US-12619267-B2 - Industrial vehicle

US12619267B2US 12619267 B2US12619267 B2US 12619267B2US-12619267-B2

Abstract

An industrial vehicle includes a driving device, a travel control device configured to control the driving device, an object detection unit, a first control unit setting a limit value, when a vehicle speed of the industrial vehicle is in a first vehicle speed range, a second control unit setting the limit value when the vehicle speed of the industrial vehicle is in a second vehicle speed range, and a speed limit unit imposing the speed limit according to the limit value. The first control unit includes a starting prohibition control unit that sets the limit value and a starting permission control unit that sets the limit value. The speed limit unit imposes the speed limit according to the limit value set by the first control unit when the limit value is set by the starting permission control unit.

Inventors

Takehiro Kubotani
Taku MIZUKI
Tomoya Igarashi

Assignees

KABUSHIKI KAISHA TOYOTA JIDOSHOKKI

Dates

Publication Date: 20260505
Application Date: 20210817
Priority Date: 20200901

Claims (4)

1 . An industrial vehicle comprising: a driving device; an accelerator pedal and an accelerator sensor configured to detect an accelerator opening degree of the accelerator pedal; and a travel control device configured to control the driving device, the industrial vehicle including: an object detection unit configured to detect a position of an object present around the industrial vehicle; a first control unit configured to set a limit value, when a vehicle speed of the industrial vehicle is in a first vehicle speed range, for imposing a speed limit including at least one of a vehicle speed limit and an acceleration limit of the industrial vehicle; a second control unit configured to set the limit value when the vehicle speed of the industrial vehicle is in a second vehicle speed range; and a speed limit unit configured to impose the speed limit according to the limit value selected from the limit value set by the first control unit and the limit value set by the second control unit, wherein a lower limit value of the second vehicle speed range is higher than a lower limit value of the first vehicle speed range, the first control unit includes: a starting prohibition control unit that sets, in a starting prohibition state, the limit value such that traveling of the industrial vehicle is prohibited when the object is detected by the object detection unit, and a starting permission control unit that sets, in a forced operation state, the limit value such that the traveling of the industrial vehicle is permitted when it is determined that an operator of the industrial vehicle recognizes a presence of the object based upon detecting that the operator has released the accelerator pedal after a transition into the starting prohibition state, and the speed limit unit imposes the speed limit according to the limit value set by the first control unit when the limit value is set by the starting permission control unit.
2 . The industrial vehicle according to claim 1 , further comprising: an alarm device; and a predicted track derivation unit configured to derive a predicted track on which the industrial vehicle is predicted to pass, wherein the starting permission control unit includes: a first permission control unit that sets the limit value and causes the alarm device to issue an alarm, and a second permission control unit that sets the limit value and does not cause the alarm device to issue the alarm, and the speed limit unit imposes the speed limit according to the limit value set by the first control unit when the limit value is set by the second permission control unit and the object is not present the predicted track derived by in the predicted track derivation unit.
3 . The industrial vehicle according to claim 1 , wherein, the speed limit unit imposes the speed limit according to the limit value set by the first control unit when the limit value is set by the starting prohibition control unit or when the limit value is set by the starting permission control unit.
4 . An industrial vehicle comprising: a driving device; an accelerator pedal and an accelerator sensor configured to detect an accelerator opening degree of the accelerator pedal; and a travel control device configured to control the driving device; an object detection unit configured to detect a position of an object present around the industrial vehicle; at least one memory configured to store computer program code; and at least one processor configured to access the at least one memory and operate as instructed by the computer program code, the computer program code including: a first control code configured to set a limit value, when a vehicle speed of the industrial vehicle is in a first vehicle speed range, for imposing a speed limit including at least one of a vehicle speed limit and an acceleration limit of the industrial vehicle; a second control code configured to set the limit value when the vehicle speed of the industrial vehicle is in a second vehicle speed range; and a speed limit code configured to impose the speed limit according to the limit value selected from the limit value set by the first control code and the limit value set by the second control code, wherein a lower limit value of the second vehicle speed range is higher than a lower limit value of the first vehicle speed range, the first control code includes: a starting prohibition control code configured to set, in a starting prohibition state, the limit value such that traveling of the industrial vehicle is prohibited when the object is detected by the object detection code, and a starting permission control code configured to set, in a forced operation state, the limit value such that the traveling of the industrial vehicle is permitted when the at least one processor determines that an operator of the industrial vehicle recognizes a presence of the object based upon detecting that the operator has released the accelerator pedal after a transition into the starting prohibition state, and the speed limit code configured to impose the speed limit according to the limit value set by the first control code when the limit value is set by the starting permission control code.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a National Stage of International Application No. PCT/JP2021/029981 filed Aug. 17, 2021, claiming priority based on Japanese Patent Application No. 2020-146950 filed Sep. 1, 2020, the contents of all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD The present disclosure relates to an industrial vehicle. BACKGROUND ART An industrial vehicle used in a workplace such as a factory, a commercial facility, or a port may in some cases include a vehicle speed limiting function for setting a vehicle speed limit according to a position of an object present around the industrial vehicle. For example, an industrial vehicle disclosed in Patent Literature 1 includes an object detection unit that detects an object present around the industrial vehicle and a control device that controls vehicle speed of the industrial vehicle. The control device decelerates the industrial vehicle when an object is present in a deceleration control region. The control device stops the industrial vehicle when an object is present in a stop control region. CITATION LIST Patent Literature Patent Literature 1: Japanese Patent Application Publication No. 2015-170284 SUMMARY OF INVENTION Technical Problem As disclosed in Patent Literature 1, since the industrial vehicle sets a vehicle speed limit depending on a situation, the industrial vehicle may simultaneously exert a plurality of vehicle speed limiting functions. At this time, the control device may perform a plurality of controls in parallel to exert the plurality of vehicle speed limiting functions. When the plurality of controls are performed in parallel, the vehicle speed limit is individually imposed in the respective controls, which may cause workability of the industrial vehicle to be deteriorated. For example, one of the controls for exerting the plurality of speed limit functions is referred to as first limit and control different from the first control among the controls for exerting the plurality of vehicle speed limiting functions is referred to as second control. It is assumed that, when the industrial vehicle travels while avoiding an object present around the industrial vehicle, the vehicle speed limit is imposed by the first control. At this time, the vehicle speed limit is also imposed by the second control according to the presence of the object present around the industrial vehicle. When a vehicle speed permitted by the vehicle speed limit imposed by the second control is lower than a vehicle speed permitted by the vehicle speed limit imposed by the first control, operation for avoiding an object is hindered by the second control. An object of the present disclosure is to provide an industrial vehicle that may suppress deterioration in workability. Solution to Problem An industrial vehicle that solves the problem is an industrial vehicle including: a driving device; and a travel control device configured to control the driving device, the industrial vehicle including: an object detection unit configured to detect a position of an object present around the industrial vehicle; a first control unit configured to set a limit value, when a vehicle speed of the industrial vehicle is in a first vehicle speed range, for imposing a speed limit including at least one of a vehicle speed limit and an acceleration limit of the industrial vehicle; a second control unit configured to set the limit value when the vehicle speed of the industrial vehicle is in a second vehicle speed range; and a speed limit unit configured to impose the speed limit according to the limit value selected from the limit value set by the first control unit and the limit value set by the second control unit, wherein a lower limit value of the second vehicle speed range is higher than a lower limit value of the first vehicle speed range, the first control unit includes: a starting prohibition control unit that sets the limit value such that traveling of the industrial vehicle is prohibited when the object is detected by the object detection unit, and a starting permission control unit that sets the limit value such that the traveling of the industrial vehicle is permitted when it is determined that an operator of the industrial vehicle recognize the presence of the object, and the speed limit unit imposes the speed limit according to the limit value set by the first control unit when the limit value is set by the starting permission control unit. The limit value set by the starting permission control unit is a limit value that permits the traveling of the industrial vehicle. Therefore, when the limit value is set by the starting permission control unit, the traveling of the industrial vehicle is possible. When it is determined that the operator of the industrial vehicle recognizes the presence of the object, the limit value by the starting permission control unit is set. Therefore, when the limit value is set by the starti