttons. These are merely examples, and the concept of the start and end of loading / unloading operations and the method for recognizing them in the present invention are not particularly limited.

[0034] The control unit 30 is configured by a computer arranged in the vehicle body 11, and has an arithmetic unit, a storage device, and a memory. The storage device stores a lever resistance value estimation program that causes the computer to operate as a resistance value estimation unit 38, which will be described later.

[0035] Fig. 2 is a functional block diagram of the forklift 1. As shown in Fig. 2, the control unit 30 has a driver memory unit 31, a driver identification unit 32, an acceleration / deceleration memory unit 33, a stop count memory unit 34, a collision count memory unit 35, a proficiency determination unit 36, a proficiency memory unit 37, a resistance value estimation unit 38, and a resistance value memory unit 39.

[0036] The driver memory unit 31 stores driver information for each driver, and the driver information includes a facial image of the driver and an identifier of the driver (e.g., "driver No."), and the driver memory unit 31 stores the facial image and the identifier in association with each other.

[0037] The driver identification unit 32 identifies the driver by referring to the facial image generated by the camera 17 and the facial image stored in the driver memory unit 31. The driver identifier corresponding to the identified driver is transmitted to the acceleration / deceleration memory unit 33, the stop count memory unit 34, the collision count memory unit 35, the proficiency determination unit 36, the proficiency memory unit 37, the resistance value estimation unit 38, and the resistance value memory unit 39.

[0038] The acceleration / deceleration memory unit 33 stores, as needed, the number of times acceleration exceeding a predetermined acceleration and the number of times deceleration exceeding a predetermined deceleration are received during each loading and unloading operation of the forklift 1 of each driver, in association with the driver information. Fig. 3 is a table showing the number of times the predetermined acceleration was exceeded (acceleration count), the number of times the predetermined deceleration was exceeded (deceleration count), the number of stops, and the number of collisions during each loading and unloading operation of the driver, which are stored in each memory unit of the control unit 30. As shown in Fig. 3, in this embodiment, each memory unit of the control unit 30 stores, in addition to the driver number of the driver, the number of loading and unloading operation, the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of stops, and the number of collisions.

[0039] The stop count memory unit 34 stores the number of times the forklift 1 has stopped during each loading and unloading operation of each driver in association with the driver information (in this embodiment, the driver No.) as shown in FIG. 3 based on the stop signal received from the stop detection unit 20.

[0040] The collision count memory unit 35 stores the number of collisions of the forklift 1 during each loading and unloading operation of each driver, in association with the driver information (in this embodiment, the driver No.), based on the collision signal received from the collision detection unit 21.

[0041] As shown in FIG. 4, the skill determination unit 36 ​​has a trained model 360.

[0042] The trained model 360 is trained in advance based on training data in which the number of times the forklift 1 exceeded a predetermined acceleration, the number of times the forklift 1 exceeded a predetermined deceleration, the number of times the forklift 1 stopped, and the number of collisions during each loading and unloading operation of each driver are used as input data, and the proficiency of each driver is used as output data. The trained model 360 is configured to output the proficiency level when the number of times the forklift 1 exceeded a predetermined acceleration, the number of times the forklift 1 exceeded a predetermined deceleration, the number of times the forklift 1 stopped, and the number of collisions during each loading and unloading operation of each driver are input.

[0043] The trained model 360 may be configured, for example, by a neural network using deep learning, and the training method is not particularly limited. For example, the trained model 360 may be trained for each vehicle type of the forklift 1, and configured as a trained model 360 for each vehicle type. Alternatively, the trained model 360 may be trained so that the input data of the training data includes the vehicle type, and the trained model 360 outputs a proficiency level according to the vehicle type when the vehicle type is input.

[0044] The trained model 360 may output the proficiency level in multiple stages expressed by integers, such as five stages, or may output it as a real number including a decimal point between 1 and 5, for example.

[0045] The proficiency determination unit 36 ​​inputs the number of times the forklift 1 exceeded a predetermined acceleration, the number of times it exceeded a predetermined deceleration, the number of times it stopped, and the number of collisions during each loading and unloading operation of the driver into the trained model 360, and outputs the driver's proficiency. The output proficiency is sent to the proficiency storage unit 37 and the resistance value estimation unit 38.

[0046] The skill level storage unit 37 stores the received skill level in association with the driver information (driver No. in this embodiment).

[0047] The resistance value estimation unit 38 estimates an appropriate lever resistance value for a driver based on the driver's proficiency. According to some data, the higher a driver's proficiency, the less likely they are to suddenly accelerate, brake suddenly, or crash. Looking at this data from the opposite perspective, it can be said that the lower a driver's proficiency, the more likely they are to suddenly accelerate, brake suddenly, or crash. Therefore, for example, the resistance value estimation unit 38 may estimate an appropriate lever resistance value that is stronger for drivers with lower proficiency, in order to reduce sudden acceleration, braking, and crashes by drivers with lower proficiency.

[0048] Furthermore, if the driver information includes the driver's age, gender, and weight, the resistance value estimation unit 38 may refer to the driver information and estimate an appropriate lever resistance value for the driver based on the driver's age, gender, and weight in addition to the driver's proficiency. In this case, the weighting of the driver's proficiency, age, gender, and weight for the lever resistance value estimated by the resistance value estimation unit 38 is not limited. Furthermore, the appropriate lever resistance value for the driver estimated by the resistance value estimation unit 38 does not need to be the resistance value of all levers 14 of the forklift 1. In other words, in this embodiment, the resistance value estimation unit 38 only needs to estimate the lever resistance value of at least one of the lift lever, tilt lever, reach lever, and accelerator lever.

[0049] The resistance value storage unit 39 stores an appropriate lever resistance value for the driver in association with driver information (driver No. in this embodiment).

[0050] The resistance value changing unit 18 changes the resistance value of the lever 14 of the forklift 1 to a lever resistance value corresponding to the driver identified by the driver identification unit 32, based on the appropriate lever resistance value for each driver stored in the resistance value memory unit 39. This prevents a novice driver from suddenly decelerating due to a sudden accelerator lever push, and prevents a sudden deceleration due to sudden plugging braking. In addition, by increasing the resistance value of the shift lever, the shift operation of the fork 16 can be slowed down, allowing the driver to carefully align the fork 16.

[0051] <Lever resistance value change flow> Next, the flow of changing the lever resistance value of the forklift 1 will be explained again with reference to FIG.

[0052] (1) The forklift 1 identifies the driver using the driver identification unit 32, and the various detection units detect the number of times the forklift 1 exceeds a predetermined acceleration, the number of times it exceeds a predetermined deceleration, the number of times it stops, and the number of collisions caused by the driver's operation during each loading and unloading operation, and store these information in the various memory units (see S (step) 51 in Figure 5).

[0053] (2) Next, the forklift 1 determines the proficiency of each driver using the proficiency determination unit 36 ​​based on the number of times the forklift 1 exceeded a predetermined acceleration, the number of times the forklift 1 exceeded a predetermined deceleration, the number of times the forklift 1 stopped, and the number of times the forklift 1 collided, which are stored by the driver (see S52 in Figure 5).

[0054] (3) Next, the forklift 1 stores the proficiency of each driver in association with the driver information in the proficiency storage unit 37 (see S53 in FIG. 5). At this time, the proficiency corresponding to each driver is updated.

[0055] (4) Next, the forklift 1 estimates an appropriate lever resistance value for each driver based on the driver's level of proficiency using the resistance value estimation unit 38 (see S54 in FIG. 5).

[0056] (5) Next, the forklift 1 stores the estimated appropriate lever resistance value for each driver in association with the driver information in the resistance value storage unit 39. At this time, the appropriate lever resistance value for each driver is updated (see S55 in FIG. 5). Through the above process, the appropriate lever resistance values ​​for each driver are stored in a database in the computer of the forklift 1.

[0057] (6) Next, the forklift 1 photographs the driver using the camera 17, identifies the driver using the driver identification unit 32 (see S56 in Figure 5), and refers to the resistance value memory unit 39 to identify an appropriate lever resistance value corresponding to the identified driver (see S57 in Figure 5).

[0058] (7) Next, the forklift 1 changes the resistance value of the lever 14 of the forklift 1 to the identified lever resistance value (see S58 in FIG. 5).

[0059] This flow enables the forklift 1 to automatically change the resistance value of the lever 14 according to the proficiency level of each driver, thereby providing the driver with more appropriate driving operations according to their proficiency level. The forklift 1 can prevent sudden operation of the lever 14 by estimating a stronger appropriate lever resistance value for drivers with lower proficiency. The forklift 1 can also reduce the burden imposed on highly skilled drivers by operating the lever 14 by estimating a weaker appropriate lever resistance value for drivers with higher proficiency. Because highly skilled drivers may perform a larger amount of work in a given time period and, as a result, may operate the lever 14 more frequently in a given time period, it may be useful to set a weaker lever resistance value for drivers with higher proficiency.

[0060] Although one embodiment of the forklift, lever resistance value change system, and lever resistance value estimation program according to the present invention has been described above, the present invention is not limited to the above embodiment. The forklift, lever resistance value change system, and lever resistance value estimation program according to the present invention may be implemented, for example, in each of the following modified examples, or in appropriate combinations of the modified examples.

[0061] <Modification> The forklift 1 may be a counter-load forklift. Alternatively, the forklift 1 may be an engine-powered forklift.

[0062] In the above embodiment, the resistance value estimation unit 38 estimates an appropriate lever resistance value for a driver by referring to the driver's proficiency level. However, the appropriate lever resistance value may be estimated by further referring to, for example, the driver's weight, muscle mass, and / or age. In this case, the driver information includes the weight, muscle mass, and / or age of each driver.

[0063] The forklift 1 may include an input unit that receives input of a name or an identifier corresponding to each driver, or input of a tool for identifying each driver, such as an ID card. In this case, the driver identification unit 32 may identify the driver based on the driver information received by the input unit.

[0064] The driver information may include a tag, a QR code (registered trademark), etc. that identifies each driver. In this case, the helmet may have a tag, a QR code (registered trademark), etc. that identifies each driver, and the forklift 1 may have a tool for detecting this driver information.

[0065] The proficiency determination unit 36 ​​may not have the trained model 360, and may determine the driver's proficiency using a predetermined formula based on all or any of the number of times the forklift 1 exceeds a predetermined acceleration, the number of times it exceeds a predetermined deceleration, the number of times it stops, and the number of times it hits a collision during each loading and unloading operation of the driver.

[0066] The proficiency level storage unit 37 may store the proficiency level of each driver that has been manually input. Alternatively, the proficiency level of each driver may be determined manually, and the proficiency level storage unit 37 may store the determination result in association with the driver information. If the proficiency levels of all drivers are determined manually, the control unit 30 may not have the proficiency level determination unit 36.

[0067] The resistance value storage unit 39 may store an appropriate lever resistance value for each driver that is manually input. Alternatively, the appropriate lever resistance value for each driver may be estimated by a person, and the resistance value storage unit 39 may store the estimation result in association with driver information. If the appropriate lever resistance values ​​for all drivers are estimated by a person, the control unit 30 does not need to include the resistance value estimation unit 38. Note that when the appropriate lever resistance value for each driver is estimated by a person, the appropriate lever resistance value may be estimated based on the driver's proficiency.

[0068] The control unit 30 may be configured, for example, by a server computer provided on the cloud. In this case, the forklift 1 may communicate with the server computer to estimate an appropriate lever resistance value for the operator.

[0069] The trained model 360 may not include, for example, the number of stops or collisions of the forklift 1 during each loading and unloading operation of each driver as training data. In this case, the trained model 360 is configured to output a proficiency level when the number of times the forklift 1 exceeded a predetermined acceleration, the number of times it exceeded a predetermined deceleration, and the number of stops or collisions during each loading and unloading operation of each driver are input. [Explanation of symbols]

[0070] 1 forklift 10 wheels 11 Body 12 Driver's seat 13 Head guard 14 Lever 15 Mast 16 forks 17 Camera 18 Resistance value change section 19 Acceleration / deceleration detection unit 20 Stop detection unit 21 Collision detection unit 30 Control Unit 31 Driver memory unit 32 Driver Identification Department 33 Acceleration / deceleration memory section 34 Stop count memory unit 35 Collision count memory section 36 Proficiency Assessment Section 360 pre-trained models 37 Proficiency Memory Section 38 Resistance value estimation section 39 Resistance value memory section

Claims

1. A lever used to operate a forklift; a driver storage unit that stores driver information of a plurality of drivers; a resistance value storage unit that stores an appropriate lever resistance value for each of the drivers in association with the driver information; a driver identification unit that identifies the driver by referring to the driver information; a resistance value changing unit that changes the resistance value of the lever to the appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value storage unit; a proficiency level storage unit that stores the proficiency level of each of the drivers in association with each of the driver information; a resistance value estimation unit that estimates an appropriate lever resistance value for each of the drivers based on the proficiency level of each of the drivers, The resistance value storage unit stores the estimated appropriate lever resistance value for each of the drivers in association with the driver information.

2. an acceleration / deceleration storage unit that stores the number of times that a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck have been exceeded during each loading / unloading operation of each of the drivers in association with the driver information; a proficiency determination unit that determines the proficiency of each driver based on the stored number of times the predetermined acceleration and the stored number of times the predetermined deceleration have been exceeded, The forklift according to claim 1 , wherein the proficiency level storage unit stores the determined proficiency level of each of the drivers in association with the driver information.

3. a collision frequency storage unit that stores the number of collisions of the forklift truck during each loading and unloading operation of each of the drivers in association with the driver information; a proficiency determination unit that determines the proficiency of each driver based on the stored number of collisions, The forklift according to claim 1 , wherein the proficiency level storage unit stores the determined proficiency level of each of the drivers in association with the driver information.

4. a stop count storage unit that stores the number of times the forklift has stopped during each loading / unloading operation of each of the drivers in association with the driver information; a proficiency determination unit that determines the proficiency of each driver based on the stored number of stops, The forklift according to claim 1 , wherein the proficiency level storage unit stores the determined proficiency level of each of the drivers in association with the driver information.

5. an acceleration / deceleration storage unit that stores the number of times that a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck have been exceeded during each loading / unloading operation of each of the drivers in association with the driver information; a stop count storage unit that stores the number of times the forklift has stopped during each loading / unloading operation of each of the drivers in association with the driver information; A proficiency determination unit having a trained model, The trained model is configured to learn in advance based on teacher data having the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of stops as input data, and the proficiency level as output data, and to output the proficiency level of the driver when the stored number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of stops are input, The forklift according to claim 1 , wherein the proficiency level storage unit stores the output proficiency level of each of the drivers in association with the driver information.

6. an acceleration / deceleration storage unit that stores the number of times that a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck have been exceeded during each loading / unloading operation of each of the drivers in association with the driver information; a collision frequency storage unit that stores the number of collisions of the forklift truck during each loading and unloading operation of each of the drivers in association with the driver information; A proficiency determination unit having a trained model, The trained model is configured to learn in advance based on teacher data having the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of collisions as input data, and the proficiency level as output data, and to output the proficiency level of the driver when the stored number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, and the number of collisions are input, The forklift according to claim 1 , wherein the proficiency level storage unit stores the output proficiency level of each of the drivers in association with the driver information.

7. an acceleration / deceleration storage unit that stores the number of times that a predetermined acceleration rate and a predetermined deceleration rate of the forklift truck have been exceeded during each loading / unloading operation of each of the drivers in association with the driver information; a stop count storage unit that stores the number of times the forklift has stopped during each loading / unloading operation of each of the drivers in association with the driver information; a collision frequency storage unit that stores the number of collisions of the forklift truck during each loading and unloading operation of each of the drivers in association with the driver information; A proficiency determination unit having a trained model, The trained model is configured to learn in advance based on teacher data having the number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of times the vehicle stopped, and the number of times the vehicle crashed as input data, and the proficiency level as output data, and to output the proficiency level of the driver when the stored number of times the predetermined acceleration was exceeded, the number of times the predetermined deceleration was exceeded, the number of times the vehicle stopped, and the number of times the vehicle crashed are input, The forklift according to claim 1 , wherein the proficiency level storage unit stores the output proficiency level of each of the drivers in association with the driver information.

8. The forklift according to claim 1 , wherein the resistance value estimating unit estimates the appropriate lever resistance value more strongly as the proficiency level decreases.

9. A lever resistance value changing system for a lever used to operate a forklift, comprising: a driver storage unit that stores driver information of a plurality of drivers; a resistance value storage unit that stores an appropriate lever resistance value for each of the drivers in association with the driver information; a driver identification unit that identifies the driver by referring to the driver information; a resistance value changing unit that changes the lever resistance value to an appropriate lever resistance value corresponding to the identified driver based on the appropriate lever resistance value for each driver stored in the resistance value storage unit; a proficiency level storage unit that stores the proficiency level of each of the drivers in association with each of the driver information; a resistance value estimation unit that estimates an appropriate lever resistance value for each of the drivers based on the proficiency level of each of the drivers, The resistance value storage unit stores the estimated appropriate lever resistance value for each driver in association with the driver information.

10. a lever used to operate a forklift; a resistance value changing unit that changes the resistance value of the lever based on the estimated appropriate lever resistance value; A lever resistance value estimation program for use in a forklift equipped with a computer, The computer stores the proficiency level of each driver in association with driver information, The lever resistance value estimation program causes the computer to a lever resistance value estimation program that causes the program to operate as a resistance value estimation unit that estimates an appropriate lever resistance value for the driver based on the stored driver's proficiency level;

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