JP7625983B2 - forklift - Google Patents

Description

The present invention relates to a forklift.

Conventionally, technology has been known that uses forklifts to transport cargo without damaging it (see, for example, Patent Document 1).

JP 2006-206243 A

When an operator operates a reach forklift, in a reach-out state, they may mistakenly lower the forks downward and reach in the mast, causing the cargo to hit the reach leg. Also, when an operator operates a reach forklift, in a reach-in state, they may mistakenly lower the forks downward, causing the cargo to hit the reach leg. Therefore, when an operator operates a reach forklift, it may be difficult for the operator to transport the cargo without it hitting the reach leg.

The forklift that achieves the above object is equipped with a mast that moves back and forth along a pair of left and right reach legs that are located forward of the vehicle body, and a pair of left and right forks are provided in front of the mast, and is equipped with a load sensor that detects whether the forks are loaded with cargo, an operation unit that accepts the operation of the forklift by the occupant, a reach amount sensor that detects the reach amount of the mast, a lifting height sensor that detects the height of the forks, and an operation control unit that controls the reach operation of the mast and the up and down movement of the forks along the mast based on the operation of the occupant accepted by the operation unit, and the operation control unit executes at least one of the following controls: a first control that stops the reach-in operation of the mast when the detection result of the load sensor indicates that the forks are loaded with cargo and the reach amount detected by the reach amount sensor is equal to or less than a first threshold value, and a second control that stops the lowering operation of the forks when the detection result of the load sensor indicates that the forks are loaded with cargo and the height detected by the lifting height sensor is equal to or less than a second threshold value.

With this configuration, even if the driver makes an incorrect operation, the operation control unit stops the operation of the mast and forks to prevent the load from hitting the reach leg. This allows the forklift to transport the load without causing any damage.

In the forklift, the first threshold value and the second threshold value are values based on a size of the own device, and the larger the size of the own device, the larger the value is.
In general, the larger the size of a forklift, the larger the load it can transport. With this configuration, the operation control unit executes the first control and the second control based on the first threshold and the second threshold, which are larger the larger the size of the forklift. This allows the forklift 10 to transport a large load according to its own size without damaging the load.

In the forklift, the first threshold value and the second threshold value are values based on a shape of the luggage.
With this configuration, the operation control unit stops the operation of the mast and forks based on a first threshold value and a second threshold value that correspond to the shape of the luggage, allowing the luggage to be transported without causing damage.

The forklift further includes an input unit that receives input from the occupant specifying the first threshold value and the second threshold value, and a determination unit that determines the first threshold value and the second threshold value based on the input to the input unit, and the operation control unit executes at least one of the first control and the second control based on the first threshold value and the second threshold value determined by the determination unit.

With this configuration, the operation control unit can stop the operation of the mast and forks based on the first and second thresholds desired by the occupant, allowing the cargo to be transported without causing damage.

In the forklift described above, the reach sensor and the lift height sensor are wire-type sensors.

According to the present invention, a reach forklift can transport cargo without hitting the reach leg.

Side view of a forklift. FIG. FIG. 2 is a diagram showing the configuration of a control device. FIG. 13 is a diagram used to explain a scene in which a reach action is stopped. A diagram used to explain the scene when the up and down movement of the forks is stopped. 4 is a flowchart showing an example of control by the control device. FIG. FIG. 4 is a diagram showing an example of a display image. FIG. 2 is a diagram showing the configuration of a control device.

<Embodiment>
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a forklift according to the present invention will be described with reference to the drawings.
[Configuration of the forklift 10]
As shown in Fig. 1 and Fig. 2, the forklift 10 includes, for example, a vehicle body 11, a reach leg 12, front wheels 13, rear wheels 14, a loading device 21, an operation unit 34, a load sensor 40, a lifting height sensor 42, and a reach amount sensor 44. The forklift 10 also includes, for example, a hydraulic mechanism 52 and a control device 100. The forklift 10 may be operated manually by an operator riding on the forklift 10, or may be switched between automatic and manual operation. In other words, the forklift 10 may be operated manually by an operator. In the following description, the terms front, rear, left, right, top, bottom, and bottom refer to the front, rear, left, right, top, and bottom with respect to the forklift 10. The front and rear direction can also be referred to as the traveling direction of the forklift 10. The left and right direction can also be referred to as the vehicle width direction of the forklift 10. The up and down direction can also be referred to as the height direction of the forklift 10.

The reach legs 12 are positioned forward of the vehicle body 11. Two reach legs 12 are provided spaced apart from each other in the left-right direction. The pair of left and right reach legs 12 extend forward from the vehicle body 11. One front wheel 13 is provided on each reach leg 12. The rear wheels 14 are provided on the vehicle body 11. The rear wheels 14 are, for example, steering wheels and driving wheels.

The loading device 21 is provided forward of the vehicle body 11. The loading device 21 includes a mast 22, a lift bracket 25, a fork 26, a lift cylinder 31, a tilt cylinder 32, and a reach cylinder 33.

The mast 22 is a multi-stage mast. The mast 22 comprises an outer mast 23 and an inner mast 24. The inner mast 24 is arranged so that it can be raised and lowered relative to the outer mast 23.

The lift bracket 25 is fixed to the inner mast 24. The forks 26 are fixed to the lift bracket 25. Two forks 26 are provided spaced apart from each other in the left-right direction. The lift bracket 25 is a member for fixing the pair of left and right forks 26 to the inner mast 24.

The lift cylinder 31 is a hydraulic cylinder. The lift bracket 25 rises and falls by supplying and discharging hydraulic oil to the lift cylinder 31. The fork 26 rises and falls together with the lift bracket 25.

The tilt cylinder 32 is a hydraulic cylinder. The lift bracket 25 tilts in the forward and backward directions by supplying and discharging hydraulic oil to the tilt cylinder 32. The tilting includes forward tilting, which tilts the lift bracket 25 forward, and rearward tilting, which tilts the lift bracket 25 rearward. The fork 26 tilts together with the lift bracket 25.

The reach cylinder 33 is a hydraulic cylinder. The mast 22 moves in the front-rear direction by supplying and discharging hydraulic oil to the reach cylinder 33. The fork 26 moves in the front-rear direction together with the mast 22. Hereinafter, moving the fork 26 forward by the reach cylinder 33 is referred to as a reach-out operation, and moving the fork 26 backward by the reach cylinder 33 is referred to as a reach-in operation.

The operation unit 34 accepts operations by the occupant of the forklift 10. The operation unit 34 includes a lift operation unit 35, a tilt operation unit 36, and a reach operation unit 37. The lift operation unit 35 is operated by the occupant of the forklift 10. In this embodiment, the lift operation unit 35 is a lever. The lift operation unit 35 tilts forward or backward from a neutral position. The lift operation unit 35 is operated by the occupant of the forklift 10 when raising or lowering the forks 26.

The tilt operation unit 36 is operated by the driver of the forklift 10. In this embodiment, the tilt operation unit 36 is a lever. The tilt operation unit 36 tilts forward or backward from a neutral position. The tilt operation unit 36 is operated by the driver of the forklift 10 when tilting the forks 26.

The reach operation unit 37 is operated by the driver of the forklift 10. In this embodiment, the reach operation unit 37 is a lever. The reach operation unit 37 tilts forward or backward from a neutral position. The reach operation unit 37 is operated by the driver of the forklift 10 when moving the forks 26 in the forward or backward direction.

The loading sensor 40 detects whether or not a load is loaded on the forks 26. The loading sensor 40 is realized, for example, by a lever-type sensor that is pressed when a load is loaded on the forks 26. The loading sensor 40 supplies information indicating that a load is loaded on the forks 26 to the control device 100.

The lifting height sensor 42 detects the height of the forks 26 raised and lowered by the lift cylinder 31. The height of the forks 26 is, for example, the height from the ground surface of the forklift 10 to the surface on which the forks 26 carry the load. The lifting height sensor 42 is realized, for example, by a wire-type sensor. In detail, the lifting height sensor 42 detects the height of the forks 26 based on the amount of wire that is pulled out in response to the lifting operation of the forks 26 and wound up in response to the lowering operation of the forks 26. The height of the forks 26 is, for example, smallest when the forks 26 are moved to the lowest position and largest when the forks 26 are moved to the highest position. The lifting height sensor 42 supplies information indicating the detected height of the forks 26 to the control device 100.

The reach amount sensor 44 detects the amount of movement of the mast 22 by the reach cylinder 33. In the following description, the amount of movement of the mast 22 is referred to as the reach amount. The reach amount sensor 44 is realized, for example, by a wire-type sensor. In detail, the reach amount sensor 44 detects the reach amount based on the amount of wire that is pulled out in response to the reach-out operation of the mast 22 and wound up in response to the reach-in operation of the mast 22. For example, the reach amount is smallest when the mast 22 is moved to a position closest to the vehicle body 11, and is largest when the mast 22 is moved to the end of the reach leg 12 opposite the end on the vehicle body 11 side. The reach amount sensor 44 supplies information indicating the detected reach amount to the control device 100.

The hydraulic mechanism 52 is a component for controlling the supply and discharge of hydraulic oil to the hydraulic equipment. The hydraulic equipment includes a lift cylinder 31, a tilt cylinder 32, and a reach cylinder 33. The hydraulic mechanism 52 includes a pump that discharges hydraulic oil, and a control valve that controls the supply and discharge of hydraulic oil to the hydraulic equipment.

The control device 100 controls each unit of the forklift 10. The control device 100 will be described in detail below.
[Configuration of the control device]
3, the control device 100 is connected to the operation unit 34, the load sensor 40, the lifting height sensor 42, and the reach amount sensor 44, and acquires various information from each of the units. In addition, the control device 100 is connected to a hydraulic mechanism 52, and controls each of the units.

The control device 100 includes, for example, a control unit 110 and a storage unit 200. The control unit 110 is realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program is stored in advance in the storage unit 200.

The storage unit 200 is realized by a storage device (a storage device with a non-transitory storage medium) such as a HDD (Hard Disk Drive) or a flash memory, or a removable storage medium such as a DVD or a CD-ROM. The storage unit 200 stores, for example, first threshold information 202 indicating the first threshold and second threshold information 204 indicating the second threshold. Details of the first threshold information 202 and the second threshold information 204 will be described later.

The control unit 110 includes, for example, an acquisition unit 112 and an operation control unit 114 .
The acquisition unit 112 acquires, for example, information indicating the amount of operation input to the operation unit 34 from the operation unit 34. The acquisition unit 112 acquires information indicating that luggage PG is loaded on the forks 26 from the load sensor 40. The acquisition unit 112 acquires information indicating the height of the forks 26 from the lifting height sensor 42. The acquisition unit 112 acquires information indicating the reach amount from the reach amount sensor 44.

The operation control unit 114 controls the reach operation of the mast 22 and the up and down movement of the forks 26 along the mast 22 based on the operation of the driver of the forklift 10 received by the operation unit 34.

[Stop Reaching]
As shown in Fig. 4, when the forks 26 are loaded with luggage PG and the height of the forks 26 is lower than the height of the reach leg 12, moving the mast 22 toward the vehicle body 11 may cause the luggage PG to hit the front surface SF1 of the reach leg 12. In this case, it is preferable that the reach-in operation of the mast 22 is stopped so that the reach amount does not become smaller than a first threshold value Th1. The first threshold value Th1 is, for example, a value indicating the length of the reach leg 12 in the front-rear direction. In the following description, the control that stops the reach-in operation of the mast 22 as the reach amount is equal to or smaller than the first threshold value Th1 will be referred to as the first control.

[Stopping the lowering movement of the forks 26]
As shown in Fig. 5, when the forks 26 are loaded with luggage PG and the forks 26 face each other in the vertical direction, the luggage PG may hit the upper surface SF2 of the reach leg 12 when the forks 26 are lowered. In this case, it is preferable that the lowering operation of the forks 26 is stopped so that the height of the forks 26 does not become smaller than the second threshold value Th2. The second threshold value Th2 is, for example, a value indicating the sum of the height of the reach leg 12 and the thickness of the pallet used by the forklift 10 to transport the luggage PG. In the following description, the control to stop the lowering operation of the forks 26 when the fork height is equal to or smaller than the second threshold value Th2 is referred to as the second control.

In the scenes shown in Figures 4 and 5, the operation control unit 114 stops the reach-in operation of the mast 22 and stops the lowering operation of the forks 26. The operation of the control device 100 is described in detail below using a flowchart.

[flowchart]
The flowchart shown in Fig. 6 is executed continuously or repeatedly at predetermined time intervals. The control device 100 executes control of the reach operation of the mast 22, the up and down operation of the forks 26, and the drive of the rear wheel 14 based on the operation of the operation unit 34 by the rider in parallel with the control of the flowchart shown in Fig. 6.

First, the operation control unit 114 determines whether or not luggage PG is loaded on the forks 26 based on the detection result of the loading sensor 40 acquired by the acquisition unit 112 (step S100). If the operation control unit 114 determines that luggage PG is loaded on the forks 26, it determines whether or not the occupant's operation on the operation unit 34 is an operation instructing a reach operation of the mast 22 (specifically, a reach-in operation) (step S102). If the operation control unit 114 determines that the occupant's operation on the operation unit 34 is not an operation instructing a reach operation of the mast 22, it determines whether or not the operation is an operation instructing a vertical movement of the forks 26 (specifically, a lowering operation) (step S104). If the operation control unit 114 determines that the reach operation of the mast 22 and the vertical movement of the forks 26 have not been instructed, it advances the process to step S100.

When the operation control unit 114 determines that at least one of the reach operation of the mast 22 and the up/down operation of the fork 26 has been instructed, it determines whether the reach amount detected by the reach amount sensor 44 is equal to or less than the first threshold value Th1 (step S106). When the operation control unit 114 determines that the reach amount detected by the reach amount sensor 44 is not equal to or less than the first threshold value Th1, it advances the process to step S100.

When the operation control unit 114 determines that the reach amount detected by the reach amount sensor 44 is equal to or less than the first threshold value Th1, it determines whether or not the height of the forks 26 detected by the height sensor 42 is equal to or less than the second threshold value Th2 (step S108). When the operation control unit 114 determines that the height of the forks 26 detected by the height sensor 42 is not equal to or less than the second threshold value Th2, it advances the process to step S100.

When the operation control unit 114 determines that the reach amount is equal to or less than the first threshold Th1 and that the height of the forks 26 is equal to or less than the second threshold Th2, it executes the first control and stops the reach-in operation of the mast 22 (step S110). When the operation control unit 114 determines that the reach amount is equal to or less than the first threshold Th1 and that the height of the forks 26 is equal to or less than the second threshold Th2, it executes the second control and stops the lowering operation of the forks 26 (step S112). After executing the process of step S112, the operation control unit 114 proceeds to step S100.

[When either the first control or the second control is executed]
In addition, the operation control unit 114 may be configured to execute only the first control when it determines that the reach amount is equal to or less than the first threshold value Th1, and may be configured to execute only the second control when it determines that the height of the fork 26 is equal to or less than the second threshold value Th2.

For example, in a situation where the operator of the forklift 10 can recognize the state of the upper surface SF2 of the reach leg 12 but has difficulty in recognizing the state of the front surface SF1 of the reach leg 12, the operation control unit 114 may execute only the first control without executing the second control. In this case, the operation control unit 114 does not execute the processes of steps S104, S108, and S112. In more detail, if the operation control unit 114 determines in the process of step S102 that the reach operation of the mast 22 has not been instructed, the process proceeds to step S100. Also, if the operation control unit 114 determines in step S106 that the reach amount is equal to or less than the first threshold value Th1, the process proceeds to step S110 without executing the process of step S108, and after executing the process of step S110, the process proceeds to step S100.

In addition, depending on the situation, when the operator of the forklift 10 can recognize the state of the front surface SF1 of the reach leg 12 but has difficulty in recognizing the state of the top surface SF2 of the reach leg 12, the operation control unit 114 may execute only the second control without executing the first control. In this case, the operation control unit 114 does not execute the processes of steps S102, S106, and S110. In more detail, if the operation control unit 114 determines in the process of step S100 that a load PG is loaded on the fork 26, the process proceeds to step S104. Also, if the operation control unit 114 determines in the process of step S104 that the height of the fork 26 is equal to or less than the second threshold value Th2, the process proceeds to step S112 without executing the process of step S110. After executing the process of step S112, the operation control unit 114 proceeds to the process of step S100.

[Effects of the forklift according to this embodiment]
According to the present embodiment described above in detail, the following effects are achieved.
(1) When the detection result of the load sensor 40 indicates that luggage PG is loaded on the fork 26 and the reach amount detected by the reach amount sensor 44 is less than or equal to the first threshold value Th1, the operation control unit 114 executes a first control to stop the reach-in operation of the mast 22.

According to this configuration, when the operator of the forklift 10 makes an error in operation and reaches in too far with the mast 22, the operation control unit 114 executes the first control to stop the mast 22 and prevent the load PG from hitting the front surface SF1 of the reach leg 12. Therefore, the forklift 10 can transport the load PG without causing any damage to the load PG.

(2) When the detection result of the load sensor 40 indicates that a load PG is loaded on the fork 26 and the height of the fork 26 detected by the lifting height sensor 42 is equal to or less than the second threshold value Th2, the operation control unit 114 executes a second control to stop the lowering operation of the fork 26.

According to this configuration, when the operator of the forklift 10 makes an error in operation and lowers the forks 26 too far, the operation control unit 114 executes the second control to stop the forks 26 and prevent the load PG from hitting the upper surface SF2 of the reach leg 12. Therefore, the forklift 10 can transport the load PG without causing any damage to the load PG.

[First threshold value Th1 and second threshold value Th2: size of forklift]
The first threshold value Th1 and the second threshold value Th2 may be values based on, for example, the size of the forklift 10. In general, the larger the size of the forklift 10, the larger the load PG that the forklift 10 can transport. Load PG transported by a large forklift 10 is more likely to protrude beyond the forks 26 toward the mast 22 or below the upper surface of the forks 26 than load PG transported by a small forklift 10.

The following describes a case where the first threshold value Th1 and the second threshold value Th2 are determined based on the largest luggage PG that the forklift 10 can carry. In this case, the first threshold value Th1 is a value corresponding to the length between the position of the end of the luggage PG closest to the front surface SF1 of the reach leg 12 and not in contact with the reach leg 12, and the position where the mast 22 is reached in the farthest and not in contact with the vehicle body 11. The second threshold value Th2 is a value corresponding to the length from the position where the bottom of the luggage PG is closest to the upper surface SF2 of the reach leg 12 and not in contact with the upper surface SF2 to the ground surface of the forklift 10 when the luggage PG is located above the reach leg 12. Therefore, the first threshold value Th1 and the second threshold value Th2 become larger as the size of the luggage PG increases in accordance with the size of the forklift 10.

For example, multiple sets of threshold information, such as first threshold information 202 and second threshold information 204, are stored in the memory unit 200 according to the size of the forklift 10. The control device 100 reads out from the memory unit 200 the threshold information corresponding to the size of the forklift 10 on which the control device 100 is mounted, from the sets of threshold information stored in the memory unit 200, and uses the read out threshold information for processing. The size of the forklift 10 may be specified at the time of shipment, or may be identified by referring to information indicating the size stored in a storage device such as the memory unit 200 provided in the forklift 10.

According to this configuration, the operation control unit 114 executes the first control and the second control based on the first threshold value Th1 and the second threshold value Th2, which are larger as the size of the forklift 10 increases. This allows the forklift 10 to transport large cargo PG according to its own size without damaging the cargo PG.

[First threshold value Th1 and second threshold value Th2: Shape of luggage PG]
The first threshold value Th1 and the second threshold value Th2 may be values based on the shape of the luggage PG, for example. Here, the forklift 10 may transport luggage PG having a shape other than a square, such as a shape having a convex portion or a concave portion. In more detail, the forklift 10 may transport luggage PG having a shape that, when loaded onto the forks 26, protrudes toward the mast 22 side beyond the forks 26 or protrudes below the upper surface of the forks 26.

In this case, the first threshold value Th1 is a value corresponding to the length between the position where the end of the luggage PG closest to the vehicle body 11 is closest to the front surface SF1 of the reach leg 12 and does not contact the reach leg 12, and the position where the mast 22 is most reached in and does not contact the vehicle body 11. The second threshold value Th2 is a value corresponding to the length from the position where the bottom of the luggage PG is closest to the top surface SF2 of the reach leg 12 and does not contact the top surface SF2 to the ground surface of the forklift 10 when the luggage PG is above the reach leg 12. Therefore, the first threshold value Th1 and the second threshold value Th2 become larger as the size of the luggage PG that the forklift 10 can carry increases with the size of the luggage PG.

The memory unit 200 stores multiple sets of threshold information, for example, first threshold information 202 and second threshold information 204, according to the shape of the luggage PG that the forklift 10 can transport. The control device 100 reads out from the memory unit 200, among the sets of threshold information stored in the memory unit 200, threshold information corresponding to the shape of the luggage PG transported by the forklift 10 on which the control device is mounted, and uses the read out threshold information for processing. The shape of the luggage PG may be specified at the time of shipment or at the time of initial startup.

According to this configuration, the operation control unit 114 executes the first control and the second control based on the first threshold value Th1 and the second threshold value Th2, which are based on the shape of the luggage PG. This allows the forklift 10 to transport luggage PG without damaging it, even when the luggage PG has a shape other than a square.

[First threshold value Th1 and second threshold value Th2: Designation of occupant]
The first threshold value Th1 and the second threshold value Th2 may be specified by, for example, a driver of the forklift 10. In this case, as shown in Fig. 7, the forklift 10 further includes an input unit 60 that receives input from the driver. The input unit 60 is realized by, for example, an HMI (Human Machine Interface). The input unit 60 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc.

8, the display device of the input unit 60 displays an image IM that prompts the occupant to input the first threshold value Th1 and the second threshold value Th2. The image IM includes, for example, a message MS that prompts the occupant to input the first threshold value Th1 and the second threshold value Th2, a text box TX1, a text box TX2, and a numeric keypad image KY. The length of the luggage PG that protrudes from the forks 26 toward the vehicle body 11 is input in the text box TX1. The length of the luggage PG that protrudes downward from the bottom surface of the forks 26 is input in the text box TX2. The message MS is, for example, "Please input the amount of luggage protruding from the forks." The control device 100 stores information about the image IM in, for example, the memory unit 200, and causes the input unit 60 to display the image IM when the forklift 10 is started or when luggage PG is loaded onto the forks 26.

As shown in FIG. 9, in this case, the control unit 110 further includes a determination unit 118 in addition to the above-mentioned configuration. The determination unit 118 determines the first threshold Th1 and the second threshold Th2 based on the input to the input unit 60 acquired by the acquisition unit 112. For example, the determination unit 118 determines the sum of the value input to the text box TX1 and the value indicating the length of the reach leg 12 in the front-rear direction as the first threshold Th1, and stores the determined first threshold Th1 in the storage unit 200 as the first threshold information 202. The determination unit 118 determines the sum of the value input to the text box TX2 and the value indicating the height of the reach leg 12 as the second threshold Th2, and stores the determined second threshold Th2 in the storage unit 200 as the second threshold information 204.

In this case, the operation control unit 114 executes at least one of the first control and the second control based on the first threshold information 202 indicating the first threshold Th1 determined by the determination unit 118 and the second threshold information 204.

Here, the shape of the luggage PG transported by the forklift 10 may vary each time. In this case, it is preferable that the first threshold Th1 and the second threshold Th2 are specified each time according to the shape of the luggage PG to be transported. According to this configuration, the operation control unit 114 executes the first control and the second control based on the first threshold Th1 and the second threshold Th2 specified by the driver. As a result, the forklift 10 can transport luggage PG of different shapes each time without causing damage to the luggage PG.

Each embodiment can be modified as follows: The embodiments and the following modifications can be combined with each other to the extent that there is no technical contradiction.
The height sensor 42 and the reach sensor 44 may be realized by a sensor other than a wire sensor. More specifically, they may be an optical sensor or an encoder capable of detecting the height and reach of the forks 26. They may also be an image processing device that captures images of the forks 26 and the mast 22 and processes the generated images to detect the height and reach of the forks 26.

○The forklift 10 may be remotely operated. In this case, the operator operates the forklift 10 at a remote location away from the forklift 10. The operator operates an operation terminal provided at a remote location. As the operation terminal, a dedicated device or a mobile communication terminal such as a tablet terminal can be used. The operation terminal includes an operation unit that operates the forklift 10, an operation amount detection unit that detects the operation amount of the operation unit, and a communication device. The operation unit may be a physical member such as a lever, or may be a symbol that functions as the operation unit displayed on a touch panel. When the operation terminal displays a symbol that functions as the operation unit on a touch panel, the loading operation of the forklift 10 is performed by operating the touch panel. For example, the loading operation of the forklift 10 is performed by the operator's tap operation or slide operation on the touch panel. In this case, the operation amount is the number of taps or the amount of slide, and the touch panel functions as the operation amount detection unit. The communication device generates data in a predetermined format and transmits this data to the forklift 10. The communication device transmits information that allows the control device 100 to determine whether the operation unit is being operated, such as the operation amount of the operation unit. Therefore, the same control can be performed as when an operator is riding on the forklift 10.

The forklift 10 is equipped with an on-board communication device. The on-board communication device receives data transmitted from the communication device and outputs it to the control device 100. The control device 100 operates the forklift 10 according to the data transmitted from the communication device. The control device 100 controls the loading device 21 according to the operation of the operation unit. The control device 100 determines whether the operation unit is being operated from the data transmitted from the communication device. In this case, it can be said that the on-board communication device functions as an acquisition unit.

10...forklift, 11...vehicle body, 12...reach leg, 22...mast, 26...fork, PG...luggage, 34...operation unit, 40...load sensor, 42...lifting height sensor, 44...reach amount sensor, 114...operation control unit.

Claims (7)

A forklift truck including a mast that moves forward and backward along a pair of left and right reach legs disposed forward of a vehicle body, and a pair of left and right forks disposed forward of the mast,
a load sensor for detecting whether or not a load is loaded on the fork;
An operation unit that receives an operation of the forklift by a driver;
a reach amount sensor that detects the reach amount of the mast;
A height sensor for detecting the height of the forks;
and an operation control unit that controls a reach operation of the mast and controls an up-down operation of the fork along the mast based on the operation of the occupant received by the operation unit,
the operation control unit executes at least one of a first control for stopping a reach-in operation of the mast when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the reach amount detected by the reach amount sensor is equal to or less than a first threshold value, and a second control for stopping a lowering operation of the forks when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the height detected by the height sensor is equal to or less than a second threshold value,
The first threshold value and the second threshold value are values based on a size of the host device, and the larger the size of the host device, the larger the values are.
A forklift truck characterized by: A forklift truck including a mast that moves forward and backward along a pair of left and right reach legs disposed forward of a vehicle body, and a pair of left and right forks disposed forward of the mast,
a load sensor for detecting whether or not a load is loaded on the fork;
An operation unit that receives an operation of the forklift by a driver;
a reach amount sensor that detects the reach amount of the mast;
A height sensor for detecting the height of the forks;
and an operation control unit that controls a reach operation of the mast and controls an up-down operation of the fork along the mast based on the operation of the occupant received by the operation unit,
the operation control unit executes at least one of a first control for stopping a reach-in operation of the mast when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the reach amount detected by the reach amount sensor is equal to or less than a first threshold value, and a second control for stopping a lowering operation of the forks when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the height detected by the height sensor is equal to or less than a second threshold value;
The first threshold value and the second threshold value are values based on the shape of the baggage.
A forklift truck characterized by: The first threshold value and the second threshold value are values based on the shape of the baggage.
2. The forklift according to claim 1 . an input unit that receives an input from the occupant specifying the first threshold value and the second threshold value;
a determination unit that determines the first threshold value and the second threshold value based on an input to the input unit,
The operation control unit executes at least one of the first control and the second control based on the first threshold value and the second threshold value determined by the determination unit.
A forklift truck according to any one of claims 1 to 3. A forklift truck including a mast that moves forward and backward along a pair of left and right reach legs disposed forward of a vehicle body, and a pair of left and right forks disposed forward of the mast,
a load sensor for detecting whether or not a load is loaded on the fork;
An operation unit that receives an operation of the forklift by a driver;
a reach amount sensor that detects the reach amount of the mast;
A height sensor for detecting the height of the forks;
and an operation control unit that controls a reach operation of the mast and controls an up-down operation of the fork along the mast based on the operation of the occupant received by the operation unit,
the operation control unit executes at least one of a first control for stopping a reach-in operation of the mast when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the reach amount detected by the reach amount sensor is equal to or less than a first threshold value, and a second control for stopping a lowering operation of the forks when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the height detected by the height sensor is equal to or less than a second threshold value;
an input unit that receives an input from the occupant specifying the first threshold value and the second threshold value;
a determination unit that determines the first threshold value and the second threshold value based on an input to the input unit,
The operation control unit executes at least one of the first control and the second control based on the first threshold value and the second threshold value determined by the determination unit.
A forklift truck characterized by: The reach amount sensor and the lift height sensor are wire-type sensors.
A forklift truck according to any one of claims 1 to 5 . A forklift truck including a mast that moves forward and backward along a pair of left and right reach legs disposed forward of a vehicle body, and a pair of left and right forks disposed forward of the mast,
a load sensor for detecting whether or not a load is loaded on the fork;
An operation unit that receives an operation of the forklift by a driver;
a reach amount sensor that detects the reach amount of the mast;
A height sensor for detecting the height of the forks;
and an operation control unit that controls a reach operation of the mast and controls an up-down operation of the fork along the mast based on the operation of the occupant received by the operation unit,
the operation control unit executes at least one of a first control for stopping a reach-in operation of the mast when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the reach amount detected by the reach amount sensor is equal to or less than a first threshold value, and a second control for stopping a lowering operation of the forks when the detection result of the loading sensor indicates that the baggage is loaded on the forks and the height detected by the height sensor is equal to or less than a second threshold value;
The reach amount sensor and the lift height sensor are wire-type sensors.
A forklift truck characterized by: