Industrial vehicles

Abstract

To provide an industrial vehicle capable of appropriately determining whether the position of a fork has reached a shift end even when alternately traveling in a normal temperature environment and a refrigeration environment.SOLUTION: An industrial vehicle 1 comprises: a shift device 20 that shifts the position of a fork 13 in a prescribed direction; and a detection device 30 that detects the shift end of the fork 13 in the prescribed direction. The detection device 30 includes: a sensor unit 31 including a light projection unit and a light reception unit opposite to each other and configured to be movable in the prescribed direction along with shifting of the fork 13 in the prescribed direction; an acquisition unit 34 that acquires environment information about a self vehicle; an environment determination unit 35 that determines which one of a normal temperature environment and a refrigeration environment the self vehicle is positioned in; and a removable unit 36 that removes stuck moisture of at least one of the light projection unit and the light reception unit when the self vehicle moves from the refrigeration environment to the normal temperature environment.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This disclosure relates to industrial vehicles.

Background Art

[0002] As a conventional industrial vehicle, for example, a forklift described in Patent Document 1 is known. The forklift described in Patent Document 1 includes a cargo handling device having forks and a shift device that shifts the position of the forks in a predetermined direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an industrial vehicle capable of shifting the position of the forks, a detection device for detecting the shift end of the forks may be mounted. The detection device has a sensor including, for example, a light emitting unit and a light receiving unit. In such a detection device, for example, based on whether the detection light emitted from the light emitting unit is received by the light receiving unit, it is detected whether the position of the forks has reached the shift end.

[0005] On the other hand, in an industrial vehicle as described above, when used for cargo handling, it is assumed that, for example, it alternates between a normal temperature environment such as a front chamber and a freezer and a freezing environment. When the industrial vehicle alternates between a normal temperature environment and a freezing environment, moisture adheres to the light emitting unit and the light receiving unit of the sensor, and the deposited moisture repeatedly freezes and thaws, causing frost to accumulate on the light emitting unit and the light receiving unit. If frost accumulates on the light emitting unit and the light receiving unit, the detection light may be blocked by the frost, making it difficult to detect whether the position of the forks has reached the shift end.

[0006] This disclosure is made to solve the above-mentioned problems and aims to provide an industrial vehicle that can appropriately determine whether or not the fork position has reached the shift end, even when alternating between a normal temperature environment and a frozen environment. [Means for solving the problem]

[0007] An industrial vehicle relating to one aspect of this disclosure comprises a cargo handling device having forks, a shift device for shifting the position of the forks in a predetermined direction, and a detection device for detecting the shifted end of the forks in the predetermined direction. The detection device includes a sensor unit including a light-emitting unit and a light-receiving unit facing each other, a shift determination unit for determining whether the position of the forks has reached the shifted end based on whether the detection light emitted from the light-emitting unit has been received by the light-receiving unit, an acquisition unit for acquiring environmental information of the vehicle, an environmental determination unit for determining whether the vehicle is in a normal temperature environment or a frozen environment based on the environmental information, and a removal unit for removing moisture adhering to at least one of the light-emitting unit and the light-receiving unit when the vehicle moves from a frozen environment to a normal temperature environment.

[0008] In this industrial vehicle, the environment in which the vehicle is located is determined based on the vehicle's environmental information, and when the vehicle moves from a refrigerated environment to a normal temperature environment, moisture adhering to at least one of the light-emitting and light-receiving parts is removed. By removing the adhering moisture, even if the vehicle moves from a normal temperature environment back to a refrigerated environment, the accumulation of frost on at least one of the light-emitting and light-receiving parts can be suppressed. Therefore, even when the industrial vehicle alternates between a normal temperature environment and a refrigerated environment, the detection light is prevented from being blocked by frost, and it is possible to appropriately determine whether or not the fork has reached the shift end.

[0009] The detection device may have a plate-shaped member that includes a light-shielding portion that extends in a predetermined direction between the light-emitting portion and the light-receiving portion and blocks the detection light, and a notched portion that is provided corresponding to the shift end and allows the detection light to pass through. In this case, by utilizing the light-shielding portion and the notched portion of the plate-shaped member, it is possible to determine whether or not the fork has reached the shift end with a simple configuration.

[0010] Environmental information may also include temperature information around the vehicle. In this case, the environment in which the vehicle is located can be accurately determined based on the temperature information.

[0011] Environmental information may also include map information of the vehicle's surroundings. In this case, the environment in which the vehicle is located can be accurately determined based on the map information.

[0012] The light-emitting and light-receiving units may be positioned opposite each other in the vertical direction relative to the vehicle. In this case, the detected light is less likely to leak out to the surroundings of the vehicle, thus ensuring sufficient safety during cargo handling operations. Furthermore, since light from the surroundings of the vehicle is less likely to enter the light-receiving unit, sufficient accuracy in determining whether or not the fork has reached the shift end can be ensured.

[0013] The light-emitting unit and the light-receiving unit may be facing each other in the front-to-rear direction of the vehicle. In this case, moisture is less likely to accumulate on the light-emitting unit and the light-receiving unit, thus ensuring sufficient accuracy in determining whether or not the fork has reached the shift end.

[0014] The removal unit may consist of a nozzle that blows air. In this case, moisture adhering to the light-emitting and light-receiving units can be easily and reliably removed by air.

[0015] The nozzle may be attached to a member that shifts in a predetermined direction together with the sensor unit. In this case, even if the sensor unit moves in the shift direction of the fork, the removal of adhering moisture can be performed regardless of the position of the sensor unit.

[0016] The removal unit may perform air spraying from a nozzle after a predetermined time has elapsed since it was determined that the vehicle had moved from a refrigerated environment to a normal temperature environment. In this case, since the air spraying is performed after the frost formed in the refrigerated environment has melted in the normal temperature environment, the removal of attached moisture becomes more reliable.

[0017] The removing part may be constituted by a brush or a sponge attached to a plate-like member. In this case, the attached moisture of the light projecting part and the light receiving part can be simply and surely removed by the brush or the sponge. Further, when the removing part is constituted by the brush, even if the attached moisture of the light projecting part and the light receiving part is in a frozen state, the attached moisture can be removed by the brush. Therefore, the deposition of frost on at least one of the light projecting part and the light receiving part can be surely suppressed.

[0018] The brush or the sponge may be provided at a position closer to an end in a predetermined direction in the plate-like member. In an industrial vehicle, there may be a case where a loading and unloading operation is carried out with the fork shifted to the shift end. Therefore, by providing the brush or the sponge at a position closer to the end in the plate-like member, it is possible to efficiently remove the attached moisture of at least one of the light projecting part and the light receiving part without returning the fork to the shift center.

Effect of the Invention

[0019] According to the present disclosure, it is possible to provide an industrial vehicle that can appropriately determine whether or not the position of the fork has reached the shift end even when alternately moving between a normal temperature environment and a freezing environment.

Brief Description of the Drawings

[0020] [Figure 1] It is a schematic diagram showing an example of the traveling of an industrial vehicle according to an embodiment of the present disclosure. [Figure 2] It is a side view showing an example of an industrial vehicle according to an embodiment of the present disclosure. [Figure 3] It is a block diagram showing the functional configuration of the industrial vehicle shown in FIG. 2. [Figure 4] It is a perspective view showing the configuration of the shift device and the detection device. [Figure 5] It is a side view showing the configuration of the shift device and the detection device. [Figure 6] It is a perspective view showing an example of the sensor part. [Figure 7] It is a diagram showing the configuration of the sensor part and the plate-like member. [Figure 8] (a) and (b) are diagrams showing an example of detecting the shift end of a fork by a sensor unit. [Figure 9] It is a perspective view showing another example of the sensor unit. [Figure 10] It is a top view showing the configuration of the detection device. [Figure 11] It is a perspective view showing a first modification of the configuration of the removal unit. [Figure 12] It is a side view showing a first modification of the configuration of the removal unit. [Figure 13] It is a perspective view showing a second modification of the configuration of the removal unit. [Figure 14] It is a side view showing a second modification of the configuration of the removal unit.

Mode for Carrying Out the Invention

[0021] Hereinafter, with reference to the drawings, a preferred embodiment of an industrial vehicle according to one aspect of the present disclosure will be described in detail.

[0022] Referring to FIG. 1, an example of the traveling of the industrial vehicle 1 will be described. FIG. 1 is a schematic diagram showing an example of the traveling of the industrial vehicle 1 according to an embodiment of the present disclosure. The industrial vehicle 1 is configured as a forklift for carrying goods. In the present embodiment, the industrial vehicle 1 is operated to automatically carry goods between a predetermined loading position P1 and a unloading position P2, for example, in a normal temperature environment R1 and a freezing environment R2.

[0023] The normal temperature environment R1 is an environment with a higher temperature than the freezing environment R2, for example, an environment with a temperature higher than 0 degrees such as room temperature. The freezing environment R2 is, for example, an environment with a temperature of 0 degrees or less. A specific example of the normal temperature environment R1 is a front chamber where the goods are temporarily stored when the goods are carried into or out of the freezing environment R2. A specific example of the freezing environment R2 is a freezer in which the goods are stored.

[0024] In the example shown in Figure 1, the receiving position P1 is located in a normal temperature environment R1, and the loading position P2 is located in a frozen environment R2. In the example shown in Figure 1, industrial vehicle 1 receives cargo at the receiving position P1 located in the normal temperature environment R1, drives to the frozen environment R2, loads cargo at the loading position P2 located in the frozen environment R2, and then returns to the receiving position P1 located in the normal temperature environment R1 to receive cargo again. Industrial vehicle 1 repeats this operation. In other words, industrial vehicle 1 transports cargo by alternating between the normal temperature environment R1 and the frozen environment R2.

[0025] The relationship between the ambient temperature environment R1 and the refrigerated environment R2 and the receiving position P1 and the loading position P2 is not limited to the example shown in Figure 1. That is, the receiving position P1 may be located in the refrigerated environment R2, and the loading position P2 may be located in the ambient temperature environment R1. Even in this case, the industrial vehicle 1 transports the cargo by moving alternately between the ambient temperature environment R1 and the refrigerated environment R2.

[0026] Next, the configuration of the industrial vehicle 1 will be described with reference to Figure 2. Figure 2 is a side view of an industrial vehicle according to one embodiment of the present disclosure. As shown in Figure 2, the industrial vehicle 1 comprises a running gear 2 and a cargo handling device 3 located in front of the running gear 2.

[0027] The running gear 2 comprises a vehicle body 4, a pair of drive wheels 5 located at the front of the vehicle body 4, and a pair of steering wheels 6 located at the rear of the vehicle body 4. The vehicle body 4 is provided with a driver's cab 7, which is made up of a frame including a head guard. Inside the driver's cab 7 are a lift operation lever used to operate the lift cylinder 14, a tilt operation lever used to operate the tilt cylinder 15, and a steering wheel for steering the industrial vehicle 1. In addition, the running gear 2 comprises a drive motor that rotates the front wheels 5 and a steering motor that steers the rear wheels 6 by rotating the steering shaft of the industrial vehicle 1. In the industrial vehicle 1, the drive motor rotates the front wheels 5 and the steering motor steers the rear wheels 6, thereby enabling the running gear 2 to operate.

[0028] The cargo handling device 3 includes a mast 11 attached to the front of the vehicle body 4, a pair of forks 13 attached to the shift device 20 via a lift bracket 12 for holding loads, a lift cylinder 14 for raising and lowering the forks 13, and a tilt cylinder 15 for tilting the mast 11. The forks 13 are mounted so as to protrude forward from the lift bracket 12.

[0029] In the industrial vehicle 1, the forks 13 are configured to be movable in a predetermined direction. In this embodiment, the forks 13 are configured to be movable in the left-right direction of the vehicle. In this embodiment, the lift bracket 12 is also configured to be movable in the left-right direction of the vehicle together with the forks 13. In the industrial vehicle 1, the forks 13 are also configured to be rotatable so that they face either the left or the right. In the industrial vehicle 1, for example, the forks 13 can be positioned at one of the shift ends in the left-right direction and rotated to face the center in the width direction of the vehicle, and in this state, the load can be held and transported.

[0030] In the following explanation, we will use the example that the predetermined direction in which the position of the fork 13 shifts is the left-right direction of the vehicle, but the above predetermined direction is not limited to the left-right direction of the vehicle. For example, the above predetermined direction may be the front-rear direction and the up-down direction of the vehicle, or it may be a direction that intersects those directions.

[0031] Industrial vehicle 1 further includes a shifting device 20 and a detection device 30 in order to achieve the position shift of the fork 13 described above.

[0032] The following describes the details of the configuration of the shift device 20 and the functional configuration of the detection device 30 with reference to Figures 3 to 7. Figure 3 is a block diagram showing the functional configuration of the industrial vehicle shown in Figure 2. Figure 4 is a perspective view showing the configuration of the shift device and the detection device. Figure 5 is a side view showing the configuration of the shift device and the detection device. Figure 6 is a perspective view showing an example of the sensor section. Figure 7 is a diagram showing the configuration of the sensor section and the plate-shaped member.

[0033] The shift device 20 shifts the position of the fork 13 in the left-right direction. As shown in Figures 4 and 5, the shift device 20 has a guide portion 21, a slide portion 22, a frame portion 23, and a mounting portion 24 to perform this function. In this embodiment, the shift device 20 has two guide portions 21, two slide portions 22, one frame portion 23, and one mounting portion 24.

[0034] The guide section 21 is the part that guides the position shift of the fork 13. The guide section 21 is attached to the mast 11 and extends in the left-right direction. In this embodiment, two guide sections 21 are attached to the mast 11 so that they are in different positions from each other in the vertical direction. The guide section 21 is, for example, a guide rail.

[0035] The sliding portion 22 is the part that moves the frame portion 23 and the mounting portion 24 in the left-right direction. The sliding portion 22 is supported by the guide portion 21 so as to be movable in the left-right direction. The sliding portion 22 is, for example, a roller.

[0036] The frame section 23 is the part that connects the lift bracket 12 and the fork 13 to the shift device 20. The frame section 23 is located in front of the guide section 21 and the slide section 22 and is connected to the slide section 22. The lift bracket 12 is attached to the front of the frame section 23, and the mounting section 24 is attached to the rear of the frame section 23. As described above, the slide section 22 is supported by the guide section 21 so as to be movable in the left-right direction. As a result, the frame section 23 connected to the slide section 22 is configured to be movable in the left-right direction.

[0037] The mounting portion 24 is the part for attaching the sensor portion 31 (see Figure 3). The mounting portion 24 includes a base portion 24a and a bracket 24b. The base portion 24a is fixed to the frame portion 23 so as to be located between the mast 11 and the frame portion 23 in the longitudinal direction of the vehicle. Specifically, the base portion 24a is fixed to the frame portion 23 such that the front surface of the base portion 24a is in contact with the rear surface of the frame portion 23, and the rear surface of the base portion 24a faces the mast 11 in the longitudinal direction of the vehicle. The bracket 24b is attached to the rear surface of the base portion 24a and extends downward from the mounting position. As described above, the base portion 24a is fixed to the frame portion 23, and the frame portion 23 is configured to be movable in the left-right direction. Therefore, the base portion 24a fixed to the frame portion 23 and the bracket 24b attached to the base portion 24a are configured to be movable in the left-right direction together with the frame portion 23.

[0038] In the shift device 20, for example, the slide portion 22 moves in the left-right direction along the guide portion 21 by motor drive. As the slide portion 22 moves along the guide portion 21, the lift bracket 12 and the fork 13 move in the left-right direction together with the frame portion 23 and the mounting portion 24. In other words, in this embodiment, the shift device 20 shifts the position of the fork 13 in the left-right direction by motor drive.

[0039] As described above, in the industrial vehicle 1, the fork 13 is also configured to be rotatable. Therefore, in addition to the function of shifting the position of the fork 13 in the left-right direction, the shift device 20 also has the function of rotating the fork 13. The shift device 20 rotates the fork 13, for example by motor drive, so that the fork 13 faces either left or right.

[0040] The detection device 30 detects the shift end of the fork 13 in a predetermined direction. The shift end is the limit position of the fork 13 in a predetermined direction, and refers to the position of the fork 13 when the slide portion 22 has slid to either end of the guide portion 21. As described above, in this embodiment, the position of the fork 13 shifts in the left-right direction. Therefore, the shift end in this embodiment is the limit position of the fork 13 in the left-right direction.

[0041] The following describes the details of the functional configuration of the detection device 30 to realize the function of detecting the shift end of the fork 13. To realize the above-described function, the detection device 30 has a sensor unit 31, a plate-shaped member 32, and a shift determination unit 33. In this embodiment, the detection device 30 has two sensor units 31 and two plate-shaped members 32.

[0042] The sensor unit 31 is the part that detects the shift end of the fork 13. As shown in Figure 6, in this embodiment, the sensor unit 31 has a C-shape when viewed from the side, for example. In this embodiment, the two sensor units 31 are mounted on the bracket 24b so that they are in different positions in the vertical direction. As described above, the mounting part 24, including the bracket 24b, moves in the left-right direction together with the fork 13. Therefore, the sensor unit 31 is configured to be movable in the left-right direction in response to the left-right shift of the fork 13.

[0043] As shown in Figure 6, the sensor unit 31 includes a light-emitting unit 31a and a light-receiving unit 31b. The light-emitting unit 31a is the part that emits detection light L used to detect the shift end. The light-receiving unit 31b is the part that receives the detection light L emitted from the light-emitting unit 31a. The light-emitting unit 31a and the light-receiving unit 31b face each other. In this embodiment, the light-emitting unit 31a and the light-receiving unit 31b face each other in the vertical direction of the vehicle. In the vertical direction of the vehicle, the light-emitting unit 31a is located on the upper side and the light-receiving unit 31b is located on the lower side. In the vertical direction of the vehicle, the light-emitting unit 31a may be located on the lower side and the light-receiving unit 31b may be located on the upper side. When the light-receiving unit 31b receives the detection light L, the sensor unit 31 outputs information to the shift determination unit 33 indicating that the light-receiving unit 31b has received the detection light L.

[0044] The plate-shaped member 32 is a detection member for operating the sensor unit 31. Therefore, the plate-shaped member 32 can also be called the detected part in the detection device 30. The plate-shaped member 32 is a member called, for example, a dog. In this embodiment, as shown in Figure 5, the two plate-shaped members 32 are attached to the mast 11 so that they are in different positions in the vertical direction, corresponding to the two sensor units 31. Each of the plate-shaped members 32 extends in the left-right direction between the light-emitting part 31a and the light-receiving part 31b of the corresponding sensor unit 31.

[0045] As shown in Figure 7, the plate-shaped member 32 includes a light-shielding portion 32a for blocking the detection light L and a notched portion 32b for allowing the detection light L to pass through. The notched portion 32b is provided in a rectangular shape corresponding to the shift end of the fork 13. As described above, in this embodiment, the shift end of the fork 13 is the limit position in the left-right direction of the fork 13. Therefore, in this embodiment, the notched portions 32b are provided at both ends of the plate-shaped member 32 in the left-right direction. That is, each plate-shaped member 32 includes two notched portions 32b.

[0046] In the following section, with reference to Figure 8, the method for detecting the shift end of the fork 13 using the sensor unit 31 and the plate-shaped member 32 in this embodiment will be described in more detail. Figures 8(a) and (b) show an example of detection of the shift end of the fork by the sensor unit.

[0047] As described above, the sensor unit 31 moves in the left-right direction in response to the left-right shift of the fork 13. During this time, the sensor unit 31 moves in the left-right direction while emitting detection light L from the light-emitting unit 31a, with the plate-shaped member 32 positioned between the light-emitting unit 31a and the light-receiving unit 31b. While the sensor unit 31 is moving in the left-right direction, the light-emitting unit 31a may continuously emit detection light L, or it may emit detection light L at predetermined time intervals.

[0048] In the light-shielding portion 32a, i.e., positions other than the shift end, as shown in Figure 8(a), a light-shielding portion 32a exists between the light-emitting portion 31a and the light-receiving portion 31b. Therefore, in positions other than the shift end, the detected light L is blocked by the light-shielding portion 32a and is not received by the light-receiving portion 31b. In contrast, in the notched portion 32b, i.e., the position corresponding to the shift end, as shown in Figure 8(b), there is no portion between the light-emitting portion 31a and the light-receiving portion 31b that blocks the detected light L. Therefore, at the shift end, the detected light L passes through the notched portion 32b and is received by the light-receiving portion 31b. The sensor portion 31 detects the shift end when the detected light L is received by the light-receiving portion 31b in the notched portion 32b provided corresponding to the shift end. As described above, the sensor unit 31, upon detecting the shift end, outputs information to the shift determination unit 33 indicating that the detected light L has been received by the light receiving unit 31b.

[0049] Returning to Figure 3, the shift determination unit 33 is the part that determines whether the position of the fork 13 has reached the shift end. The shift determination unit 33 determines whether the position of the fork 13 has reached the shift end based on whether the detection light L emitted from the light emitter 31a has been received by the light receiving unit 31b. In this embodiment, the shift determination unit 33 determines that the position of the fork 13 has reached the shift end when it receives information from the sensor unit 31 indicating that the detection light L has been received by the light receiving unit 31b. If it is determined that the position of the fork 13 has reached the shift end, the shift determination unit 33 may, for example, generate an instruction to stop the left-right shift of the fork 13 and output the instruction to the shift device 20. The shift device 20, upon receiving the instruction, may, for example, stop the left-right shift of the fork 13.

[0050] As described above, in the industrial vehicle 1, the sensor unit 31 detects the shift end when the detection light L is received by the light receiving unit 31b at the notched portion 32b provided corresponding to the shift end. Furthermore, as described above, the industrial vehicle 1 alternates between a normal temperature environment R1 and a frozen environment R2 when transporting cargo. During this process, moisture adheres to the light emitting unit 31a and the light receiving unit 31b. In such cases, the moisture adhering to the light emitting unit 31a and the light receiving unit 31b repeatedly freezes and thaws, which can cause frost F to accumulate on the light emitting unit 31a and the light receiving unit 31b, as shown in Figure 9. As shown in Figure 9, if frost F accumulates on the light emitting unit 31a and the light receiving unit 31b, the detection light L may be blocked by the frost F, making it difficult to detect whether or not the fork 13 has reached the shift end.

[0051] To address these challenges, the industrial vehicle 1 prevents frost F from accumulating on the light-emitting unit 31a and the light-receiving unit 31b by removing at least one of the adhering moisture on the light-emitting unit 31a and the light-receiving unit 31b. In order to achieve this function, the detection device 30 in the industrial vehicle 1 further comprises an acquisition unit 34, an environmental determination unit 35, and a removal unit 36. In other words, the detection device 30 in the industrial vehicle 1 has the function of removing adhering moisture from the light-emitting unit 31a and the light-receiving unit 31b.

[0052] The acquisition unit 34 is the part that acquires environmental information of the vehicle. Environmental information refers to information that indicates the environment around the vehicle. In this embodiment, the environmental information is temperature information and map information. Temperature information refers to information that indicates the temperature around the vehicle. Map information refers to information that indicates the geographical attributes around the vehicle. Map information includes, for example, the positions and sizes of objects present in the ambient temperature environment R1 and the refrigerated environment R2, and the positions and sizes of passages within the ambient temperature environment R1 and the refrigerated environment R2.

[0053] In this embodiment, the acquisition unit 34 is communicatively connected to the temperature sensor 40 and the storage unit 50. The acquisition unit 34 continuously acquires temperature information from the temperature sensor 40 and map information from the storage unit 50. In this disclosure, "continuously acquiring" includes not only acquiring information without interruption but also acquiring information at predetermined time intervals. Each time the acquisition unit 34 acquires temperature information and map information, it outputs both acquired pieces of information to the environment determination unit 35 as environmental information.

[0054] The temperature sensor 40 is a sensor for measuring the temperature around the vehicle. The memory unit 50 is the part that stores the map information described above. The memory unit 50 stores the map information in advance before the industrial vehicle 1 starts running. In this embodiment, the industrial vehicle 1 is equipped with the temperature sensor 40 and the memory unit 50.

[0055] The environmental determination unit 35 is the part that determines whether the vehicle is located in a normal temperature environment R1 or a refrigerated environment R2 based on environmental information. In this embodiment, the environmental determination unit 35 determines whether the vehicle is located in a normal temperature environment R1 or a refrigerated environment R2 based on temperature information and map information received from the acquisition unit 34.

[0056] In this embodiment, the environmental determination unit 35 makes the above determination as follows. First, the environmental determination unit 35 determines whether the temperature information received from the acquisition unit 34 is higher than a predetermined temperature. Next, the environmental determination unit 35 estimates the position of the vehicle by referring to the detection result from the self-position estimation sensor, which is used to estimate the self-position, and the map information received from the acquisition unit 34. The self-position estimation sensor is a sensor used to estimate the self-position of the industrial vehicle 1 and detects objects present around the industrial vehicle 1. The self-position estimation sensor is, for example, LiDAR (Light Detection and Ranging).

[0057] The environmental determination unit 35 determines that the vehicle is located in the ambient temperature environment R1 if it determines that the temperature information is higher than a predetermined temperature and it is estimated that the vehicle is located in the ambient temperature environment R1. The environmental determination unit 35 determines that the vehicle is located in the refrigerated environment R2 if it determines that the temperature information is below a predetermined temperature and it is estimated that the vehicle is located in the refrigerated environment R2. Furthermore, the environmental determination unit 35 also determines that the vehicle is located in the refrigerated environment R2 if it determines that the temperature information is higher than a predetermined temperature and it is estimated that the vehicle is located in the refrigerated environment R2, and if it determines that the temperature information is below a predetermined temperature and it is estimated that the vehicle is located in the ambient temperature environment R1. The predetermined temperature is, for example, 0 degrees.

[0058] Each time the environmental determination unit 35 receives temperature information and map information from the acquisition unit 34, it makes the above determination and outputs information to the removal unit 36 ​​indicating whether the vehicle is located in a normal temperature environment R1 or a frozen environment R2. Hereafter, the information indicating whether the vehicle is located in a normal temperature environment R1 or a frozen environment R2 will simply be referred to as "location information".

[0059] The removal unit 36 ​​is a part that removes moisture adhering to at least one of the light-emitting unit 31a and the light-receiving unit 31b. The removal unit 36 ​​removes moisture adhering to at least one of the light-emitting unit 31a and the light-receiving unit 31b when the vehicle moves from a refrigerated environment R2 to a normal temperature environment R1.

[0060] In this embodiment, the removal unit 36 ​​removes moisture adhering to at least one of the light-emitting unit 31a and the light-receiving unit 31b as follows. First, each time the removal unit 36 ​​receives position information from the environment determination unit 35, it determines, based on the position information, whether the vehicle has moved from the refrigerated environment R2 to the ambient temperature environment R1. The removal unit 36 ​​determines that the vehicle has moved from the refrigerated environment R2 to the ambient temperature environment R1 if the previous position information indicated that the vehicle was located in the refrigerated environment R2, and the current position information indicates that the vehicle is located in the ambient temperature environment R1. Next, if the removal unit 36 ​​determines that the vehicle has moved from the refrigerated environment R2 to the ambient temperature environment R1, it removes moisture adhering to at least one of the light-emitting unit 31a and the light-receiving unit 31b.

[0061] In this embodiment, the removal unit 36 ​​is composed of a nozzle 36A that blows air onto it. That is, in this embodiment, the adhering moisture is removed by the nozzle 36A blowing air onto the sensor unit 31. The nozzle 36A may also remove the adhering moisture by blowing warm air onto the sensor unit 31, for example. In this disclosure, "removing adhering moisture" includes not only removing all of the adhering moisture but also reducing the amount of adhering moisture.

[0062] In this embodiment, the removal unit 36 ​​is composed of two nozzles 36A, corresponding to the two sensor units 31. As shown in Figure 10, the two nozzles 36A are attached to corresponding sides of the base 24a. As described above, the base 24a shifts in the left-right direction together with the sensor units 31. That is, in this embodiment, the nozzles 36A are attached to a member that shifts in the left-right direction together with the sensor units 31.

[0063] The removal unit 36 ​​sprays air from the nozzle 36A after a predetermined time has elapsed since it was determined that the vehicle has moved from the refrigerated environment R2 to the ambient temperature environment R1. In other words, in this embodiment, when the removal unit 36 ​​determines that the vehicle has moved from the refrigerated environment R2 to the ambient temperature environment R1, it removes any adhering moisture from at least one of the light-emitting unit 31a and the light-receiving unit 31b after a predetermined time has elapsed since that determination. The predetermined time may be, for example, 10 seconds or 1 minute. For example, the predetermined time may be set to be shorter in proportion to the temperature in the ambient temperature environment R1. Also, the number of times air is sprayed from the nozzle 36A may be only once or multiple times.

[0064] As explained above, the industrial vehicle 1 determines the environment in which it is located based on its own environmental information, and removes any adhering moisture from at least one of the light-emitting unit 31a and the light-receiving unit 31b when the vehicle moves from a refrigerated environment R2 to a normal temperature environment R1. By removing the adhering moisture, even if the industrial vehicle 1 moves from a normal temperature environment R1 to a refrigerated environment R2 again, the accumulation of frost F on at least one of the light-emitting unit 31a and the light-receiving unit 31b can be suppressed. Therefore, even when the industrial vehicle 1 alternately moves between a normal temperature environment R1 and a refrigerated environment R2, the detection light L is suppressed from being blocked by frost F, and it is possible to appropriately determine whether or not the position of the fork 13 has reached the shift end.

[0065] In the industrial vehicle 1, the detection device 30 has a plate-shaped member 32 that includes a light-shielding portion 32a that extends in a predetermined direction between the light-emitting portion 31a and the light-receiving portion 31b and blocks the detection light L, and a notched portion 32b that is provided corresponding to the shift end and allows the detection light L to pass through. In this case, by utilizing the light-shielding portion 32a and the notched portion 32b of the plate-shaped member 32, it is possible to determine whether or not the position of the fork 13 has reached the shift end with a simple configuration.

[0066] In industrial vehicle 1, environmental information consists of temperature information and map information. In this case, by using both temperature information and map information to determine the environment in which the vehicle is located, the environment in which the vehicle is located can be determined with high accuracy even if there is an error in the location information estimated from the temperature information or the map information.

[0067] In the industrial vehicle 1, the light-emitting unit 31a and the light-receiving unit 31b are positioned opposite each other in the vertical direction of the vehicle. In this case, the detection light L is less likely to leak out to the surroundings of the vehicle, thus ensuring sufficient safety during cargo handling operations. Furthermore, since light from the surroundings of the vehicle is less likely to enter the light-receiving unit 31b, the accuracy of determining whether or not the fork 13 has reached the shift end is also sufficiently ensured.

[0068] In the industrial vehicle 1, the removal unit 36 ​​is composed of a nozzle 36A that blows air. In this case, moisture adhering to the light-emitting unit 31a and the light-receiving unit 31b can be easily and reliably removed by air.

[0069] In the industrial vehicle 1, the nozzle 36A is attached to a member that shifts in a predetermined direction together with the sensor unit 31. In this case, even if the sensor unit 31 moves in the shift direction of the fork 13, the removal of adhering moisture can be performed regardless of the position of the sensor unit 31.

[0070] In the industrial vehicle 1, the removal unit 36 ​​sprays air from the nozzle 36A after a predetermined time has elapsed since it was determined that the vehicle had moved from the refrigerated environment R2 to the ambient temperature environment R1. In this case, since the air is sprayed after the frost F formed in the refrigerated environment R2 has melted in the ambient temperature environment R1, the removal of adhering moisture becomes more reliable.

[0071] In the industrial vehicle 1, the forks 13 are configured to be rotatable by the shift device 20. In this case, even if the aisle width is narrow and it is difficult to change the direction of the industrial vehicle 1, loading and unloading can be performed without changing the direction of the industrial vehicle 1.

[0072] Next, the configuration of the first modified example of the industrial vehicle 1 will be described with reference to Figures 11 and 12. Figure 11 is a perspective view showing the first modified example of the configuration of the removal section. Figure 12 is a side view showing the first modified example of the configuration of the removal section. In this modified example, the configuration of the removal section 36 differs from the embodiment described above. The differences between the embodiment described above and this modified example will be mainly described below.

[0073] First, the configuration of the removal section 36 in this modified example will be explained. As shown in Figures 11 and 12, the removal section 36 is composed of a brush 36B attached to the plate-shaped member 32. In this modified example, the brush 36B is provided at a position near the left-right end of the plate-shaped member 32. Specifically, the brush 36B is provided at a position near the left-right end of the plate-shaped member 32, and inside the notched portion 32b. Although not shown in the illustration, the brush 36B is also provided at the above-mentioned position at the end of the plate-shaped member 32 opposite to the end shown in Figure 11.

[0074] Furthermore, as shown in Figure 12, in this modified example, the brushes 36B are provided on the upper and lower surfaces of the plate-shaped member 32. The brushes 36B are provided on the upper and lower surfaces of the plate-shaped member 32 at the positions described above. The brushes 36B are provided on the upper and lower surfaces of the plate-shaped member 32 so as to contact the corresponding parts of the light-emitting section 31a and the light-receiving section 31b when the sensor section 31 is positioned between the light-emitting section 31a and the light-receiving section 31b. In other words, in this modified example, four brushes 36B are provided for one plate-shaped member 32. As described above, in the industrial vehicle 1, the detection device 30 has two plate-shaped members 32. Therefore, in this modified example, a total of eight brushes 36B are provided.

[0075] Next, the operation for removing adhering moisture in this modified example will be explained. In this modified example as well, the removal unit 36 ​​removes adhering moisture from at least one of the light-emitting unit 31a and the light-receiving unit 31b when the vehicle moves from the refrigerated environment R2 to the ambient temperature environment R1. In this modified example, when removing adhering moisture, the removal unit 36 ​​first generates an instruction to shift the fork 13 in the left-right direction when the vehicle moves from the refrigerated environment R2 to the ambient temperature environment R1, and outputs this instruction to the shift device 20. Upon receiving the instruction from the removal unit 36, the shift device 20 moves the sensor unit 31 so that it passes over the position where the brush 36B is provided. As a result, the light-emitting unit 31a and the light-receiving unit 31b are wiped by the brush 36B, and adhering moisture from at least one of the light-emitting unit 31a and the light-receiving unit 31b is removed.

[0076] In this modified example, the removal unit 36 ​​is composed of a brush 36B attached to the plate-shaped member 32. In this case, moisture adhering to the light-emitting unit 31a and the light-receiving unit 31b can be easily and reliably removed by the brush 36B. Furthermore, in this case, even if the adhering moisture is frozen, the brush 36B can remove the adhering moisture. Therefore, the accumulation of frost F on at least one of the light-emitting unit 31a and the light-receiving unit 31b can be reliably suppressed.

[0077] In this modified example, the brush 36B is provided at a position on the plate-shaped member 32 that is closer to the end in a predetermined direction. In the industrial vehicle 1, cargo handling may be performed with the forks 13 shifted to the shift end. Therefore, by providing the brush 36B at a position on the plate-shaped member 32 that is closer to the end, it is possible to efficiently remove moisture adhering to at least one of the light-emitting part 31a and the light-receiving part 31b without returning the forks 13 to the shift center.

[0078] Next, the configuration of a second modified example of the industrial vehicle 1 will be described with reference to Figures 13 and 14. Figure 13 is a perspective view showing a second modified example of the removal section configuration. Figure 14 is a side view showing a second modified example of the removal section configuration. In this modified example, the configuration of the sensor section 31, the plate-shaped member 32, and the removal section 36 differs from the embodiment described above. The differences between the embodiment described above and this modified example will be mainly described below.

[0079] First, the configuration of the sensor unit 31 in this modified example will be explained. In this modified example, the light-emitting unit 31a and the light-receiving unit 31b of the sensor unit 31 are facing each other in the front-rear direction of the vehicle. In the front-rear direction of the vehicle, the light-emitting unit 31a is located on the rear side and the light-receiving unit 31b is located on the front side. In the front-rear direction of the vehicle, the light-emitting unit 31a may be located on the front side and the light-receiving unit 31b may be located on the rear side.

[0080] Next, the configuration of the plate-shaped member 32 in this modified example will be described. As shown in Figures 13 and 14, in this modified example, the plate-shaped member 32 has an L-shape when viewed from the left-right direction and includes a horizontal portion 321 and a vertical portion 322. The horizontal portion 321 is the portion that runs along the front-rear direction of the vehicle. The vertical portion 322 is the portion that runs along the up-down direction of the vehicle. The horizontal portion 321 and the vertical portion 322 run along the corresponding directions of the vehicle, the front-rear direction and the up-down direction, and as a whole, they extend in the left-right direction of the vehicle. In this modified example, the light-shielding portion 32a and the notched portion 32b are provided in the vertical portion 322. The notched portion 32b is provided at both ends of the vertical portion 322 in the left-right direction.

[0081] Next, the configuration of the sensor section 31 and the removal section 36 in this modified example will be described. The removal section 36 is composed of a sponge 36C attached to the plate-shaped member 32. In this modified example, the removal section 36 is composed of a sponge 36C attached to the vertical section 322 of the plate-shaped member 32. The sponge 36C is provided at a position near the left-right end of the vertical section 322. Specifically, the sponge 36C is provided at a position near the left-right end of the vertical section 322, and inside the notched section 32b. Although not shown in the illustration, the sponge 36C is also provided at the above-described position at the end of the vertical section 322 opposite to the end shown in Figure 13.

[0082] As described above, the vertical portion 322 extends along the vertical direction of the vehicle and, as a whole, extends in the left-right direction of the vehicle. Therefore, in this modified example, it can be said that the sponge 36C is provided at a position near the left-right end of the plate-shaped member 32. It can also be said that the sponge 36C is provided at a position near the left-right end of the plate-shaped member 32 and inside the notched portion 32b.

[0083] Furthermore, as shown in Figure 14, in this modified example, the sponges 36C are provided on the front and rear surfaces of the vertical portion 322. The sponges 36C are provided on the front and rear surfaces of the vertical portion 322 at the positions described above. In addition, the sponges 36C are provided on the front and rear surfaces of the vertical portion 322 so as to be in contact with the corresponding parts of the light-emitting portion 31a and the light-receiving portion 31b when the sensor portion 31 is positioned between the light-emitting portion 31a and the light-receiving portion 31b. In other words, in this modified example, four sponges 36C are provided for one plate-shaped member 32. Therefore, in this modified example as well, a total of eight sponges 36C are provided.

[0084] Next, the operation for removing adhering moisture in this modified example will be explained. In this modified example as well, the removal unit 36 ​​removes adhering moisture from at least one of the light-emitting unit 31a and the light-receiving unit 31b when the vehicle moves from the refrigerated environment R2 to the ambient temperature environment R1. In this modified example as well, when removing adhering moisture, the removal unit 36 ​​first generates an instruction to shift the fork 13 in the left-right direction when the vehicle moves from the refrigerated environment R2 to the ambient temperature environment R1, and outputs this instruction to the shift device 20. Upon receiving the instruction from the removal unit 36, the shift device 20 moves the sensor unit 31 so that it passes over the position where the sponge 36C is provided. As a result, the light-emitting unit 31a and the light-receiving unit 31b are wiped by the sponge 36C, and adhering moisture from at least one of the light-emitting unit 31a and the light-receiving unit 31b is removed.

[0085] In this modified example, the light-emitting unit 31a and the light-receiving unit 31b are facing each other in the front-rear direction of the vehicle. In this case, moisture is less likely to accumulate on the light-emitting unit 31a and the light-receiving unit 31b, thus ensuring sufficient accuracy in determining whether or not the fork 13 has reached the shift end.

[0086] In this modified example, the removal section 36 is composed of a sponge 36C attached to the plate-shaped member 32. In this case, moisture adhering to the light-emitting section 31a and the light-receiving section 31b can be easily and reliably removed by the sponge 36C.

[0087] In this modified example, the sponge 36C is provided at a position on the plate-shaped member 32 that is closer to the end in a predetermined direction. As described above, in the industrial vehicle 1, cargo handling may be performed with the forks 13 shifted to the shift end. Therefore, by providing the sponge 36C at a position on the plate-shaped member 32 that is closer to the end, it is possible to efficiently remove moisture adhering to at least one of the light-emitting part 31a and the light-receiving part 31b without returning the forks 13 to the shift center.

[0088] While embodiments and variations of this disclosure have been described above, this disclosure is not necessarily limited to the embodiments and variations described above, and various modifications are possible without departing from its essence.

[0089] In the embodiments and modifications described above, the shift device 20 had the function of rotating the fork 13, but the shift device 20 does not necessarily have to have this function. In this case, another rotating device may have this function, and the fork 13 may be configured to rotate by this rotating mechanism. The other rotating device may be attached to the shift device 20, located between the shift device 20 and the lift bracket 12, and perform this function.

[0090] In the embodiments and modifications described above, the number of sensor units 31 was "2," but the number of sensor units 31 is not limited to the number described above. The number of sensor units 31 may be more or less than the number described above. For example, the number of sensor units 31 may be "1." The number of plate-shaped members 32 and nozzles 36A may correspond to the number of sensor units 31.

[0091] In the embodiments and modifications described above, the environmental information consisted of temperature information and map information. However, in determining the environment in which the vehicle is located, the environmental information only needs to consist of at least one of the temperature information and the map information. That is, the environmental information may consist of only temperature information, or only map information. When the environmental information is temperature information, the environment in which the vehicle is located can be determined with high accuracy based on the temperature information. When the environmental information is map information, the environment in which the vehicle is located can be determined with high accuracy based on the map information.

[0092] If the environmental information consists only of temperature information, the environmental determination unit 35 determines whether the temperature information received from the acquisition unit 34 is higher than 0 degrees, and determines the environment in which the vehicle is located based solely on that determination result. For example, if the environmental determination unit 35 determines that the vehicle is in a normal temperature environment R1 when it is determined that the temperature information received from the acquisition unit 34 is higher than a predetermined temperature, it may determine that the vehicle is in a refrigerated environment R2 when it is determined that the temperature information received from the acquisition unit 34 is lower than a predetermined temperature.

[0093] If the environmental information consists only of map information, the environmental determination unit 35 estimates the vehicle's position based on the map information received from the acquisition unit 34, and determines the environment in which the vehicle is located based solely on the estimation result. For example, if the environmental determination unit 35 estimates that the vehicle is located in a normal temperature environment R1, it may determine that the vehicle is located in a normal temperature environment R1, and if it estimates that the vehicle is located in a refrigerated environment R2, it may determine that the vehicle is located in a refrigerated environment R2.

[0094] In the embodiment described above, the nozzle 36A was attached to the base 24a, but the mounting position of the nozzle 36A is not limited to the position described above. For example, the nozzle 36A may be attached to the bracket 24b. Even in this case, since the bracket 24b is configured to move in the left-right direction together with the fork 13, it can be said that the nozzle 36A is attached to a member that shifts in the left-right direction together with the sensor unit 31. Alternatively, the nozzle 36A may be attached to a different shift mechanism. In this case, the shift mechanism shifts in the left-right direction together with the sensor unit 31, and moves the nozzle 36A so that the nozzle 36A shifts in the left-right direction together with the sensor unit 31.

[0095] Furthermore, the nozzle 36A does not necessarily have to be attached to a member that shifts left and right together with the sensor unit 31. The nozzle 36A may be attached to, for example, the mast 11. In other words, the position of the nozzle 36A may be fixed. In this case, when removing adhering moisture, the removal unit 36 ​​may first generate an instruction to shift the fork 13 left and right when the vehicle moves from a refrigerated environment R2 to a normal temperature environment R1, and output this instruction to the shift device 20. Next, the shift device 20, having received the instruction from the removal unit 36, may move the sensor unit 31 to a position corresponding to the mounting position of the nozzle 36A. When the sensor unit 31 has moved to the corresponding position, the removal unit 36 ​​may blow air using the nozzle 36A.

[0096] In the second modified example described above, the removal section 36 was made of a sponge 36C when the light-emitting section 31a and the light-receiving section 31b faced each other in the front-rear direction of the vehicle. However, the relationship between the opposing direction of the light-emitting section 31a and the light-receiving section 31b and the configuration of the removal section 36 is not limited to the relationship shown in the second modified example. That is, when the light-emitting section 31a and the light-receiving section 31b face each other in the front-rear direction of the vehicle, the removal section 36 may be made of a nozzle 36A or a brush 36B.

[0097] Furthermore, the configuration of the plate-shaped member 32 shown in the second modified example only needs to correspond to the opposing directions of the light-emitting section 31a and the light-receiving section 31b, and the relationship between the configuration of the plate-shaped member 32 and the removal section 36 is not limited to the relationship shown in the second modified example. That is, when the light-emitting section 31a and the light-receiving section 31b are facing each other in the front-rear direction of the vehicle, the plate-shaped member 32 only needs to include a horizontal section 321 and a vertical section 322. Therefore, even when the removal section 36 is composed of a nozzle 36A or a brush 36B, the plate-shaped member 32 may include a horizontal section 321 and a vertical section 322 as long as the light-emitting section 31a and the light-receiving section 31b are facing each other in the front-rear direction of the vehicle. Moreover, even when the light-emitting section 31a and the light-receiving section 31b are facing each other in the front-rear direction of the vehicle, the plate-shaped member 32 does not need to include a horizontal section 321.

[0098] The gist of this disclosure is as follows: [1] to

[11] . [1] An industrial vehicle comprising: a cargo handling device having forks; a shift device for shifting the position of the forks in a predetermined direction; and a detection device for detecting the shift end of the forks in the predetermined direction, wherein the detection device includes a light-emitting unit and a light-receiving unit facing each other, and is configured to move in the predetermined direction together with the shift of the forks in the predetermined direction; a shift determination unit for determining whether the position of the forks has reached the shift end based on whether the detection light emitted from the light-emitting unit has been received by the light-receiving unit; an acquisition unit for acquiring environmental information of the vehicle; an environmental determination unit for determining whether the vehicle is located in a normal temperature environment or a frozen environment based on the environmental information; and a removal unit for removing any adhering moisture from at least one of the light-emitting unit and the light-receiving unit when the vehicle moves from the frozen environment to the normal temperature environment. [2] The industrial vehicle according to [1], wherein the detection device has a plate-shaped member that includes a light-shielding portion extending in a predetermined direction between the light-emitting portion and the light-receiving portion and blocking the detection light, and a notched portion provided corresponding to the shift end and allowing the detection light to pass through. [3] The industrial vehicle according to [1] or [2], wherein the environmental information is temperature information around the vehicle. [4] The environmental information is map information of the surroundings of the vehicle, an industrial vehicle as described in any of [1] to [3]. [5] The light-emitting unit and the light-receiving unit are facing each other in the vertical direction of the vehicle, an industrial vehicle according to any one of [1] to [4]. [6] The light-emitting unit and the light-receiving unit are facing each other in the front-rear direction of the vehicle, an industrial vehicle according to any one of [1] to [4]. [7] The removal unit is comprised of a nozzle for blowing air, as described in any of [1] to [6]. [8] The industrial vehicle according to [7], wherein the nozzle is attached together with the sensor to a member that shifts in a predetermined direction. [9] The removal unit performs the blowing of air by the nozzle after a predetermined time has elapsed since it was determined that the vehicle has moved from the refrigerated environment to the ambient temperature environment, as described in [7] or [8].

[10] The removal section is composed of a brush or sponge attached to the plate-shaped member, as described in any of [2] to [6].

[11] The brush or sponge is provided on the plate-shaped member at a position near the end in the predetermined direction, as in the industrial vehicle according to

[10] . [Explanation of Symbols]

[0099] 1...Industrial vehicle, 3...Cargo handling equipment, 13...Fork, 20...Shift device, 30...Detection device, 31...Sensor unit, 31a...Light emitting unit, 31b...Light receiving unit, 32...Plate-shaped member, 32a...Light shielding unit, 32b...Notched unit, 33...Shift judgment unit, 34...Acquisition unit, 35...Environment judgment unit, 36...Removal unit, 36A...Nozzle, 36B...Brush, 36C...Sponge, L...Detection light, R1...Room temperature environment, R2...Refrigerated environment.

Claims

1. A cargo handling device with forks, A shifting device that shifts the position of the fork in a predetermined direction, The device includes a detection device for detecting the shift end of the fork in the predetermined direction, The detection device is A sensor unit comprising a light-emitting unit and a light-receiving unit facing each other, configured to be movable in the predetermined direction along with the shift in the predetermined direction of the fork, A shift determination unit determines whether the fork has reached the shift end based on whether the detection light emitted from the light-emitting unit has been received by the light-receiving unit, An acquisition unit that acquires environmental information of the vehicle, An environmental determination unit that determines whether the vehicle is in a normal temperature environment or a frozen environment based on the aforementioned environmental information, An industrial vehicle having a removal unit that removes any adhering moisture from at least one of the light-emitting unit and the light-receiving unit when the vehicle moves from the refrigerated environment to the ambient temperature environment.

2. The industrial vehicle according to claim 1, wherein the detection device has a plate-shaped member that includes a light-shielding portion extending in a predetermined direction between the light-emitting portion and the light-receiving portion and blocking the detection light, and a notched portion provided corresponding to the shift end and allowing the detection light to pass through.

3. The industrial vehicle according to claim 1, wherein the environmental information is temperature information around the vehicle itself.

4. The industrial vehicle according to claim 1, wherein the environmental information is map information of the area surrounding the vehicle.

5. The industrial vehicle according to claim 1, wherein the light-emitting unit and the light-receiving unit are facing each other in the vertical direction of the vehicle.

6. The industrial vehicle according to claim 1, wherein the light-emitting unit and the light-receiving unit are facing each other in the front-rear direction of the vehicle.

7. The removal unit is comprised of a nozzle for blowing air, according to any one of claims 1 to 6.

8. The industrial vehicle according to claim 7, wherein the nozzle is attached to a member that shifts in the predetermined direction together with the sensor unit.

9. The removal unit performs air blowing by the nozzle after a predetermined time has elapsed since it was determined that the vehicle had moved from the refrigerated environment to the ambient temperature environment, as described in claim 7.

10. The removal section is composed of a brush or sponge attached to the plate-shaped member, as described in claim 2.

11. The industrial vehicle according to claim 10, wherein the brush or sponge is provided on the plate-shaped member at a position near the end in the predetermined direction.

Images