cargo handling vehicle

Abstract

To provide a cargo handling vehicle capable of issuing a warning when a dangerous act occurs due to an inappropriate height of a fork. [Solution] The device comprises a vehicle body 10, a loading device 20, an audio alert unit 2, a control unit, and a sensor unit 30 for measuring load. The control unit includes a first control unit 40 and a second control unit 50 that sets a definition of dangerous behavior and instructs the audio alert unit 2 to issue a warning when the definition is met. The definition includes a first condition regarding the relationship between the load and a predetermined ground contact judgment threshold, and a second condition regarding the state of the vehicle body. A judgment condition is included that determines whether the height of the fork 23 is inappropriate depending on the first and second conditions. The ground contact judgment threshold is a load threshold for distinguishing between a state in which the fork 23 is on the ground and a state in which the fork 23 is not on the ground. The second control unit 40 issues an instruction when the judgment condition is met.

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] On the other hand, the alert system described in Patent Document 2 is insufficient in dealing with dangerous behaviors caused by inappropriate fork height. Such dangerous behaviors include, for example, "forgetting to lower the forks," in which the key switch is turned off when the forks are not on the ground, and "dragging the forks," in which the vehicle body operates to move while the forks are on the ground. For example, if no warning is issued when the forks are dragging the forks, the operator may not realize that they are dragging the forks. [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 consideration of the above circumstances, and its object is to provide a loading vehicle that is capable of issuing a warning when a dangerous act occurs due to an inappropriate fork height. [Means for solving the problem]

[0008] In order to solve the above problem, the cargo handling vehicle according to the present invention comprises: The vehicle body, a cargo handling device provided on the vehicle body and including a mast, a fork, and a lift cylinder; a key switch provided on the vehicle body for turning on and off a power supply of the vehicle body; an alert unit that issues a warning to an operator; a control unit that controls the vehicle body and the alert unit; a sensor unit for measuring the load of a load held by the forks; A cargo handling vehicle comprising: The control unit a first control unit that controls the vehicle body; a second control unit that sets a definition of a dangerous act and instructs the alert unit to issue the warning when the definition is met, the definition includes a first condition relating to the magnitude relationship between the load and a preset ground contact determination threshold, and a second condition relating to the state of the vehicle body, and includes a determination condition for determining whether the fork height is inappropriate based on the first condition and the second condition; the ground contact determination threshold is a threshold of the load for determining whether the fork is in a ground contact state or not in a ground contact state, The second control unit issues the instruction when the determination condition is satisfied.

[0009] In the cargo handling vehicle, The definition includes a first determination condition that the first condition is a state in which the load exceeds the ground contact determination threshold, and that the second condition is a first determination condition in which the key switch is in a key-off state, The second control unit may be configured to issue the instruction when the first determination condition is satisfied.

[0010] In the cargo handling vehicle, The definition includes a second determination condition that the first condition is a state in which the load is equal to or less than the ground contact determination threshold, and the second condition is a state in which the vehicle body is performing a traveling operation, The second control unit may be configured to issue the instruction when the second determination condition is satisfied.

[0011] In the cargo handling vehicle, the alert unit includes a voice alert unit that reproduces first voice data or second voice data to issue a voice warning; The second control unit can be configured to issue a first playback instruction to the audio alert unit to play the first audio data when the first judgment condition is satisfied, and to issue a second playback instruction to the audio alert unit to play the second audio data when the second judgment condition is satisfied.

[0012] The loading vehicle is a display including a display unit and an input unit; the control unit includes a third control unit that controls the display, the third control unit causes the display unit to display an ON / OFF setting screen for switching between ON setting and OFF setting of the first determination condition and the second determination condition; The second control unit is When the first determination condition is set to ON, the first reproduction instruction is issued, whereas when the first determination condition is set to OFF, the first reproduction instruction is not issued; When the second determination condition is set to ON, the second reproduction instruction is issued, whereas when the second determination condition is set to OFF, the second reproduction instruction is not issued.

[0013] In the cargo handling vehicle, The third control unit can be configured to cause the display unit to display a volume change screen for changing the volume of the audio warning.

[0014] In the cargo handling vehicle, The sensor unit may be configured to measure the load by measuring the hydraulic pressure of the lift cylinder. [Effects of the Invention]

[0015] According to the present invention, it is possible to provide a cargo handling vehicle that is capable of issuing a warning when a dangerous act caused by an inappropriate fork height occurs. [Brief explanation of the drawings]

[0016] [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 S130 of a display. [Figure 11] 10A and 10B are diagrams showing screens S201 and S202 of a display. DETAILED DESCRIPTION OF THE INVENTION

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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).

[0022] The vehicle body 10 is equipped with a key switch for turning the power supply 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., the various controllers of the first control unit 40) may be constantly supplied with power supply voltage, and the second control unit 50 may be supplied with power supply voltage from a power source other than the battery.

[0023] 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.

[0024] 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 unit 17 are provided on the dashboard in front of the seat 13.

[0025] 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.

[0026] 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.

[0027] 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°.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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 measured values ​​measured by the sensors 31 to 35 correspond to "monitoring target values."

[0036] 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).

[0037] 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 steering wheel 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 that detects whether the operator has left the driver's seat 13, or a sensor provided in the driver's seat 13 that detects whether the seat belt is fastened or not. The sensor that detects whether the operator has left the seat 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 the seat belt is fastened or not 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] The second control unit 50 includes, for example, a data logger unit (DLU), and is provided on a 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 .

[0046] The input unit 51 acquires the measurement signal of the sensor unit 30. Information relating to the measurement signal acquired by the input unit 51 is output to the storage unit 52 and / or the processing unit 53.

[0047] The memory unit 52 stores a plurality of pieces of dangerous act data. The dangerous act data is data in which definitions of dangerous acts are set. 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 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 explained in the background art, and therefore a detailed explanation will be omitted here.

[0048] In this embodiment, the memory unit 52 includes, as dangerous behavior data, first data related to forgetting to lower the nails and second data related to dragging the nails while driving. Forgetting to lower the nails is also referred to as a forgetting to lower the nails warning, and in the present invention, forgetting to lower the nails and the forgetting to lower the nails warning are the same dangerous behavior. Similarly, dragging the nails while driving is also referred to as a dragging the nails warning, and in the present invention, dragging the nails while driving and the dragging the nails warning are the same dangerous behavior. In this embodiment, when displayed on the display unit 4A, the forgetting to lower the nails warning and the dragging the nails warning are used.

[0049] The first data is, for example, a link between ID = "001," the name of the dangerous act = "forgetting to lower the claws," and a judgment condition (first judgment condition) = "a state in which the load exceeds the ground contact judgment threshold and the key switch is in the key-off state." The "ground contact judgment threshold" in the judgment condition is a load threshold for distinguishing between a state in which the fork 23 is in contact with the ground (a state in which the fork 23 is in contact with the ground or floor) and a state in which the fork 23 is not in contact with the ground (a state in which the fork 23 is not in contact with the ground or floor), and is the same as the "sixth threshold" described below. For example, if the load when the fork 23 is not in contact with the ground without a load is set to 0 [kg], the load when the fork 23 is in contact with the ground without a load is a negative value, so the ground contact judgment threshold is set to a value greater than the negative value and less than 0, which is the load when the fork 23 is not in contact with the ground without a load.

[0050] The second data is, for example, a link between ID = "002", the name of the dangerous behavior = "dragging the toenails", and a judgment condition (second judgment condition) = "a state in which the load is equal to or less than the ground contact judgment threshold, and the vehicle body 10 is performing a running motion for a set time or more". The "ground contact judgment threshold" in the above judgment condition is the same as the ground contact judgment threshold included in the judgment condition (first judgment condition) for "forgetting to lower the toenails". In this embodiment, the "set time" in the above judgment condition is 1 second. Note that the "ground contact judgment threshold" and the "set time" can be changed as appropriate. Furthermore, although the ID is a number in this embodiment, the ID may be a letter or a symbol, or a combination of letters, symbols, and numbers.

[0051] 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.

[0052] 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 related to the ID of the dangerous act data identified by the processing unit 53 to the audio alert unit 2. The output unit 54 also transmits a second signal related to the restricted act linked to the ID as a restriction instruction to the first control unit 40. 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 transmitting the first signal (playback instruction) and the second signal (restriction instruction) may be the same or different.

[0053] 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.

[0054] 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.

[0055] The voice data storage unit 2A of this embodiment stores, as voice data, first voice data and second voice data corresponding to the first data and second data. The first voice data is, for example, ID="001" associated with warning voice data="Did you forget to lower the claws?". The second voice data is, for example, ID="002" associated with warning voice data="Please raise the claws before driving."

[0056] 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. The audio data processing unit 2B includes, for example, a voice player module.

[0057] 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.

[0058] 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, for example. 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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).

[0067] 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.

[0068] 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).

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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."

[0074] 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."

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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."

[0079] 7 to 10 show screens S101 to S130 displayed on the display unit 4A for changing or invalidating the definition of other risky acts. Note that in Figs. 7 to 10, the reference value (e.g., the maximum value of the previous measurement value) displayed in the threshold area A5 is omitted.

[0080] [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.

[0081] 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.

[0082] 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.

[0083] [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.

[0084] 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.

[0085] 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.

[0086] [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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] [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.

[0091] 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.

[0092] 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.

[0093] [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.

[0094] 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."

[0095] 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.

[0096] [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.

[0097] 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.

[0098] 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.

[0099] [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.

[0100] 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 [°].

[0101] 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.

[0102] 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.

[0103] [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."

[0104] 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.

[0105] 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.

[0106] [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."

[0107] 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.

[0108] 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.

[0109] 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.

[0110] [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.

[0111] The second control unit 50 determines that the conditions for issuing a claw down warning are met when the key switch is in the key-off state and the load exceeds the sixth threshold (ground contact determination 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.

[0112] 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.

[0113] 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.

[0114] [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.

[0115] 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.

[0116] 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.

[0117] [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."

[0118] 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.

[0119] 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.

[0120] [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.

[0121] 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.

[0122] 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.

[0123] [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.

[0124] 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.

[0125] 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.

[0126] 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).

[0127] [Audio Alert Volume] Screens S129 and S130 are screens for changing or disabling the definition of dangerous behavior (audio alert volume). Note that the audio alert volume does not directly correspond to dangerous behavior, but if the audio alert volume is low, there is a risk that other dangerous behaviors cannot be avoided.

[0128] On screen S129, the menu area A1 displays an "Administrator Settings" item, and the submenu area A2 displays sub-items including "Audio Alert Volume," with the cursor positioned on "Audio Alert Volume." On screen S130, the menu area A1 displays an "Audio Alert Volume" item, and the threshold area A5 displays a numeric input field and a numeric range (1 to 6 in this embodiment). The numeric input field is used to input a value for the audio alert volume. The numeric value can be increased or decreased by operating switches B3 and B4; the larger the value, the louder the audio alert volume. When "--" is entered into the numeric input field, the definition of dangerous behavior (audio alert volume) is disabled, and no playback instruction is issued. In other words, all audio alerts can be stopped. When disabled, "--" may be replaced with "0."

[0129] The third control unit 60 issues a change instruction when the audio alert volume value is changed or invalidated by an input operation. The second control unit 50, upon receiving the change instruction, issues a play instruction (instruction) to change or invalidate the audio alert volume value. The audio alert unit 2, upon receiving the play instruction (instruction), changes or invalidates the audio alert volume value.

[0130] [Dragging warning] 11 shows screens S201 and S202 displayed on the display unit 4A for changing or disabling the definition of the dangerous behavior (dragging claws while driving warning). The definition of the dangerous behavior (dragging claws while driving warning) includes a determination condition (second determination condition) for the dragging claws while driving warning: "The load is equal to or less than the ground contact determination threshold, and the vehicle body 10 has been driving for a set time or longer." When this definition (second determination condition) is met, the audio alert unit 2 plays warning audio data saying, "Please drive with your claws raised."

[0131] On screen S201, the menu area A1 displays the item "Administrator Settings," and sub-menu area A2 displays sub-items including "Drag Warning," with the cursor positioned on "Drag Warning." On screen S202, the menu area A1 displays the item "Drag Warning," and ON / OFF setting area A4 displays "ON," "OFF," and the cursor.

[0132] When "ON" is set on screen S202, the second control unit 50 enables the definition of the dangerous behavior (dragging running with claws 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 S202, the second control unit 50 disables the definition of the dangerous behavior (dragging running with claws 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 S202, a threshold area A5 for changing the ground contact determination threshold and / or the set time may be displayed.

[0133] In this embodiment, the same ground contact determination threshold is used for the forget-to-lower claws warning and the dragging claws warning, so when the ground contact determination threshold for the dragging claws warning is changed, the ground contact determination threshold for the forget-to-lower claws warning is also changed accordingly. Note that when separate ground contact determination thresholds are used for the forget-to-lower claws warning and the dragging claws warning, it is preferable that each of the ground contact determination thresholds be set to a value that is greater than the load (e.g., a negative value) when the forks 23 are on the ground without a load and less than the load (e.g., 0 kg) when the forks 23 are not on the ground without a load.

[0134] The number of times the warning audio data is played can also be changed as needed. For example, the number of times the warning audio data "Please drive with your claws raised" for the dragging claws warning can be set to be played multiple times (for example, repeatedly until the dragging claws problem is resolved). On the other hand, the number of times the warning audio data "Have you forgotten to lower your claws" for the forgotten claws warning can be played can be set to be one time.

[0135] 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.

[0136] The loading vehicle of the present invention is a loading vehicle comprising: a vehicle body; a loading device provided on the vehicle body and including a mast, forks, and a lift cylinder; a key switch provided on the vehicle body for turning the power of the vehicle body on and off; an alert unit that issues a warning to the operator; a control unit that controls the vehicle body and the alert unit; and a sensor unit for measuring the load of the cargo held by the forks. The control unit includes a first control unit that performs control operations of the vehicle body, and a second control unit that sets a definition of a dangerous act and instructs the alert unit to issue a warning when the definition is met. The definition includes a first condition regarding the relationship between the load and a predetermined ground contact judgment threshold, and a second condition regarding the state of the vehicle body. The definition includes a judgment condition for determining whether the fork height is inappropriate depending on the first and second conditions. The ground contact judgment threshold is a load threshold for distinguishing between a state in which the forks are on the ground and a state in which the forks are not on the ground. The second control unit can be configured as appropriate as long as it issues an instruction when the judgment condition is met.

[0137] 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.

[0138] In the above embodiment, for example, screens S101 to S130, S201, and S202 have been described as administrator setting screens, but at least some of screens S101 to S130, S201, and S202 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.

[0139] 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]

[0140] 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. The vehicle body, a cargo handling device provided on the vehicle body and including a mast, a fork, and a lift cylinder; a key switch provided on the vehicle body for turning on and off a power supply of the vehicle body; an alert unit that issues a warning to an operator; a display including a display unit and an input unit; a control unit that controls the display, the vehicle body, and the alert unit; a sensor unit for measuring the load of a load held by the forks; A cargo handling vehicle comprising: The control unit a first control unit that controls the vehicle body; a second control unit that stores data in which a definition of a dangerous act is set and instructs the alert unit to issue the warning when the definition is satisfied; a third control unit that controls the display, the definition includes a first condition relating to the magnitude relationship between the load and a preset ground contact determination threshold, and a second condition relating to the state of the vehicle body, and includes a determination condition for determining whether the fork height is inappropriate based on the first condition and the second condition; the ground contact determination threshold is a threshold of the load for distinguishing between a state in which the forks are on the ground and a state in which the forks are not on the ground, and is set to a negative value when the load in a state in which the forks are not holding the load and are not on the ground is set to zero; the second control unit issues the instruction when the determination condition is satisfied; the third control unit causes the display unit to display a screen for changing the ground contact determination threshold; The above definition includes: a first determination condition that the first condition is a state in which the load exceeds the ground contact determination threshold, and that the second condition is a first determination condition that the key switch is in a key-off state; the first condition is a state in which the load is equal to or less than the ground contact determination threshold, and the second condition is a second determination condition in which the vehicle body is performing a traveling operation, the second control unit issues the instruction when the first determination condition or the second determination condition is satisfied; The ground contact determination threshold of the first determination condition and the ground contact determination threshold of the second determination condition are set independently of each other. A cargo handling vehicle characterized by:

2. the alert unit includes a voice alert unit that reproduces first voice data or second voice data to issue a voice warning; The second control unit issues a first reproduction instruction to the audio alert unit to reproduce the first audio data when the first determination condition is satisfied, and issues a second reproduction instruction to the audio alert unit to reproduce the second audio data when the second determination condition is satisfied.

2. The cargo handling vehicle according to claim 1.

3. the third control unit causes the display unit to display an ON / OFF setting screen for switching between an ON setting and an OFF setting of the first determination condition and the second determination condition; The second control unit is When the first determination condition is set to ON, the first reproduction instruction is issued, whereas when the first determination condition is set to OFF, the first reproduction instruction is not issued; When the second determination condition is set to ON, the second reproduction instruction is issued, whereas when the second determination condition is set to OFF, the second reproduction instruction is not issued.

3. The cargo handling vehicle according to claim 2.

4. The third control unit causes the display unit to display a volume change screen for changing the volume of the audio warning.

4. The cargo handling vehicle according to claim 3.

5. The sensor unit measures the load by measuring the hydraulic pressure of the lift cylinder.

2. The cargo handling vehicle according to claim 1.

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