Alert systems and industrial vehicles

Abstract

We provide an alert system that allows operators to easily identify dangerous behavior. [Solution] An alert system comprising an industrial vehicle, an acceleration sensor 30, and an audio alert unit 60, wherein the industrial vehicle comprises a first control unit 40 and a second control unit 50, the second control unit 50 comprising an input unit 51, a storage unit 52 that stores dangerous behavior data linking a sharp turn, its determination conditions, and its dangerous behavior ID, a processing unit 53 that identifies a sharp turn, and an output unit 54 that outputs a first signal related to the dangerous behavior ID, the audio alert unit 60 comprising an audio data storage unit 61 that stores audio data linking a dangerous behavior ID and warning audio data, an audio data processing unit 62 that identifies and plays warning audio data from the first signal, and a speaker 63 that outputs the audio of the warning audio data being played, the warning audio data is characterized in that it includes first information related to a sharp turn.

Description

Technical Field

[0001] The present invention relates to an alert system and an industrial vehicle.

Background Art

[0002] Conventionally, a forklift operation management system for managing the operation status of a forklift has been known. The forklift operation management system is composed of, for example, a forklift equipped with a data logger unit (hereinafter referred to as DLU), a server communicably connected to the DLU, and a management device communicably connected to the server.

[0003] The DLU can save not only the operation status of the forklift but also the dangerous acts of the forklift in the server. Therefore, the administrator of the forklift operation management system can access the server from the management device to check the operation status and dangerous acts of the forklift.

[0004] On the other hand, when a dangerous act occurs, the forklift warns the operator by means of a buzzer or a warning light. For example, when there is a step on the road surface, the forklift described in Patent Document 1 lights a warning light provided on the instrument panel of the driver's seat or sounds a buzzer to notify the operator that there is a step nearby.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Dangerous actions involving forklifts include not only driving on uneven surfaces but also various other actions (for example, sharp turns and high-load turns). However, as with the forklift described in Patent Document 1, if the warning means are only a buzzer and a warning light, the operator may not be able to immediately determine what kind of dangerous action has been detected. As a result, with the forklift described in Patent Document 1, situations may arise where dangerous actions such as sharp turns and high-load turns cannot be avoided.

[0007] This invention has been made in view of the above circumstances, and its objective is to provide an alert system that allows operators to easily identify dangerous behaviors and an industrial vehicle that can suppress such dangerous behaviors. [Means for solving the problem]

[0008] To solve the above problems, the alert system according to the present invention is Industrial vehicles that perform loading and unloading operations within a designated work area, A sensor unit for detecting sharp turns of the aforementioned industrial vehicle, A voice alert unit that provides voice warnings to the operator of the industrial vehicle, An alert system that includes, The aforementioned industrial vehicle is The vehicle body, which is equipped with a steering wheel, A handle for rotating the steering wheel, A first control unit that controls the cargo handling and travel operation, including the aforementioned turning motion, The system includes a second control unit that identifies the sharp turn based on the detection information from the sensor unit, The second control unit is: An input unit into which the aforementioned detection information is input, A storage unit that stores dangerous behavior data linking the aforementioned sharp turn, the criteria for determining the sharp turn, and the dangerous behavior ID for the sharp turn, A processing unit that identifies the sharp turn from the detection information, It comprises an output unit that outputs a first signal relating to the aforementioned dangerous act ID, The aforementioned voice alert unit is A voice data storage unit that stores voice data linking the aforementioned dangerous behavior ID with warning voice data, A voice data processing unit that receives the first signal, identifies the warning voice data from the first signal, and plays the warning voice data, The system includes a speaker that outputs the audio of the warning audio data being played, The warning audio data is characterized in that it includes first information relating to the sharp turn.

[0009] In the aforementioned alert system, The aforementioned dangerous behavior data is further linked to the aforementioned restrictive actions in cargo handling and driving operations. The output unit outputs a second signal relating to the restrictive action to the first control unit. The first control unit can be configured to decelerate or limit the speed of the vehicle body as the restricting action when the second signal is input.

[0010] In the aforementioned alert system, The aforementioned sensor unit is A turning angle sensor for detecting the turning angle of the steering wheel, The industrial vehicle includes a load sensor for detecting the weight of the load it is holding, The first control unit can be configured to initiate the limiting action when the turning angle reaches a predetermined threshold, and to decrease the threshold as the weight increases.

[0011] In the aforementioned alert system, The sensor unit includes a high load sensor that detects that the load held by the industrial vehicle is a high load of a predetermined height or higher. The storage unit further stores, when the dangerous act data is designated as the first dangerous act data, a second dangerous act data that links a high-load turn (a turn while holding a high load), the determination conditions for the high-load turn, and the dangerous act ID of the high-load turn. The processing unit identifies the high-load swing from the detection information, The output unit outputs the first signal regarding the dangerous act ID of the high-load turning. When the voice data storage unit uses the voice data as the first voice data, it further stores second voice data in which the dangerous act ID of the high-load turning is associated with the warning voice data for the high-load turning. The warning voice data for the high-load turning can be configured to include second information regarding the cargo handling driving operation during the high-load turning.

[0012] In the alert system, The industrial vehicle A pair of left and right direction indicators provided on the vehicle body, And a direction indicator switch for selecting and lighting one of the pair of left and right direction indicators. When the direction indicator switch is operated by the operator, the first control unit can be configured to decelerate or limit the speed of the vehicle body before the second control unit identifies the sharp turn.

[0013] In the alert system, The sensor unit includes an acceleration sensor that measures the acceleration in the left-right direction of the vehicle body. The determination condition can be configured to be that the measured value of the acceleration sensor is greater than or equal to a predetermined threshold value.

[0014] The alert system A server communicably connected to the industrial vehicle, And a management device communicably connected to the server. The industrial vehicle includes a photographing unit that photographs the surroundings to generate video data and stores the video data in the server, at least during the reproduction of the warning voice data. The management device can be configured to be able to acquire the video data from the server.

[0015] The industrial vehicle according to the present invention Is an industrial vehicle that performs a cargo handling driving operation in a predetermined work area. The vehicle body, which is equipped with a steering wheel, A handle for rotating the steering wheel, A first control unit that controls the cargo handling and travel operation, including the aforementioned turning motion, A pair of left and right turn signals are provided on the vehicle body, A turn signal switch that selects and illuminates one of the pair of left and right turn signals, Equipped with, The first control unit is characterized in that, when the turn signal switch is operated by the operator, it decelerates or limits the speed of the vehicle body before the turning operation is performed.

[0016] The aforementioned industrial vehicle is A sensor unit for detecting sharp turns of the vehicle body, A voice alert unit that provides voice warnings to the operator, The system includes a second control unit that identifies the sharp turn based on the detection information from the sensor unit, The second control unit is: An input unit into which the aforementioned detection information is input, A storage unit that stores dangerous behavior data linking the aforementioned sharp turn, the criteria for determining the sharp turn, and the dangerous behavior ID for the sharp turn, A processing unit that identifies the sharp turn from the detection information, It comprises an output unit that outputs a first signal relating to the aforementioned dangerous act ID, The aforementioned voice alert unit is A voice data storage unit that stores voice data linking the aforementioned dangerous behavior ID with warning voice data, A voice data processing unit that receives the first signal, identifies the warning voice data from the first signal, and plays the warning voice data, The system includes a speaker that outputs the audio of the warning audio data being played. The warning audio data can be configured to include first information regarding the sharp turn. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide an alert system that allows operators to easily identify dangerous behaviors and an industrial vehicle that can suppress such dangerous behaviors. [Brief explanation of the drawing]

[0018] [Figure 1] This is a diagram showing a forklift according to the first embodiment. [Figure 2] This figure shows the forward / reverse switch and turn signal switch of a forklift according to the first embodiment. [Figure 3] This is a block diagram of the first control unit of the forklift according to the first embodiment. [Figure 4] This is a block diagram of the second control unit and the voice alert unit of the forklift according to the first embodiment. [Figure 5] This figure shows the detection range of a high load sensor for a forklift according to the first embodiment, where (A) is a side view and (B) is a top view. [Figure 6] This diagram shows the relationship between the forklift, server, and management device in the first embodiment. [Figure 7] This figure shows a forklift according to the second embodiment. [Figure 8] This is a block diagram of the first control unit of the forklift according to the second embodiment. [Modes for carrying out the invention]

[0019] Hereinafter, embodiments of the alert system and industrial vehicle according to the present invention will be described with reference to the attached drawings.

[0020] [First Embodiment] As shown in Figure 1, the alert system according to the first embodiment of the present invention consists of at least one forklift 1A. The forklift 1A corresponds to the "industrial vehicle" of the present invention and performs cargo handling and driving operations within a predetermined work area. The cargo handling and driving operations include cargo handling operations and driving operations, and the driving operations include turning operations.

[0021] The work area is, for example, an area within any building such as a factory or warehouse. The work area is equipped with multiple shelves, on which cargo W, etc., is stored. Obstacles (upper obstacles) such as a ceiling, gate, or protrusions exist above the work area.

[0022] Forklift 1A is a counterbalanced type battery forklift and comprises a vehicle body 10, a cargo handling device 20, an acceleration sensor 30 included in the "sensor unit" of the present invention, a first control unit 40, a second control unit 50, an audio alert unit 60, and a battery (not shown).

[0023] The lower part of the vehicle body 10 is provided with a pair of front wheels 11 and rear wheels 12. In the forklift 1A, the front wheels 11 are drive wheels driven by a travel motor, and the rear wheels 12 are steering wheels that are steered (turned) by a steering motor.

[0024] The vehicle body 10 is equipped with an operator's seat 13. An accelerator 14 and a brake 15 are provided in the front lower part of the operator's seat 13, and a steering wheel 16 and a control unit 17 are provided on the dashboard in front of the operator's seat 13.

[0025] The accelerator 14 is an accelerator pedal configured to be operated by the operator in the driver's seat 13 by pressing it with their foot. When the accelerator 14 is in the ON state (pedal pressed), it accelerates the vehicle body 10 according to the amount the pedal is pressed (accelerator opening), while when it switches from the ON state to the OFF state (pedal not pressed), it generates a weak regenerative brake to decelerate the vehicle body 10.

[0026] The brake 15 is a brake pedal configured to be operated by the operator in the driver's seat 13 by pressing it with their foot. When the brake 15 is in the ON state (pedal pressed), it generates stronger regenerative braking than the regenerative braking of the accelerator 14 to decelerate the vehicle body 10, while when it is in the OFF state, it does not generate regenerative braking.

[0027] The steering wheel 16 is connected to the rear wheels 12 via a steering control mechanism 42, which will be described later. By rotating the steering wheel 16, the operator can change the direction (turning angle) of the rear wheels 12 according to the direction of rotation. When the steering wheel 16 is not being rotated (straight-line driving), the turning angle of the rear wheels 12 is 0°.

[0028] As shown in Figure 2, the operating unit 17 includes cargo handling levers (lift lever 17a and tilt lever 17b) and travel switches (forward / reverse switch 17c and turn signal switch 17d).

[0029] The lift lever 17a and tilt lever 17b are located to the right of the steering wheel 16 on the dashboard. The lift lever 17a and tilt lever 17b are connected to the cargo handling device 20 via a cargo handling control mechanism 43, which will be described later. The operator can operate the cargo handling device 20 by operating the lift lever 17a and tilt lever 17b.

[0030] The forward / reverse switch 17c is located below the steering wheel 16, to the left of the center of the steering wheel 16. The forward / reverse switch 17c switches the vehicle body 10 between moving forward and backward. For example, if the accelerator 14 is turned on with the forward / reverse switch 17c tilted forward, the vehicle body 10 moves forward, and if the accelerator 14 is turned on with the forward / reverse switch 17c tilted backward, the vehicle body 10 moves backward. The turn signal switch 17d is located below the steering wheel 16, to the right of the center of the steering wheel 16. The turn signal switch 17d illuminates the turn signals 19a and 19b, which will be described later.

[0031] Referring again to Figure 1, a head guard 18 is provided above the driver's seat 13. The head guard 18 is composed of a pair of front pillars on the left and right, a pair of rear pillars on the left and right, and the roof.

[0032] A pair of left and right turn signals 19a are provided on the left and right front pillars, and a pair of left and right turn signals 19b are provided on the rear of the roof. In this embodiment, when the turn signal switch 17d is tilted forward (first state), the left turn signals 19a and 19b illuminate; when the turn signal switch 17d is tilted backward (second state), the right turn signals 19a and 19b illuminate; and when the turn signal switch 17d is in the neutral position without being tilted forward or backward (third state), both the left and right turn signals 19a and 19b turn off.

[0033] The cargo handling device 20 comprises a mast 21, a lift bracket 22, a fork 23, a backrest 24, a tilt cylinder 25, and a lift cylinder 26.

[0034] The mast 21 is located on the front side of the vehicle body 10 and raises and lowers the forks 23. The mast 21 comprises an outer mast and an inner mast. The outer mast includes a pair of left and right guide rails extending in the vertical direction and a cross beam connecting the upper ends of the guide rails. The inner mast is located inside the guide rails of the outer mast and moves up and down along the guide rails of the outer mast.

[0035] The lift bracket 22 supports the fork 23 and moves up and down along the mast 21. The lift bracket 22 is attached to one end of the lift chain and moves up and down along the inner mast while suspended by the lift chain. The other end of the lift chain is attached to the bottom of the outer mast via a chain wheel provided on the top of the lift cylinder 26.

[0036] The forks 23 are a pair of L-shaped arms, one on each side, and are mounted on the front of the lift bracket 22. The load W is loaded onto the forks 23.

[0037] The backrest 24 is a frame that prevents the load W loaded on the forks 23 from collapsing backward, and is installed on top of the lift bracket 22. When the mast 21 (inner mast) is raised or lowered, the lift bracket 22, forks 23, and backrest 24 also move up and down.

[0038] The tilt cylinder 25 is a hydraulic cylinder for tilting the mast 21 in the forward and backward directions. In this embodiment, when the tilt lever 17b is tilted forward, the tilt cylinder 25 extends and the mast 21 tilts forward, and when the tilt lever 17b is tilted backward, the tilt cylinder 25 retracts and the mast 21 tilts backward. When the tilt lever 17b is returned to the neutral position (a position where it is neither tilted forward nor backward), the tilting of the mast 21 stops.

[0039] The lift cylinder 26 is a hydraulic cylinder for raising and lowering the mast 21. In this embodiment, when the lift lever 17a is tilted forward, the lift cylinder 26 retracts and the inner mast descends, and when the lift lever 17a is tilted backward, the lift cylinder 26 extends and the inner mast rises. When the lift lever 17a is returned to the neutral position (neither tilted forward nor backward), the raising and lowering of the inner mast stops.

[0040] The acceleration sensor 30 is installed on the vehicle body 10 and measures the lateral acceleration of the vehicle body 10. The acceleration sensor 30 transmits the measured value (acceleration) to the second control unit 50. When the first control unit 40 uses the measured value (acceleration) to control the driving of the vehicle body 10, the acceleration sensor 30 also transmits the measured value (acceleration) to the first control unit 40. The acceleration sensor 30 is included in the "sensor unit" of the present invention.

[0041] The sensor unit may include the accelerator sensor 31, brake sensor 32, and vehicle speed sensor 33 shown in Figure 3, as well as the load sensor 34, turning angle sensor 35, and load sensor 36 shown in Figure 4.

[0042] The accelerator sensor 31 detects the accelerator opening of the accelerator 14. The brake sensor 32 detects the state of the brake 15 (on / off). The vehicle speed sensor 33 detects the driving speed of the vehicle body 10 (or the rotational speed of the driving motor). The high load sensor 34 detects that the load W loaded on the fork 23 is a high load above a predetermined height. The turning angle sensor 35 detects the turning angle of the rear wheel 12. The load sensor 36 detects the weight of the load W loaded on the fork 23.

[0043] The first control unit 40 is located inside the vehicle body 10 and controls the cargo handling and driving operations and communicates with the second control unit 50. As shown in Figure 3, the first control unit 40 includes a driving control mechanism 41, a steering control mechanism 42, and a cargo handling control mechanism 43.

[0044] The driving control mechanism 41 acquires detection information (detection signals) from the accelerator sensor 31, brake sensor 32, and vehicle speed sensor 33, and controls the front wheels 11, which are the drive wheels. In addition to the above detection information, the driving control mechanism 41 also acquires detection information (detection signals) from the turning angle sensor 35 and load sensor 36. The driving control mechanism 41 includes, for example, a driving controller, a driving inverter, a driving motor, a hydraulic circuit, etc.

[0045] The driving control mechanism 41 controls the vehicle body 10's speed to approach a predetermined target speed as part of the load handling operation. Specifically, the driving controller of the driving control mechanism 41 acquires the vehicle body 10's speed based on the detection signal from the vehicle speed sensor 33 and calculates the target speed based on the detection signal from the accelerator sensor 31 and / or the detection signal from the brake sensor 32. The driving controller performs PI control or PID control to bring the driving speed closer to the target speed.

[0046] The target speed is calculated, for example, using the formula: Target Speed ​​= Set Speed ​​× Accelerator Opening [%]. The set speed is the speed pre-set in the driving controller. However, if restrictions are imposed due to the restrictive actions described later, the driving controller can change the value of the set speed in response to the detection signals from the turning angle sensor 35 and the load sensor 36.

[0047] The steering control mechanism 42 acquires detection information (detection signals) regarding the rotation direction and amount of rotation of the steering wheel 16, and controls the rear wheels 12, which are the steering wheels. The steering control mechanism 42 includes, for example, a steering motor, a power steering device, a hydraulic circuit, etc. The steering control mechanism 42 has the same configuration as the steering control mechanism in a conventional battery forklift.

[0048] The cargo handling control mechanism 43 acquires detection information (detection signals) from the lift lever 17a and tilt lever 17b 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. The cargo handling control mechanism 43 has the same configuration as the cargo handling control mechanism in conventional battery forklifts.

[0049] The second control unit 50 includes, for example, a data logger unit (DLU) and is mounted on the front pillar of the head guard 18. As shown in Figure 4, the second control unit 50 comprises an input unit 51, a storage unit 52, a processing unit 53, and an output unit 54.

[0050] The input unit 51 acquires detection information (detection signals) from the sensor unit. Specifically, the input unit 51 acquires a detection signal from the acceleration sensor 30 regarding the measured value of the lateral acceleration of the vehicle body 10, and also acquires a detection signal from the load sensor 34 indicating that the load W is a heavy load.

[0051] As shown in Figure 5(A), the high load sensor 34 is located on the upper part of the mast 21. When the high load sensor 34 detects a load W loaded on the fork 23 in a low lifting position, it determines that the load W is a high load and outputs a detection signal to the second control unit 50. An area sensor (for example, 2D-LiDAR) can be used as the high load sensor 34.

[0052] As shown in Figure 5(B), the detection range D of the high load sensor 34 is set to satisfy three conditions, for example: (1) including the tip of the fork 23, (2) including the vehicle width, i.e., both the left and right sides of the fork 23, and (3) detecting the backrest 24 but not the mast 21. The conditions for the detection range D can be changed as appropriate.

[0053] The memory unit 52 stores multiple hazardous activity data, which associates a unique hazardous activity ID (hereinafter referred to as ID), a predefined hazardous activity, a hazardous activity determination condition, and an activity that restricts cargo handling and driving operations. In this embodiment, the ID is a number, but the ID may also be a letter or a symbol, or a combination of letters, symbols, and numbers.

[0054] Operators and system administrators can modify the contents of the hazardous behavior data stored in the memory unit 52, and can also add new hazardous behavior data. For example, multiple hazardous behavior data can include the three hazardous behavior data shown in Table 1 below.

[0055] [Table 1]

[0056] The dangerous behavior data for ID "001" is created by associating ID "001" with the dangerous behavior "sharp right turn", the judgment condition "right acceleration reaches the first threshold", and the restrictive action "deceleration (or speed limit)". The dangerous behavior "sharp right turn" defines a dangerous behavior in which the forklift 1A makes a sharp right turn while in motion. The judgment condition "right acceleration reaches the first threshold" is that the measurement value of the acceleration in the right direction measured by the acceleration sensor 30 (here, the average value of the measurement values ​​over a certain period of time) is equal to or greater than a preset first threshold, which is the judgment condition for the dangerous behavior. The restrictive action "deceleration (or speed limit)" defines that when the dangerous behavior is determined, the first control unit 40 will decelerate the vehicle body 10 or impose a speed limit. The first control unit 40, for example, decelerates the vehicle body 10 if its current speed exceeds the target speed, while limiting the vehicle body 10's speed to prevent it from exceeding the target speed if its current speed is below the target speed.

[0057] In this embodiment, the first control unit 40 calculates the target speed of the vehicle body 10 using the formula: target speed = set speed × accelerator opening [%]. The accelerator opening is 0 [%] when the accelerator 14 is off, and increases in proportion to the amount the accelerator 14 is pressed when the accelerator 14 is on, up to a maximum of 100 [%]. When the first control unit 40 performs the above-mentioned limiting action, it gradually changes the set speed to a smaller value. Furthermore, the first control unit 40 may change the set speed to a smaller value as the weight of the load W detected by the load sensor 36 increases.

[0058] Regarding the timing for initiating the execution of the restrictive action, the first control unit 40 starts the execution of the restrictive action when the turning angle detected by the turning angle sensor 35 reaches a predetermined threshold. The first control unit 40 may reduce the threshold and advance the timing of initiating the execution of the restrictive action (deceleration) as the weight of the load W detected by the load sensor 36 increases. The same applies to the dangerous actions of ID "002" and ID "003".

[0059] The dangerous behavior data for ID "002" associates ID "002" with the dangerous behavior "sharp left turn", the judgment condition "left acceleration reaches second threshold", and the restrictive action "deceleration (or speed limit)". The dangerous behavior "sharp left turn" defines a dangerous behavior in which the forklift 1A makes a sharp left turn while in motion. The judgment condition "left acceleration reaches second threshold" sets the judgment condition for the dangerous behavior as the measured value of leftward acceleration measured by the acceleration sensor 30 (here, the average value of measured values ​​over a certain period of time) being equal to or greater than a preset second threshold. The second threshold may be the same value as the first threshold or a different value. The restrictive action "deceleration (or speed limit)" defines that when the dangerous behavior is judged, the first control unit 40 decelerates the vehicle body 10 or imposes a speed limit, similar to the dangerous behavior judgment for ID "001".

[0060] The dangerous behavior data for ID "003" is created by associating ID "003" with the dangerous behavior "high load turning", the judgment condition "high load and turning detection", and the restrictive action "deceleration (or speed limit)". The dangerous behavior "high load turning" defines the dangerous behavior of a forklift 1A carrying a high load turning. The judgment condition "high load and turning detection" is defined as the judgment condition for the dangerous behavior being that the high load sensor 34 has detected a high load and the turning angle sensor 35 has detected the turning movement of the rear wheels 12. The restrictive action "deceleration (or speed limit)" defines that when the dangerous behavior is judged, the first control unit 40 will decelerate the vehicle body 10 or impose a speed limit, similar to the dangerous behavior judgment for ID "001".

[0061] Furthermore, the memory unit 52 may store dangerous behavior data that links an ID with a dangerous behavior and a judgment condition (but does not link with actions that restrict cargo handling operations). Examples of such dangerous behaviors include not wearing a seat belt, low battery level, and forgetting to apply the parking brake.

[0062] When the input unit 51 acquires detection information (detection signal) from the sensor unit, the processing unit 53 refers to the storage unit 52 to determine whether or not the judgment conditions for each dangerous act are met, and identifies dangerous acts (dangerous act data) that meet the judgment conditions.

[0063] The output unit 54 transmits a first signal relating to the ID of the dangerous activity data identified by the processing unit 53 to the voice alert unit 60. If the ID is associated with an activity that restricts cargo handling operations, the output unit 54 transmits a second signal relating to that restricted activity to the first control unit 40.

[0064] If a restricted action is associated with a dangerous action ID, an output timing for outputting a second signal may also be associated with that dangerous action ID. The output timing may be, for example, "simultaneously with the timing of outputting the first signal" or "after a predetermined time has elapsed since the timing of outputting the first signal." The predetermined time can be set appropriately depending on the dangerous action. If an output timing is associated with a dangerous action ID, the output unit 54 outputs the second signal at the associated output timing.

[0065] The voice alert unit 60 is located at the bottom of the roof of the head guard 18 and comprises a voice data storage unit 61, a voice data processing unit 62, and a speaker 63. The voice alert unit 60 provides voice warnings (alerts) to the operator of the forklift 1A.

[0066] The voice of the present invention is a voice that includes linguistic speech capable of conveying information to an operator. The voice of the present invention does not include sound effects alone, such as buzzer sounds, but it may include sound effects if they are placed before or after the linguistic speech.

[0067] The audio data storage unit 61 stores multiple audio data sets, each associated with an ID and containing warning audio data (hereinafter referred to as warning audio data). These multiple audio data sets include, for example, the three audio data sets shown in Table 2 below.

[0068] [Table 2]

[0069] The audio data for ID "001" is created by associating ID "001" with the warning audio data "Sharp turn detected." The warning audio data for ID "001" contains information (words) related to the dangerous act of "sharp turn." This information corresponds to the "first information" of the present invention.

[0070] The audio data for ID "002" is created by associating the warning audio data "Sharp turn detected." with ID "002". The warning audio data for ID "002" contains information (words) related to the dangerous act of "sharp turn". This information corresponds to the "first information" of the present invention. In this embodiment, the warning audio data for ID "002" is the same as the warning audio data for ID "001", but the two may be different. For example, the warning audio data for ID "002" may include the information (words) "sharp left turn", and the warning audio data for ID "001" may include the information (words) "sharp right turn".

[0071] The audio data for ID "003" is created by associating ID "003" with the warning audio data "Slow down and turn." The warning audio data for ID "003" contains information (words) regarding cargo handling driving actions (to avoid dangerous actions) during dangerous situations, specifically "slow down and turn." This information corresponds to the "second information" of the present invention.

[0072] Operators and system administrators can modify the warning audio data stored in the audio data storage unit 61 and add new audio data. For example, a memory card capable of rewriting warning audio data can be used as the audio data storage unit 61. Examples of memory cards include SD cards and USB memory sticks. Operators and administrators can, for example, generate warning audio data in a file format such as WAV and store it in the audio data storage unit 61.

[0073] The audio data processing unit 62 acquires a first signal related to the ID output from the output unit 54 and plays back the warning audio data associated with the ID of the first signal in the audio data storage unit 61. For example, if the first signal related to ID "001" is received from the output unit 54, the audio data processing unit 62 plays back the warning audio data "Sharp turn detected." for ID "001". The audio data processing unit 62 includes, for example, a voice player module.

[0074] Speaker 63 is connected to the audio data processing unit 62 and outputs the audio of the warning audio data being played by the audio data processing unit 62. For example, if the audio data processing unit 62 is playing the warning audio data "Sharp turn detected." with ID "001", speaker 63 will output the audio "Sharp turn detected."

[0075] As described above, in the alert system according to this embodiment, the voice alert unit 60 provides an audible warning (alert) to the operator. Therefore, the operator can easily determine which dangerous behavior has been detected. For example, the operator can immediately determine which of IDs "001" to "003" has been detected by listening to the information (words) contained in the voice alert unit 60, and take appropriate action.

[0076] Furthermore, in the alert system according to this embodiment, defined dangerous behaviors are linked to actions that restrict cargo handling operations. Therefore, even if the operator's response is delayed, the first control unit 40 will restrict cargo handling operations based on the aforementioned restrictive actions. For this reason, the alert system according to this embodiment can suppress defined dangerous behaviors.

[0077] (Frequency of activation of warning audio data) In the example above, the frequency of the warning audio data activation is assumed to be once, but the activation frequency can be changed as needed.

[0078] For example, the audio data storage unit 61 may associate the ID with the number of plays or the playback time. If the number of plays is associated, the warning audio data can be played a specified number of times, and if the playback time is associated, the warning audio data can be played repeatedly for a specified playback time.

[0079] On the other hand, playing warning audio data multiple times may cause discomfort to the operator. In this case, the storage unit 52 or the audio data storage unit 61 may associate the ID with the danger level. The audio data processing unit 62 preferably plays the warning audio data multiple times when the danger level exceeds a predetermined threshold level, and increases the number of plays as the danger level increases. For example, the danger levels may be classified as danger level 1, danger level 2, and danger level 3, and the audio data storage unit 61 may associate the ID with the danger level and the number of plays, with danger level 1 being played once, danger level 2 being played twice, and danger level 3 being played three times.

[0080] Furthermore, if the output timing of the second signal is associated with the dangerous act ID in the memory unit 52, the output timing can be set to "after a predetermined time has elapsed since the timing of outputting the first signal." Here, the predetermined time can be set appropriately according to the danger level.

[0081] As described above, when classifying the danger levels as danger level 1, danger level 2, and danger level 3, the predetermined time can be set as follows: danger level 1 is set as the first predetermined time, danger level 2 is set as the second predetermined time which is shorter than the first predetermined time, and danger level 3 is set as the third predetermined time which is shorter than the second predetermined time. The third predetermined time may be zero. For example, the dangerous acts with ID "001" and ID "002" may be set as danger level 3, the dangerous act with ID "003" may be set as danger level 2, and the dangerous act "distracted driving" may be set as danger level 1. When the camera included in the sensor unit detects the dangerous act "distracted driving", the voice alert unit 60 issues a voice warning (alert) to the operator, and if "distracted driving" is still detected after the first predetermined time has elapsed, the first control unit 40 may execute the restrictive action "deceleration (or speed limit)" based on the second signal.

[0082] As described above, by changing the output timing of the second signal according to the danger level of the dangerous activity, it is possible to minimize the decrease in the work efficiency of forklift 1A while avoiding dangerous activities and ensuring safety.

[0083] (Operational Management System) As shown in Figure 6, the alert system may include a server 2 and a management device 3, and constitute an operational management system for the forklift 1A.

[0084] Server 2 is connected to forklift 1A in a communication-enabled manner. Server 2 may be, for example, a physical server or a virtual server such as a cloud server. While warning audio data is being played back, forklift 1A can upload (save) video data captured and generated by the drive recorder (corresponding to the "shooting unit" of this invention) included in the sensor unit to server 2.

[0085] Management device 3 is connected to server 2 in a communication-enabled manner. Management device 3 may be, for example, a personal computer (PC) or a smartphone. Management device 3 can acquire the video data from server 2. This allows the administrator of the alert system to check the video data on management device 3 when the warning audio data is played back.

[0086] [Second Embodiment] Next, an alert system according to a second embodiment of the present invention will be described. The alert system according to the second embodiment is the alert system of the first embodiment with the addition of at least one forklift 1B.

[0087] As shown in Figure 7, the forklift 1B has the same configuration as the forklift 1A of the first embodiment, except that it has a first control unit 40' instead of the first control unit 40, and does not have an acceleration sensor 30, a second control unit 50, and an audio alert unit 60.

[0088] As shown in Figure 8, the first control unit 40' has the same configuration as the first embodiment, except that it includes a driving control mechanism 41' instead of a driving control mechanism 41.

[0089] In addition to controlling the driving control mechanism 41 of the first embodiment, the driving control mechanism 41' performs deceleration control of the front wheels 11 based on detection information (detection signal) from the turn signal switch 17d. The detection signal from the turn signal switch 17d is a signal relating to the state of the turn signal switch 17d.

[0090] Specifically, when the turn signal switch 17d is tilted forward (first state), the driving control mechanism 41' acquires a detection signal related to the first state. When the turn signal switch 17d is tilted backward (second state), the driving control mechanism 41' acquires a detection signal related to the second state. When the turn signal switch 17d is in the neutral position, not tilted forward or backward (third state), the driving control mechanism 41' acquires a detection signal related to the third state.

[0091] The driving control mechanism 41' performs deceleration control (deceleration or speed limiting control) of the front wheels 11 when it acquires a detection signal related to the first or second state. For example, the driving controller of the driving control mechanism 41' calculates the target speed of the vehicle body 10 using the formula target speed = set speed × accelerator opening [%], so when it acquires the above detection signal, it changes the set speed to a gradually decreasing value.

[0092] According to the forklift 1B of this embodiment, the vehicle body 10 can be decelerated before the turning operation is actually performed, thus suppressing dangerous sharp turns. In addition, similar to the forklift 1B, the forklift 1A may also perform deceleration control of the front wheels 11 based on detection information (detection signal) from the turn signal switch 17d. In this case, the first control unit 40 can decelerate or limit the speed of the vehicle body 10 before the second control unit 50 identifies a sharp turn.

[0093] While embodiments of the alert system and industrial vehicle according to the present invention have been described above, the present invention is not limited to the above embodiments.

[0094] The alert system according to the present invention includes an industrial vehicle that performs cargo handling operations in a predetermined work area, a sensor unit for detecting sharp turns of the industrial vehicle, and an audio alert unit that provides an audible warning to the operator of the industrial vehicle. The industrial vehicle comprises a vehicle body equipped with steering wheels, a steering wheel for turning the steering wheels, a first control unit for controlling cargo handling operations including turning, and a second control unit for identifying sharp turns based on detection information from the sensor unit. The second control unit includes an input unit into which detection information is input, a sharp turn, a sharp turn determination condition, and a sharp turn risk action ID. The system includes a storage unit that stores dangerous behavior data linked to a dangerous behavior ID, a processing unit that identifies a sharp turn from the detection information, and an output unit that outputs a first signal related to the dangerous behavior ID. The audio alert unit includes an audio data storage unit that stores audio data linked to a dangerous behavior ID and warning audio data, an audio data processing unit that receives a first signal, identifies warning audio data from the first signal, and plays the warning audio data, and a speaker that outputs the audio of the warning audio data being played. The configuration can be changed as appropriate, provided that the warning audio data includes first information related to a sharp turn.

[0095] In the above embodiment, the forklift 1A was equipped with a sensor unit (accelerometer 30) and an audio alert unit 60, but the sensor unit and / or the audio alert unit can be installed in a location other than the forklift 1A (for example, the work area). The sensor unit may be, for example, a camera that detects sharp turns of industrial vehicles.

[0096] The industrial vehicle according to the present invention is an industrial vehicle that performs cargo handling driving operations in a predetermined work area, and comprises a vehicle body provided with steering wheels, a steering wheel for turning the steering wheels, a first control unit for controlling cargo handling driving operations including turning operations, a pair of left and right turn signals provided on the vehicle body, and a turn signal switch for selecting and illuminating one of the left and right turn signals, wherein the configuration of the first control unit can be appropriately changed if the vehicle body is decelerated or its speed is limited before the turning operation is performed when the turn signal switch is operated by the operator.

[0097] Although the industrial vehicle of the present invention was described using a counterbalanced type forklift as an example in the above embodiment, it may also be a reach type forklift or another type of forklift. Furthermore, the industrial vehicle of the present invention is not limited to a forklift; any vehicle other than a forklift (for example, a transport vehicle) may be used as long as it performs cargo handling and driving operations. [Explanation of symbols]

[0098] 1A, 1B Forklift 10 Vehicle Body 11 Front Wheel 12 Rear wheels 13. Driver's seat 14 Accelerator 15 Brake 16 handle 17 Control section 17a Lift lever 17b Tilt lever 17c Forward / Reverse Switch 17d Turn signal switch 18 Headguard 19a, 19b Turn signal 20 Cargo handling equipment 21 Mast 22 Lift Bracket 23 Forks 24 Backrest 25 Tilt Cylinder 26 Lift Cylinder 30 Accelerometer 40 First Control Unit 50 Second Control Unit 60 Voice Alert Unit

Claims

1. Industrial vehicles that perform loading and unloading operations within a designated work area, Sensor unit, A voice alert unit that provides voice warnings to the operator of the industrial vehicle, An alert system that includes, The aforementioned industrial vehicle is The vehicle body, which is equipped with a steering wheel, The vehicle body is provided with a mast and forks, A handle for rotating the steering wheel, A first control unit that controls the cargo handling and travel operation, including the aforementioned turning motion, The system includes a second control unit that identifies dangerous behavior based on detection information from the sensor unit, The aforementioned sensor unit is A first sensor for detecting the sharp turn of the aforementioned industrial vehicle, A second sensor detects that the load loaded on the fork is a load of a height above a predetermined height, Includes a third sensor for detecting the aforementioned turning motion, The second control unit is, An input unit into which the aforementioned detection information is input, A storage unit that stores first dangerous behavior data linking a sharp right turn, the criteria for determining the sharp right turn, and the dangerous behavior ID for the sharp right turn; second dangerous behavior data linking a sharp left turn, the criteria for determining the sharp left turn, and the dangerous behavior ID for the sharp left turn; and third dangerous behavior data linking a high load turn, the criteria for determining the high load turn, and the dangerous behavior ID for the high load turn. A processing unit that identifies the dangerous actions of the sharp right turn, the sharp left turn, and the high load turn from the detection information, The system includes an output unit that outputs a first signal relating to the dangerous act ID of the dangerous act identified by the processing unit, The aforementioned voice alert unit is The audio data storage unit stores, as warning audio data, a first warning audio data linked to the dangerous act ID for sharp right turns, a second warning audio data linked to the dangerous act ID for sharp left turns, and a third warning audio data linked to the dangerous act ID for high-load turns. A voice data processing unit receives the first signal, identifies the warning voice data from the first signal, and plays the warning voice data; The system includes a speaker that outputs the audio of the warning audio data being played, The second sensor is an area sensor provided on the upper part of the mast, and is configured such that, in a plan view, the left end of the detection range extends to the left of the left side of the fork, and the right end of the detection range extends to the right of the right side of the fork, and when it detects the heavy load loaded on the fork in a low lifting height state, it outputs a detection signal to the second control unit. The conditions for determining high-load turning are that the second sensor outputs the detection signal and the third sensor detects the turning motion. An alert system characterized by the following features.

2. The first dangerous act data, the second dangerous act data, and the third dangerous act data are further linked to the actions that restrict the cargo handling driving operation. The output unit outputs a second signal relating to the restrictive action to the first control unit. When the first control unit receives the second signal, it performs the restriction action of decelerating or limiting the speed of the vehicle body. The alert system according to feature 1.

3. The aforementioned sensor unit is The third sensor detects the turning angle of the steering wheel, The fork includes a load sensor that detects the weight of the load held by the fork, The first control unit initiates the limiting action when the turning angle reaches a predetermined threshold, and reduces the threshold as the weight increases. The alert system according to feature 2.

4. The aforementioned industrial vehicle is A pair of left and right turn signals are provided on the vehicle body, The system further includes a turn signal switch that selects and illuminates one of the pair of left and right turn signals, When the turn signal switch is operated by the operator, the first control unit decelerates or limits the speed of the vehicle before the second control unit determines whether to perform a sharp right turn or a sharp left turn. The alert system according to feature 1.

5. The first sensor measures the lateral acceleration of the vehicle body, The conditions for determining a sharp right turn and the conditions for determining a sharp left turn are that the measurement value of the first sensor is greater than or equal to a predetermined threshold. The alert system according to feature 1.

6. A server that is communicatively connected to the aforementioned industrial vehicle, Includes a management device that is communicably connected to the server, The industrial vehicle includes a camera unit that, at least while the warning audio data is being played back, captures images of the surroundings to generate video data and saves the video data to the server. The management device is capable of acquiring the video data from the server. The alert system according to feature 1.

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