Industrial vehicles

Abstract

To limit the speed of an industrial vehicle and notifies the driver based on the results of object detection while minimizing declines in work efficiency.SOLUTION: An industrial vehicle is equipped with an object detection unit and a first control unit. The first control unit limits the vehicle speed in accordance with the detection result of the object detection unit when a first driving mode is set. The first driving mode is a driving mode that allows movement in a direction that includes the detection range of the object detection unit. The first control unit performs control so as not to change the upper vehicle speed limit value in the vehicle speed restriction when the driving mode is switched to a second driving mode while the vehicle is traveling in the first driving mode. The second driving mode is a driving mode in which the vehicle does not move in a direction that includes the detection range of the object detection unit.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to industrial vehicles. [Background technology]

[0002] The industrial vehicle disclosed in Patent Document 1 includes an object detection unit, a control unit, and a notification unit. The object detection unit detects the relative position between the industrial vehicle and an object. The control unit imposes a vehicle speed limit in accordance with the detection result of the object detection unit. The control unit issues a notification via the notification unit in accordance with the detection result of the object detection unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-93124 Summary of the Invention [Problem to be solved by the invention]

[0004] Some industrial vehicles, for example, have models in which all wheels are steerable and have multiple driving modes. In this case, depending on the driving mode, the detection results of the object detection unit may not match the direction of movement of the industrial vehicle. Limiting the vehicle speed based on the detection results of the object detection unit may result in a decrease in work efficiency. Similarly, depending on the driving mode, providing notifications based on the detection results of the object detection unit may result in a decrease in work efficiency. One idea to prevent a decrease in work efficiency is to disable speed limits and notifications for some driving modes. However, for example, if a speed limit is in effect and the vehicle switches to a driving mode that disables speed limits and notifications, the speed limit is canceled, and the vehicle will drive according to accelerator operation. Therefore, there is a need to achieve both a reduction in work efficiency and speed limits and notifications based on the object detection results of the object detection unit. [Means for solving the problem]

[0005] An industrial vehicle that solves the above problem includes an object detection unit, a switching unit that switches between a first driving mode in which movement in a direction including the detection range of the object detection unit is possible and a second driving mode in which movement in a direction including the detection range of the object detection unit is not possible, and a control unit that limits the vehicle speed by setting an upper vehicle speed limit value in accordance with the detection result of the object detection unit, wherein when the first driving mode is set, the control unit limits the vehicle speed in accordance with the detection result of the object detection unit, and when switching to the second driving mode while driving in the first driving mode, the control unit controls so that the upper vehicle speed limit value in the vehicle speed limit is not changed.

[0006] In the second driving mode, the industrial vehicle does not move in a direction that includes the detection range of the object detection unit, so there is a low possibility of the industrial vehicle coming into contact with an object in the detection range. The vehicle speed limit is implemented to prevent contact between the industrial vehicle and an object in the detection range. If the vehicle speed limit is implemented in the second driving mode, it will be implemented even though there is a low possibility of the industrial vehicle coming into contact with an object in the detection range, resulting in a decrease in work efficiency. When switching to the second driving mode while driving in the first driving mode, control is performed so that the upper vehicle speed limit value is not changed, thereby achieving both a reduction in work efficiency and a vehicle speed limit.

[0007] With respect to the above-mentioned industrial vehicle, the control unit may control the vehicle speed upper limit value to be changed when it is determined that the industrial vehicle has transitioned to a stopped state after switching to the second driving mode while traveling in the first driving mode.

[0008] An industrial vehicle that solves the above problem includes an object detection unit, a switching unit that switches between a first driving mode in which movement is possible in a direction that includes the detection range of the object detection unit and a second driving mode in which movement is not possible in a direction that includes the detection range of the object detection unit, a notification unit, and a control unit that controls the notification unit in accordance with the detection result of the object detection unit, wherein when the first driving mode is set, the control unit issues a notification by the notification unit in accordance with the detection result of the object detection unit, and when switching to the second driving mode while driving in the first driving mode, the control unit controls so that the content of the notification by the notification unit is not changed.

[0009] In the second driving mode, the industrial vehicle does not move in a direction that includes the detection range of the object detection unit, so there is a low possibility that the industrial vehicle will come into contact with an object in the detection range. The notification unit issues a notification to prevent contact between the industrial vehicle and an object in the detection range. If the notification unit were to issue a notification in the second driving mode, it would be issued even though there is a low possibility that the industrial vehicle will come into contact with an object in the detection range, resulting in a decrease in work efficiency. If the driving mode is switched to the second driving mode while the vehicle is traveling in the first driving mode, control is performed so that the content of the notification by the notification unit does not change, thereby achieving both a reduction in work efficiency and notification.

[0010] For the above-mentioned industrial vehicle, the control unit may be configured to control the notification unit so as not to operate when a predetermined action is performed after switching to the second driving mode while the industrial vehicle is traveling in the first driving mode.

[0011] For the above-mentioned industrial vehicle, the first driving mode may include a state in which the front wheels of the industrial vehicle face in a forward-backward direction when the industrial vehicle is traveling straight, and the second driving mode may include at least one of a state in which the front wheels of the industrial vehicle face in a left-right direction when the industrial vehicle is traveling straight, and a state in which the direction of the front wheels of the industrial vehicle matches the direction of the rear wheels of the industrial vehicle. [Effects of the Invention]

[0012] According to the present invention, it is possible to suppress a decrease in work efficiency while limiting the speed of an industrial vehicle and issuing a notification based on the object detection result. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. [Figure 2] FIG. 2 is a perspective view showing a part of the industrial vehicle of FIG. [Figure 3] FIG. 2 is a schematic configuration diagram of the industrial vehicle of FIG. [Figure 4] 2 is a diagram showing the orientation of the front and rear wheels when the driving mode of the industrial vehicle of FIG. 1 is set to a normal mode. FIG. [Figure 5] 2 is a diagram showing the orientation of the front wheels and rear wheels when the driving mode of the industrial vehicle of FIG. 1 is set to a right-angle small turning mode. FIG. [Figure 6] 2 is a diagram showing the orientation of the front wheels and rear wheels when the driving mode of the industrial vehicle of FIG. 1 is set to a turn-on-the-spot mode. FIG. [Figure 7] 2 is a diagram showing the orientation of the front and rear wheels when the travel mode of the industrial vehicle of FIG. 1 is set to a lateral movement mode. FIG. [Figure 8] 2 is a diagram showing the orientation of the front and rear wheels when the travel mode of the industrial vehicle of FIG. 1 is set to a parallel movement mode. FIG. [Figure 9] 4 is a flowchart showing vehicle speed limit switching control executed by the first control device of FIG. 3. [Figure 10] 4 is a flowchart showing notification switching control executed by the first control device of FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0014] [First embodiment] A first embodiment of the industrial vehicle will be described. <Industrial vehicles> As shown in Figure 1, the industrial vehicle 10 is a reach-type forklift. The industrial vehicle 10 is operated manually. The industrial vehicle 10 may be configured to be able to switch between automatic and manual operation. In the following description, front, rear, left, right and front are determined based on the industrial vehicle 10.

[0015] The industrial vehicle 10 includes a vehicle body 11. The industrial vehicle 10 includes a reach leg 12. Two reach legs 12 are provided spaced apart from each other in the left-right direction. The reach legs 12 extend forward from the vehicle body 11.

[0016] The industrial vehicle 10 has front wheels 13. One front wheel 13 is provided on each reach leg 12. The industrial vehicle 10 has rear wheels 14. The rear wheels 14 are provided on the vehicle body 11.

[0017] The industrial vehicle 10 is equipped with a loading device 21. The loading device 21 is provided at the front of the vehicle body 11. The loading device 21 is equipped with forks 22. As shown in FIG. 2, the industrial vehicle 10 is equipped with a direction operation unit 31. The direction operation unit 31 is, for example, a lever. The direction operation unit 31 tilts forward or backward from a neutral position. The direction operation unit 31 is operated when traveling the industrial vehicle 10. The direction of movement of the industrial vehicle 10 can be determined by the operation direction of the direction operation unit 31. The speed of the industrial vehicle 10 can be adjusted by the amount of operation of the direction operation unit 31.

[0018] The industrial vehicle 10 is equipped with a cargo handling operation unit 32. The cargo handling operation unit 32 is, for example, a lever. The cargo handling operation unit 32 is operated when operating the cargo handling device 21. A plurality of cargo handling operation units 32 are provided corresponding to the operations performed by the cargo handling device 21. In this embodiment, three cargo handling operation units 32 are provided corresponding to the reach operation, lift operation, and tilt operation. The reach operation is an operation of moving the forks 22 in the forward and backward directions. The lift operation is an operation of raising and lowering the forks 22. The tilt operation is an operation of tilting the forks 22 in the forward and backward directions.

[0019] As shown in FIG. 3 , the industrial vehicle 10 includes a first control device 51. The first control device 51 includes a processor 52 and a storage unit 53. The processor 52 may be, for example, a central processing unit (CPU), a graphics processing unit (GPU), or a digital signal processor (DSP). The storage unit 53 includes a random access memory (RAM) and a read-only memory (ROM). The storage unit 53 stores a program for operating the industrial vehicle 10. The storage unit 53 can be said to store program code or instructions configured to cause the processor 52 to execute processing. The storage unit 53, i.e., a computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The first control device 51 may be configured by a hardware circuit such as an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). The first control device 51, which is a processing circuit, may include one or more processors that operate according to a computer program, one or more hardware circuits such as ASICs or FPGAs, or a combination thereof. The first control device 51 is a control unit.

[0020] The industrial vehicle 10 is equipped with a direction sensor 54. The direction sensor 54 detects the amount of operation of the direction operation unit 31. The direction sensor 54 outputs an electrical signal corresponding to the amount of operation of the direction operation unit 31 to the first control device 51. The first control device 51 recognizes the operation direction of the direction operation unit 31 and the amount of operation of the direction operation unit 31.

[0021] The industrial vehicle 10 is equipped with a tire angle sensor 55. The tire angle sensor 55 detects the steering angle of the rear wheels 14. The tire angle sensor 55 outputs an electrical signal corresponding to the steering angle to the first control device 51. The first control device 51 recognizes the steering angle of the rear wheels 14.

[0022] The industrial vehicle 10 is equipped with a traction motor 56. The traction motor 56 drives the industrial vehicle 10. The rear wheels 14 are driven by the traction motor 56 to rotate, causing the industrial vehicle 10 to move.

[0023] The rotation speed sensor 57 detects the rotation speed of the traveling motor 56. For example, a rotary encoder can be used as the rotation speed sensor 57. The rotation speed sensor 57 outputs an electric signal corresponding to the rotation speed of the traveling motor 56.

[0024] The travel control device 58 is a motor driver that controls the rotation speed of the travel motor 56. The travel control device 58 can recognize the rotation speed and rotation direction of the travel motor 56 from the electrical signal output by the rotation speed sensor 57.

[0025] The industrial vehicle 10 is equipped with an object detection unit 61. The object detection unit 61 detects the position of an object. The object detection unit 61 is equipped with a stereo camera 62, a detection device 63, and a notification unit 66. The stereo camera 62 has two cameras and captures images using the two cameras. In this embodiment, the stereo camera 62 captures images behind the industrial vehicle 10. Therefore, objects detected by the object detection unit 61 are objects behind the industrial vehicle 10. The detection range of the object detection unit 61 extends rearward.

[0026] The detection device 63 has, for example, the same hardware configuration as the first control device 51. The detection device 63 has, for example, a processor 64 and a storage unit 65. The detection device 63 acquires image data from the stereo camera 62. The detection device 63 detects objects present within the detection range from the image data. The detection device 63 calculates the coordinates of the object in a coordinate system that represents the relative position between the industrial vehicle 10 and the object. The detection range is determined by the angle of view of the stereo camera 62. The width of the detection range in the horizontal direction is, for example, a range of 130° in the left-right direction.

[0027] The notification unit 66 is a device that notifies the passengers of the industrial vehicle 10. The notification unit 66 includes a buzzer 67 that notifies by sound and a lamp 68 that notifies by light. The industrial vehicle 10 is equipped with a switching device 71. The switching device 71 is provided in a position where it can be operated by a passenger on the industrial vehicle 10. The switching device 71 is a switch that can be switched between two positions. The switching device 71 is a switch for switching the driving mode of the industrial vehicle 10. The driving modes include a normal mode and an all-way mode. The normal mode is a driving mode that is used in normal situations. The normal mode is a driving mode that is expected to be used most frequently. The all-way mode is a driving mode that is used in specific situations. The all-way mode includes a right-angle small turn mode, a turning mode on the spot mode, a lateral movement mode, and a parallel movement mode.

[0028] The industrial vehicle 10 is equipped with a second control device 72. The second control device 72 has, for example, the same hardware configuration as the first control device 51. The second control device 72 has, for example, a processor 73 and a storage unit 74. The second control device 72 is capable of recognizing the operating state of the switching device 71. The second control device 72 is capable of recognizing whether the normal mode or the all-way mode is selected as the driving mode from the operating state of the switching device 71.

[0029] The industrial vehicle 10 includes a display unit 81. The display unit 81 includes a display section 82, a display control device 83, and a plurality of selection switches 86, 87, 88, and 89. The display unit 82 is provided in a position visible to a passenger in the industrial vehicle 10. The display unit 82 is, for example, a liquid crystal display or an organic electroluminescence display.

[0030] The selection switches 86, 87, 88, and 89 are provided at positions where they can be operated by a passenger of the industrial vehicle 10. The selection switches 86, 87, 88, and 89 are, for example, switches that are operated by a passenger of the industrial vehicle 10 pressing them. The selection switches 86, 87, 88, and 89 may be, for example, levers or handles. If the display unit 82 is equipped with a touch panel, the selection switches 86, 87, 88, and 89 may be symbols displayed on the display unit 82. The selection switches 86, 87, 88, and 89 are switches for selecting one of a plurality of all-way modes. The number of selection switches 86, 87, 88, and 89 corresponds to the number of all-way modes. In this embodiment, the selection switch 86 corresponds to the sharp right-angle turning mode, the selection switch 87 corresponds to the on-the-spot turning mode, the selection switch 88 corresponds to the lateral movement mode, and the selection switch 89 corresponds to the parallel movement mode are provided.

[0031] The display control device 83 has, for example, the same hardware configuration as the first control device 51. The display control device 83 has, for example, a processor 84 and a storage unit 85. The display control device 83 controls the display unit 81. The display control device 83 updates the display content of the display unit 82, for example. The display control device 83 can recognize which all-way mode is selected from the operating states of the selection switches 86, 87, 88, and 89.

[0032] The first control device 51, the detection device 63, the second control device 72, and the display control device 83 communicate with each other in accordance with a vehicle communication protocol, such as a Controller Area Network (CAN) or a Local Interconnect Network (LIN).

[0033] The second control device 72 sets the driving mode. The second control device 72 sets the driving mode according to an input from the switching device 71 and the operation states of the selection switches 86, 87, 88, and 89 obtained from the display control device 83. When the normal mode is selected by the switching device 71, the second control device 72 selects the normal mode as the driving mode. When the all-way mode is selected by the switching device 71, the second control device 72 sets one of the all-way modes selected by the selection switches 86, 87, 88, and 89. The all-way mode set when switching from the normal mode by the switching device 71 can be set arbitrarily. For example, the all-way mode set when switching to the normal mode by the switching device 71 may be the turn-on-the-spot mode. The switching device 71 and the selection switches 86, 87, 88, and 89 form a switching unit.

[0034] As shown in FIG. 4, the normal mode is a driving mode in which only the rear wheels 14 are steered. In the normal mode, the industrial vehicle 10 travels straight, with the front wheels 13 facing in the longitudinal direction. The detection range of the object detection unit 61 extends rearward, and rearward movement is possible in the normal mode. The normal mode is a first driving mode in which movement in a direction that includes the detection range of the object detection unit 61 is possible. A direction that includes the detection range of the object detection unit 61 is a direction that falls within the detection range. For example, the direction from the object detection unit 61 toward the rear of the industrial vehicle 10 is defined as 0°, and the range that extends from 0° to the left and right by 65° is defined as the detection range. In this case, the direction from 0° to 65° left and right is a direction that includes the detection range. Any direction other than the direction from 0° to the left and right is a direction that does not include the detection range.

[0035] As shown in FIG. 5, the right-angle sharp turning mode is a driving mode in which the two front wheels 13 and the rear wheels 14 are steered. The right-angle sharp turning mode is a driving mode used when turning in places that are difficult to turn, such as right-angle corners. In the right-angle sharp turning mode, the turning center is closer to the industrial vehicle 10 than in the normal mode. The right-angle sharp turning mode is a first driving mode in which movement in a direction that includes the detection range of the object detection unit 61 is possible.

[0036] As shown in Fig. 6, the on-the-spot turning mode is a driving mode in which the two front wheels 13 and the rear wheels 14 are steered. In the on-the-spot turning mode, the turning center is set to the center position of the industrial vehicle 10, thereby turning on the spot. The on-the-spot turning mode is a first driving mode in which movement in a direction including the detection range of the object detection unit 61 is possible.

[0037] As shown in FIG. 7, the lateral movement mode is a driving mode in which one front wheel 13 and one rear wheel 14 are steered wheels. The lateral movement mode is a driving mode in which the direction of movement is left and right. In the lateral movement mode, the industrial vehicle 10 moves straight ahead and the front wheels 13 face left and right. When the industrial vehicle 10 is traveling in the lateral movement mode, the direction of movement is left and right, so the front and rear directions are blind spots. The lateral movement mode is a second driving mode in which the industrial vehicle 10 does not move in a direction that includes the detection range of the object detection unit 61.

[0038] As shown in FIG. 8, the parallel movement mode is a traveling mode in which the two front wheels 13 and the rear wheels 14 are steered. In the parallel movement mode, traveling is performed without changing the orientation of the vehicle body 11. In the parallel movement mode, the orientation of the two front wheels 13 and the orientation of the rear wheels 14 match. When the industrial vehicle 10 travels in the parallel movement mode, the industrial vehicle 10 is operated so that the direction of movement is the left-right direction. The parallel movement mode is a second traveling mode in which the industrial vehicle 10 does not travel in a direction that includes the detection range of the object detection unit 61.

[0039] In this embodiment, the first and second driving modes are specifically assigned to the respective driving modes, but this can be changed as appropriate depending on the detection range of the object detection unit 61. The industrial vehicle 10 has an object detection function. The object detection function is a function that performs a vehicle speed limit, a notification, or both, depending on the result of object detection by the object detection unit 61. The first control device 51 performs a vehicle speed limit according to the position of the object. For example, when an object is present within a predetermined range from the industrial vehicle 10, the first control device 51 performs a vehicle speed limit by setting a vehicle speed upper limit. The predetermined range can be set arbitrarily. The predetermined range may be a range that changes depending on the vehicle speed of the industrial vehicle 10. For example, the higher the vehicle speed of the industrial vehicle 10, the wider the predetermined range. The predetermined range may be a range that changes depending on the steering angle. For example, the predetermined range may extend in the direction of the steering angle. The first control device 51 performs a vehicle speed limit by controlling the industrial vehicle 10 so that the vehicle speed does not exceed the vehicle speed upper limit. The vehicle speed upper limit may be a constant value or a variable value that changes depending on the positional relationship between the industrial vehicle 10 and the object. For example, the shorter the distance between the industrial vehicle 10 and the object, the lower the vehicle speed upper limit.

[0040] The first control device 51 issues a notification via the notification unit 66 depending on the position of the object. The first control device 51 activates the notification unit 66 by sending a notification command to the object detection unit 61. The first control device 51 may issue a notification via the notification unit 66, for example, when an object is present within a predetermined range from the industrial vehicle 10. The notification via the notification unit 66 is issued, for example, to notify an occupant of the industrial vehicle 10 that an object is present within the predetermined range. The predetermined range may be a range that changes depending on the speed of the industrial vehicle 10 or a range that changes depending on the steering angle. The predetermined range used for the vehicle speed limit and the predetermined range used for notification may be the same range or may be different ranges. The notification via the notification unit 66 includes notification via the buzzer 67, notification via the lamp 68, or both. The first control device 51 may switch between notification via the buzzer 67, notification via the lamp 68, or both depending on the position of the object. The first control device 51 may switch between notifying by the buzzer 67, notifying by the lamp 68, or notifying by both, depending on the type of object.

[0041] <Vehicle speed limit switching control> The first control device 51 switches the object detection function on and off depending on the driving mode. In this embodiment, the first control device 51 executes vehicle speed limit switching control that switches the vehicle speed limit on and off. Turning the vehicle speed limit on means that the vehicle speed of the industrial vehicle 10 is limited according to the detection result of the object detection unit 61. Turning the vehicle speed limit off means that the vehicle speed of the industrial vehicle 10 is not limited regardless of the detection result of the object detection unit 61. The vehicle speed limit switching control is executed repeatedly at a predetermined control cycle.

[0042] 9, in step S1, the first control device 51 determines whether the driving mode is the second driving mode. If the determination result in step S1 is negative, the first control device 51 performs the process of step S2. If the determination result in step S1 is positive, the first control device 51 performs the process of step S3.

[0043] In step S2, the first control device 51 turns on the vehicle speed limit because movement in a direction including the detection range of the object detection unit 61 is possible. If the determination result in step S1 is negative, the first control device 51 sets the first driving mode as the driving mode. Therefore, when the first driving mode is set, the first control device 51 limits the vehicle speed by setting an upper vehicle speed limit value in accordance with the detection result of the object detection unit 61. After completing the processing of step S2, the first control device 51 ends the vehicle speed limit switching control.

[0044] In step S3, the first control device 51 determines whether the speed of the industrial vehicle 10 has remained below the threshold for a predetermined time or longer. The determination in step S3 is a determination of whether the industrial vehicle 10 is stopped. The speed of the industrial vehicle 10 can be derived using the rotation speed and direction of the travel motor 56, the gear ratio, the outer diameter of the rear wheels 14, and the like. The threshold is set to a value at which the industrial vehicle 10 is considered to be stopped. The threshold can be set to any value between 0 km / h and 3.0 km / h, for example. The predetermined time is set to prevent the industrial vehicle 10 from being determined to be not stopped when the speed of the industrial vehicle 10 exceeds the threshold due to an external disturbance, even though the speed of the industrial vehicle 10 is below the threshold. The predetermined time can be set to any value between 0.5 sec and 2.0 sec, for example. If the determination result in step S3 is negative, the first control device 51 terminates the vehicle speed limit switching control. If the determination result in step S3 is negative, the vehicle speed limit is not switched on or off. If the determination result in step S3 is negative, it can be said that the industrial vehicle 10 was switched to the second traveling mode while traveling in the first traveling mode. Therefore, even if the traveling mode is switched to the second traveling mode while traveling in the first traveling mode, the vehicle speed upper limit value is not changed and the vehicle speed limit is maintained. If the determination result in step S3 is positive, the first control device 51 performs the process of step S4.

[0045] In step S4, the first control device 51 turns off the vehicle speed limit. The determination result in step S3 is affirmative when, after switching from the first traveling mode to the second traveling mode in step S1, it is determined that the industrial vehicle 10 has transitioned to a stopped state in step S3. After switching from the first traveling mode to the second traveling mode, the first control device 51 controls the industrial vehicle 10 so as not to impose a vehicle speed limit when the industrial vehicle 10 is stopped. By turning off the vehicle speed limit, the upper vehicle speed limit value is no longer set. Changing the upper vehicle speed limit value also includes changing the upper vehicle speed limit value from a set state to no longer being set. When the vehicle speed limit is turned off, the first control device 51 may set an upper vehicle speed limit value that is substantially ineffective by setting a higher upper vehicle speed limit value than the maximum speed that the industrial vehicle 10 can reach. After completing the processing of step S4, the first control device 51 ends the vehicle speed limit switching control.

[0046] Switching from the first traveling mode to the second traveling mode includes switching by the switching device 71 and switching by the selection switches 86, 87, 88, and 89. For example, switching from the first traveling mode to the second traveling mode includes switching from the normal mode to the parallel movement mode by the switching device 71. For example, switching from the first traveling mode to the second traveling mode includes switching from the turn-in-place mode to the lateral movement mode by the selection switches 86, 87, 88, and 89.

[0047] [Operation of the first embodiment] The first control device 51 turns off the vehicle speed limit when it determines that the industrial vehicle 10 has transitioned to a stopped state after switching from the first traveling mode to the second traveling mode. The object detection unit 61 detects objects within the detection range. In the second traveling mode, the industrial vehicle 10 does not move toward the detection range. Therefore, even if the object detection unit 61 detects an object within the detection range, the industrial vehicle 10 often does not move toward the object within the detection range. The vehicle speed limit is implemented to prevent contact between the industrial vehicle 10 and an object. If the vehicle speed limit is implemented even though the industrial vehicle 10 is not moving toward an object within the detection range, the vehicle speed limit will be implemented even though the possibility of contact between the industrial vehicle 10 and the object is low, resulting in a decrease in work efficiency. By turning off the vehicle speed limit when it determines that the industrial vehicle 10 has transitioned to a stopped state after switching from the first traveling mode to the second traveling mode, the vehicle speed limit is prevented from being implemented in a situation where the industrial vehicle 10 is unlikely to come into contact with an object. Therefore, a decrease in work efficiency can be prevented.

[0048] [Effects of the first embodiment] (1-1) When the driving mode is switched to the second driving mode while the industrial vehicle 10 is driving in the first driving mode, the first control device 51 does not change the upper limit vehicle speed. This makes it possible to limit the speed of the industrial vehicle 10 based on the object detection result while suppressing a decrease in work efficiency.

[0049] (1-2) After switching from the first traveling mode to the second traveling mode, the first control device 51 performs control so as not to impose a vehicle speed limit when it determines that the industrial vehicle 10 has transitioned to a stopped state. Let us assume that the industrial vehicle 10 is switched to the second traveling mode while traveling in the first traveling mode. If a vehicle speed limit was imposed in the first traveling mode, the speed limit may be lifted by switching to the second traveling mode, which could cause the industrial vehicle 10 to accelerate. Acceleration of the industrial vehicle 10 could result in contact with an object or a load shifting. By preventing the vehicle speed limit from being imposed on the condition that the industrial vehicle 10 is stopped, it is possible to prevent the industrial vehicle 10 from accelerating when switching from the first traveling mode to the second traveling mode.

[0050] [Second embodiment] A second embodiment of the industrial vehicle will be described below, and descriptions of the same parts as those in the first embodiment will be omitted.

[0051] <Notification switching control> The first control device 51 executes notification switching control to switch notifications on and off. Turning notifications on means that the notification unit 66 issues a notification in accordance with the detection result of the object detection unit 61. Turning notifications off means that the notification unit 66 does not issue a notification regardless of the detection result of the object detection unit 61. The notification switching control is executed repeatedly at a predetermined control period. The first control device 51 may perform notification switching control in addition to vehicle speed limit switching control. The first control device 51 may perform notification switching control instead of vehicle speed limit switching control.

[0052] 10, in step S11, the first control device 51 determines whether the driving mode is the second driving mode. If the determination result in step S11 is negative, the first control device 51 performs the process of step S12. If the determination result in step S11 is positive, the first control device 51 performs the process of step S13.

[0053] In step S12, the first control device 51 turns on notification. If the determination result in step S11 is negative, the first control device 51 sets the first driving mode as the driving mode. Therefore, when the first driving mode is set, the first control device 51 issues a notification via the notification unit 66 in accordance with the detection result of the object detection unit 61. After completing the processing of step S12, the first control device 51 ends the notification switching control.

[0054] In step S13, the first control device 51 determines whether the vehicle speed of the industrial vehicle 10 is less than a threshold value. The threshold value in step S13 is the same value as the threshold value in step S3. That is, the threshold value in step S13 is a threshold value for determining whether the industrial vehicle 10 is moving or stopped. If the vehicle speed of the industrial vehicle 10 is less than the threshold value, the industrial vehicle 10 is stopped. If the vehicle speed of the industrial vehicle 10 is equal to or greater than the threshold value, the industrial vehicle 10 is moving. If the determination result in step S13 is positive, the first control device 51 performs the processing of step S15. If the determination result in step S13 is negative, the first control device 51 performs the processing of step S14.

[0055] In step S14, the first control device 51 determines whether a predetermined action has been performed. The predetermined action is an action that is assumed to be performed by a passenger of the industrial vehicle 10 with the intention of stopping the industrial vehicle 10. For example, the predetermined action may be an action that slows down the industrial vehicle 10, such as setting the operation amount of the direction operation unit 31 detected by the direction sensor 54 to zero. If the determination result in step S14 is negative, the first control device 51 terminates the notification switching control. If the determination result in step S14 is negative, the notification is not switched on or off. An example of a case in which the determination result in step S14 is negative is when a predetermined action is not performed after the industrial vehicle 10 is switched to the second driving mode while traveling in the first driving mode. Therefore, even if the driving mode is switched to the second driving mode while traveling in the first driving mode, if the predetermined action is not performed, the notification is not switched on or off, and the content of the notification is not changed. If the determination result in step S14 is positive, the first control device 51 performs the processing of step S15.

[0056] In step S15, the first control device 51 turns off the notification. If the determination result in step S14 is positive, this is the case when the predetermined action is performed in step S14 after switching from the first driving mode to the second driving mode in step S11. The first control device 51 performs control so that the notification unit 66 does not provide a notification when the predetermined action is performed after switching from the first driving mode to the second driving mode. After completing the processing of step S15, the first control device 51 ends the notification switching control.

[0057] [Operation of the second embodiment] When the driving mode is switched to the second driving mode while driving in the first driving mode, the first control device 51 controls the notification by the notification unit 66 so as not to change the content of the notification. The object detection unit 61 detects objects within the detection range. In the second driving mode, the industrial vehicle 10 does not move toward the detection range. Therefore, even if the object detection unit 61 detects an object within the detection range, the industrial vehicle 10 often does not move toward the object within the detection range. The notification by the notification unit 66 is performed to prevent contact between the industrial vehicle 10 and the object. If the notification unit 66 performs a notification even when the industrial vehicle 10 does not move toward the object within the detection range, the notification is performed even though the possibility of contact between the industrial vehicle 10 and the object is low, resulting in a decrease in work efficiency. For example, if an occupant of the industrial vehicle 10 recognizes, based on the notification by the notification unit 66, that there is a risk of contact between the industrial vehicle 10 and the object, the occupant may slow down the industrial vehicle 10. When a predetermined action is performed after switching to the second driving mode while driving in the first driving mode, notifications are turned off, thereby preventing the notification unit 66 from issuing notifications in situations where it is unlikely that the industrial vehicle 10 will come into contact with an object.

[0058] [Effects of the second embodiment] (2-1) When switching to the second driving mode while driving in the first driving mode, the first control device 51 performs control so as not to change the content of the notification from the notification unit 66. This makes it possible to suppress a decrease in work efficiency while providing a notification based on the object detection result.

[0059] (2-2) The first control device 51 controls the notification unit 66 not to issue a notification when a predetermined action is performed after switching from the first traveling mode to the second traveling mode. Suppose the industrial vehicle 10 is switched to the second traveling mode while traveling in the first traveling mode. If the notification unit 66 was issuing a notification in the first traveling mode, switching to the second traveling mode stops the notification by the notification unit 66, which may lead the occupant of the industrial vehicle 10 to recognize that there is no risk of the industrial vehicle 10 coming into contact with an object. In this case, there is a risk that the occupant of the industrial vehicle 10 will continue traveling the industrial vehicle 10 despite the risk of the industrial vehicle 10 coming into contact with an object. By preventing notification on the condition that a predetermined action is performed, it is possible to prevent the occupant of the industrial vehicle 10 from continuing traveling the industrial vehicle 10 despite the risk of the industrial vehicle 10 coming into contact with an object.

[0060] [Example of change] Each embodiment can be modified as follows: Each embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0061] In the first embodiment, the first control device 51 may determine in step S3 whether the operation amount of the direction operation unit 31 has remained at 0 for a predetermined time or longer. If the determination result in step S3 is positive, the first control device 51 performs the process of step S4. If the determination result in step S3 is negative, the first control device 51 ends the vehicle speed limit switching control.

[0062] In the first embodiment, in step S3, the first control device 51 may determine whether the operation amount of the direction operation unit 31 is 0 and the vehicle speed of the industrial vehicle 10 has remained below the threshold value for a predetermined period of time or more.

[0063] In the first embodiment, if the driving mode is switched to the second driving mode while the industrial vehicle 10 is traveling in the first driving mode, the first control device 51 does not need to change from the first driving mode to the second driving mode. In this case, the first driving mode is maintained, and control is performed so that the upper vehicle speed limit value in the vehicle speed limit is not changed. After the driving mode is switched to the second driving mode while the industrial vehicle 10 is traveling in the first driving mode, the first control device 51 may change to the second driving mode if it determines that the industrial vehicle 10 has transitioned to a stopped state.

[0064] In the second embodiment, the first control device 51 may terminate the notification switching control when the determination result in step S13 is negative. That is, the notification switching control does not need to include the processing of step S14. In this case, when the driving mode is switched to the second driving mode while driving in the first driving mode, the first control device 51 performs control so that the content of the notification from the notification unit 66 does not change.

[0065] In the second embodiment, if the driving mode is switched to the second driving mode while the vehicle is traveling in the first driving mode, the first control device 51 does not need to change the driving mode from the first driving mode to the second driving mode. In this case, the first driving mode is maintained, and control is performed so that the content of the notification by the notification unit 66 does not change. The first control device 51 may change the driving mode to the second driving mode if a predetermined action is performed after the driving mode is switched to the second driving mode while the vehicle is traveling in the first driving mode.

[0066] In the second embodiment, the detection device 63 may be the control unit. In this case, even if the detection device 63 receives a notification command from the first control device 51, the detection device 63 may not activate the notification unit 66.

[0067] In each embodiment, the display unit 82 may be used as a notification unit. For example, the first control device 51 may notify the industrial vehicle 10 by displaying a message indicating that an object is present near the industrial vehicle 10.

[0068] In each embodiment, the direction in which the detection range of the object detection unit 61 extends may be changed as desired. For example, the detection range may extend forward of the industrial vehicle 10. The detection range may extend left and right of the industrial vehicle 10. In this case, the normal mode may be the second traveling mode, and the right-angle sharp turn mode, on-the-spot turning mode, lateral movement mode, and parallel movement mode may be the first traveling modes.

[0069] In each embodiment, the industrial vehicle 10 may be provided with at least one first traveling mode and at least one second traveling mode. The term "at least one" used in this specification means "one or more" of the desired options. As an example, the term "at least one" used in this specification means "only one option" or "both of two options" if the number of options is two. As another example, the term "at least one" used in this specification means "only one option" or "any combination of two or more options" if the number of options is three or more.

[0070] In each embodiment, if there is only one all-way mode, the industrial vehicle 10 does not need to include the selection switches 86, 87, 88, and 89. In each embodiment, the industrial vehicle 10 may be a towing tractor.

[0071] In each embodiment, the industrial vehicle 10 may be a counter-load forklift. In this case, in the first embodiment, the first control device 51 may determine in step S3 whether the accelerator pedal operation amount has remained at 0 for a predetermined period of time or more. The first control device 51 may also determine in step S3 whether the accelerator pedal operation amount is 0 and the vehicle speed of the industrial vehicle 10 is less than a threshold for a predetermined period of time or more. If the determination result in step S3 is positive, the first control device 51 performs processing in step S4. If the determination result in step S3 is negative, the first control device 51 terminates the vehicle speed limit switching control.

[0072] In each embodiment, the object detection unit 61 may include a distance sensor instead of the stereo camera 62. The distance sensor may be capable of detecting the coordinates of an object. For example, a laser rangefinder or a millimeter-wave radar may be used as the distance sensor.

[0073] In each embodiment, the notification unit 66 may include only one of the buzzer 67 and the lamp 68. In each embodiment, the industrial vehicle 10 may operate automatically. In this case, switching between the first traveling mode and the second traveling mode may be performed by the first control device 51 or the second control device 72. The first control device 51 or the second control device 72 is a switching unit. [Explanation of symbols]

[0074] 10...industrial vehicle, 51...first control device which is a control unit, 61...object detection unit, 66...notification unit, 71...switching device which is a switching unit, 86, 87, 88, 89...selection switches which are switching units.

Claims

1. an object detection unit; a switching unit that switches between a first traveling mode in which the vehicle can move in a direction that includes the detection range of the object detection unit and a second traveling mode in which the vehicle cannot move in a direction that includes the detection range of the object detection unit; a control unit that limits the vehicle speed by setting an upper vehicle speed limit value in accordance with the detection result of the object detection unit, The control unit When the first driving mode is set, the vehicle speed is limited in accordance with the detection result of the object detection unit; When the driving mode is switched to the second driving mode while the industrial vehicle is driving in the first driving mode, the upper vehicle speed limit is controlled not to be changed.

2. 2. The industrial vehicle according to claim 1, wherein the control unit controls the industrial vehicle to change the upper vehicle speed limit value when it determines that the industrial vehicle has transitioned to a stopped state after switching to the second driving mode while traveling in the first driving mode.

3. an object detection unit; a switching unit that switches between a first traveling mode in which the vehicle can move in a direction that includes the detection range of the object detection unit and a second traveling mode in which the vehicle cannot move in a direction that includes the detection range of the object detection unit; A notification unit; a control unit that controls the notification unit in accordance with a detection result of the object detection unit, The control unit When the first traveling mode is set, the notification unit issues a notification in accordance with a detection result of the object detection unit; When the driving mode is switched to the second driving mode while the industrial vehicle is traveling in the first driving mode, the industrial vehicle is controlled so that the content of the notification by the notification unit is not changed.

4. 4. The industrial vehicle according to claim 3, wherein the control unit controls the notification unit not to operate when a predetermined action is performed after switching to the second driving mode while the industrial vehicle is traveling in the first driving mode.

5. the first traveling mode includes a state in which the industrial vehicle is traveling straight and front wheels of the industrial vehicle are facing in a forward / backward direction, 4. The industrial vehicle according to claim 1, wherein the second driving mode includes at least one of a state in which the front wheels of the industrial vehicle face left and right while the industrial vehicle is traveling straight, and a state in which the direction of the front wheels of the industrial vehicle matches the direction of the rear wheels of the industrial vehicle.

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