JP2015211527A - Industrial vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an industrial vehicle capable of ensuring the same vehicle velocity as that during traveling on a flat road even if the industrial vehicle traveling on the flat road enters a climbing lane.SOLUTION: An industrial vehicle including a drive for travel mounted in a vehicle body and a controller 29 exerting an output control over the drive, comprises: vehicle velocity acquisition means acquiring a vehicle velocity; a gradient detection sensor detecting a gradient of a road surface; and gradient-detection-value correction unit 33 correcting a gradient detection value detected by the gradient detection sensor 32 on the basis of the vehicle velocity detected by the vehicle velocity acquisition means, and the controller 29 exerts the output control over the drive on the basis of a gradient correction value corrected by the gradient-detection-value correction unit 33.

Description

  The present invention relates to an industrial vehicle, and more particularly to an industrial vehicle provided with a gradient sensor that detects a gradient of a road surface.

As a conventional technique related to an industrial vehicle, for example, a vehicle control device disclosed in Patent Document 1 is known.
This vehicle control device increases the driving torque of the power source by a predetermined increase rate when starting from a vehicle stop state, a power source that outputs driving torque to the driving wheels, road surface gradient detecting means that detects the road surface gradient. Driving torque control means.
The vehicle control device further includes an increase rate changing means for changing to a gradient road increase rate larger than the predetermined increase rate when the detected road surface gradient is equal to or greater than a predetermined value.

According to this vehicle control device, it is possible to improve the responsiveness at the time of start on a slope road.
That is, when the vehicle starts on a high gradient road, the start start timing is advanced by quickly raising the drive torque before the vehicle actually starts moving.

JP2012-153175A

By the way, when an industrial vehicle traveling on a flat road enters an uphill road, there is a concern that the vehicle speed decreases and a sufficient vehicle speed cannot be obtained when traveling on the flat road.
For example, when an industrial vehicle traveling on a flat road at a constant speed enters a high slope uphill road, the constant speed cannot be obtained on the uphill road.
Incidentally, the vehicle control device disclosed in Patent Document 1 is merely a technique for improving the responsiveness when starting on a slope road, and an industrial vehicle enters a climbing road from a flat road and travels on a flat road. It does not solve the problem of not being able to increase the vehicle speed.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to increase the vehicle speed when traveling on a flat road even when an industrial vehicle traveling on the flat road enters the uphill road. To provide industrial vehicles that can be used.

  In order to solve the above problems, the present invention provides a vehicle speed acquisition means for acquiring a vehicle speed in an industrial vehicle including a driving device for traveling mounted on a vehicle body and a control device that performs output control on the driving device. A gradient detection sensor that detects a gradient of the road surface, and a gradient detection value correction unit that corrects a gradient detection value detected by the gradient detection sensor based on the vehicle speed acquired by the vehicle speed acquisition unit. The apparatus performs output control on the drive device based on the gradient correction value corrected by the gradient detection value correction unit.

According to the present invention, the vehicle speed acquisition means acquires the vehicle speed during traveling, and the gradient detection sensor detects the gradient of the road surface from the front / rear inclination of the vehicle body during traveling and outputs a gradient detection value.
The gradient detection value correction means obtains a gradient correction value by correcting the gradient detection value based on the vehicle speed acquired by the vehicle speed acquisition means.
The control device performs output control on the driving device based on the gradient correction value obtained by correcting the gradient detection value.
As a result, even when the gradient detection sensor is affected by acceleration due to acceleration or deceleration, output control can be performed on the driving device in accordance with the gradient of the road surface.

In the industrial vehicle, the gradient detection value correction unit corrects the gradient detection value based on a vehicle speed difference between a current vehicle speed acquired by the vehicle speed acquisition unit and a vehicle speed closest to the current vehicle speed. It is good.
In this case, the acceleration accompanying acceleration or deceleration can be recognized by obtaining the vehicle speed difference, and the gradient correction value is obtained by correcting the gradient detection value based on the vehicle speed difference.
In the case of deceleration where the vehicle speed difference is a positive value, the gradient detection value correction means corrects the gradient correction value to be larger than the gradient detection value, and in the case of acceleration where the vehicle speed difference is a negative value, The detection value correction means can correct the gradient correction value so that it is smaller than the gradient detection value.

In the industrial vehicle, the control device compares the gradient correction value with a preset gradient setting value, and increases the output of the driving device when the gradient correction value is equal to or greater than the gradient setting value. A configuration may be adopted in which output control is performed and output control for increasing the output of the driving device is not performed when the gradient correction value is less than the gradient set value.
In this case, when the gradient correction value is equal to or greater than the gradient set value, the output control for increasing the output of the driving device is performed. Therefore, the vehicle speed can be increased based on the output corresponding to the gradient.
Further, when the gradient correction value is less than the gradient set value, output control for increasing the output of the drive device is not performed, so that it is possible to suppress waste of power of the drive device.

  ADVANTAGE OF THE INVENTION According to this invention, even if the industrial vehicle currently drive | working on a flat road approachs an uphill road, the industrial vehicle which can take out the vehicle speed at the time of driving | running | working on a flat road can be provided.

It is a side view which shows the forklift which concerns on embodiment of this invention. It is a schematic block diagram which shows schematic structure of the output control in the forklift which concerns on embodiment of this invention. It is a graph which shows the relationship between the time when the forklift of this embodiment starts the flat road, and entered the uphill road, a vehicle speed, a gradient detection value, and a gradient correction value.

Hereinafter, a forklift as an industrial vehicle according to a first embodiment will be described with reference to the drawings.
Note that “front / rear”, “left / right”, and “up / down” that specify the direction are based on a state in which the forklift operator is seated on the driving seat of the driver's seat and faces the forward side of the forklift.

As shown in FIG. 1, a forklift 10 as an industrial vehicle includes a cargo handling device 12 as a cargo handling means at a front portion of a vehicle body 11.
A driver's seat 13 is provided near the center of the vehicle body 11, and a battery 14 is accommodated below the driver's seat 13 in the vehicle body 11.
A driving wheel 15 as a front wheel is provided at the front portion of the vehicle body 11, and a steering wheel 16 as a rear wheel is provided at the rear portion of the vehicle body 11.
The vehicle body 11 is provided with a traveling motor 17 as a driving device for traveling that generates a traveling driving force.
A power transmission mechanism (not shown) is provided between the travel motor 17 and the drive wheel 15 to transmit the travel drive force of the travel motor 17 to the drive wheel 15.
The forklift 10 according to the present embodiment is a battery forklift that is operated by electric power of a battery 14 mounted on a vehicle body 11.

The cargo handling device 12 includes a mast 18 having an outer mast 19 and an inner mast (not shown).
The pair of left and right outer masts 19 is provided with an inner mast that can slide inside the outer mast 19.
The outer mast 19 is provided with a tilt cylinder 20 that is operated by hydraulic pressure, and the operation of the tilt cylinder 20 causes the mast 18 to tilt in the front-rear direction.
The inner mast is provided with a lift cylinder 21 that is actuated by hydraulic pressure. The operation of the lift cylinder 21 causes the inner mast to slide up and down in the outer mast 19.
The mast 18 is provided with a pair of left and right forks 22 via a lift bracket 23, and the lift bracket 23 is provided so as to move up and down with respect to the inner mast.

A driver's seat 13 in the vehicle body 11 is provided with a driver's seat 24 on which an operator can sit.
The driving seat 24 is disposed on a seat stand 25 provided on the vehicle body.
A steering wheel 26 for steering is provided in front of the driving seat 24.
An accelerator pedal 27 is provided on the floor of the driver's seat 13, and the accelerator pedal 27 is for adjusting the vehicle speed of the forklift 10.
The forklift 10 controls the driving of the travel motor 17 so that the vehicle speed is in accordance with the amount of depression of the accelerator pedal 27 by the operator.
The vehicle body 11 is equipped with a controller 29 that performs various controls of the forklift 10.
A display unit 28 is provided at the front portion of the steering wheel 26.
The display unit 28 is installed at a position that can be easily seen by an operator seated on the vehicle body 11.

Next, a schematic configuration of the output control of the traveling motor 17 in the forklift 10 will be described.
As shown in FIG. 2, the controller 29 is connected to a drive circuit 30 that performs drive control of the travel motor 17.
The travel motor 17 is connected so as to be able to receive the power supply of the battery 14 via the corresponding drive circuit 30.
The travel motor 17 is driven by the operation of the drive circuit 30 based on a command from the controller 29.
In this embodiment, the controller 29 corresponds to a control device, and includes a CPU (not shown) that executes various controls in a predetermined procedure, a memory that stores various data, and the like.
A memory (not shown) provided in the controller 29 stores a program for performing torque control of the traveling motor 17.

The controller 29 is communicably connected to a display unit 28 provided in the driver's seat 13.
The display unit 28 includes a display unit (not shown) as a display unit for displaying various information, and also includes a keyboard unit (not shown) as an input unit.
The controller 29 is connected to a motor rotation number detection unit 31, and the motor rotation number detection unit 31 has a function of always detecting the rotation number of the traveling motor 17 for obtaining the vehicle speed.
The detection timing of the motor rotation speed by the motor rotation speed detector 31 is set by a comparatively short detection time interval in a comma second unit.
The controller 29 receives the detection value of the motor rotation speed through communication with the motor rotation speed detection unit 31, and calculates the vehicle speed based on the detection value of the motor rotation speed.
The controller 29 acquires the current vehicle speed and the vehicle speed closest to the current vehicle speed in correspondence with the detection timing of the motor rotation speed by the motor rotation speed detector 31.
A program for calculating the vehicle speed based on the detected value of the motor speed is stored in a memory provided in the controller 29.
Therefore, in this embodiment, the controller 29 and the motor rotation speed detection unit 31 correspond to vehicle speed acquisition means for acquiring the vehicle speed.

The controller 29 is connected to a gradient detection sensor 32 provided on the vehicle body 11.
The gradient detection sensor 32 is a sensor that detects the gradient of the road surface from the front and rear inclination of the vehicle body 11 and outputs a signal of a gradient detection value.
The gradient detection sensor 32 of the present embodiment is a liquid level sensor that detects the gradient of the road surface by the inclination between the liquid level of the liquid sealed inside the sensor body and the sensor body.
The controller 29 receives a signal of a gradient detection value detected by the gradient detection sensor 32.

The controller 29 of this embodiment includes a gradient detection value correction unit 33 as gradient detection value correction means.
The gradient detection value correction unit 33 has a function of correcting the gradient detection value detected by the gradient detection sensor 32 and calculating the gradient correction value.
In the present embodiment, when acceleration is generated in the vehicle body 11 due to acceleration or deceleration, the gradient detection sensor 32 is affected by the acceleration, and an error occurs in the gradient detection value corresponding to the gradient. In order to detect the gradient, a gradient correction value obtained by correcting the gradient detection value is used.
The gradient correction value is calculated based on the following formula.
(Vp−Vn) × α = A
S + A = B
Vn: current vehicle speed (km / h), Vp: vehicle speed (km / h) closest to the current vehicle speed, α: correction coefficient, S: gradient detection value (V), A: correction addition value, B: gradient correction Value (V)

(Vp−Vn) is a vehicle speed difference between the current vehicle speed Vn and the latest vehicle speed Vp of the current vehicle speed.
The calculation timing of the vehicle speed difference is synchronized with the detection timing of the motor rotation speed by the motor rotation speed detector 31, and is similarly set by a relatively short calculation setting time in a comma second unit.
The correction coefficient α is a constant determined empirically by tests and experiments by measuring the vehicle speeds Vn, Vp and the detected gradient value S.
The correction addition value A is a value obtained by multiplying the vehicle speed difference by a correction coefficient α, and is a positive or negative value when the vehicle speed difference is other than zero.
The gradient detection value S indicating the gradient is shown as a voltage value output from the gradient detection sensor 32 and is a positive value.
The gradient correction value B is a voltage value indicating a correct road surface gradient excluding the influence of the acceleration of the gradient detection sensor 32.
A program for correcting the gradient detection value S based on the vehicle speed difference and calculating the gradient correction value B is stored in a memory provided in the controller 29.

During traveling of the forklift 10, when the vehicle speed difference (Vp−Vn) is a positive value, the vehicle is decelerating, when the vehicle speed difference is a negative value, the vehicle is accelerating, and when the vehicle speed difference is zero, the vehicle is traveling at a constant speed. It is in.
Therefore, the gradient detection value correction unit 33 determines that the gradient addition value A is a positive value and the gradient correction value B is larger than the gradient detection value S when the vehicle speed difference is a positive value. S is corrected.
Further, the gradient detection value correction unit 33, in the case of acceleration in which the vehicle speed difference becomes a negative value, the correction addition value A becomes a negative value, and the gradient detection value S so that the gradient correction value B becomes smaller than the gradient detection value. Correct.

The controller 29 of this embodiment includes a gradient correction value comparison unit 34 as a gradient comparison unit, and the gradient correction value comparison unit 34 compares the gradient set value T and the gradient correction value B shown in FIG.
In this embodiment, the gradient setting value T is preset and stored in the memory of the controller 29.
The gradient setting value T is compared with the gradient correction value B by the gradient correction value comparison unit 34, and when the gradient correction value B is equal to or greater than the gradient setting value T, the controller 29 instructs the drive circuit 30 based on the gradient correction value B. Then, output control is commanded to increase the driving torque of the traveling motor 17 at a predetermined rate.
On the other hand, when the gradient correction value B is less than the gradient set value T, the controller 29 does not perform output control for increasing the drive torque for the drive circuit 30 based on the gradient correction value B.
The gradient setting value T can be changed by an input operation on the keyboard unit of the display unit 28.

Next, output control for the travel motor 17 in the forklift 10 of the present embodiment will be described.
FIG. 3 shows the time, vehicle speed, gradient detection value S, and gradient correction value B when the forklift 10 starts from a stopped state on a flat road and travels on an uphill road having a predetermined gradient (high gradient) from the flat road. Show the relationship.

When the forklift 10 starts from a stopped state, the vehicle speed increases from zero. Therefore, the gradient detection sensor 32 is affected by acceleration, and outputs a gradient detection value S indicating a gradient due to erroneous detection. The gradient detection value indicating this gradient is output. S is transmitted to the controller 29.
At this time, the controller 29 obtains a vehicle speed difference (Vp−Vn) from the vehicle speeds Vn and Vp calculated based on the motor rotation speed, corrects the gradient detection value S based on the vehicle speed difference, and obtains a gradient correction value B.
Since the vehicle speed at the start is zero and the vehicle speed after the start is increasing, the vehicle speed difference (Vp−Vn) is a negative value, and the correction addition value A added to the gradient detection value S is negative.
For this reason, the gradient correction value B is smaller than the gradient detection value S due to the correction of the gradient detection value S.
In the present embodiment, the gradient detection value S is substantially canceled by the correction addition value A that is a negative value, so that the gradient correction value B becomes substantially zero, indicating a road surface value without a gradient.
Since the gradient correction value B is less than the gradient setting value T, the controller 29 does not perform output control for increasing the drive torque for the drive circuit 30 based on the gradient correction value B.
Therefore, the driving torque of the traveling motor 17 does not increase, and the vehicle speed increases within the normal driving torque range.

Next, a case where the forklift 10 traveling on a flat road enters an uphill road having a predetermined gradient will be described.
As shown in FIG. 3, when the forklift 10 enters the uphill road from a state where the maximum speed Vmax is reached while traveling on a flat road, the vehicle speed of the forklift 10 starts to decrease.
That is, since negative acceleration is generated in the vehicle body 11 due to deceleration and the gradient detection sensor 32 is affected by acceleration due to deceleration, the gradient detection value S indicating a gradient smaller than the actual gradient is output during deceleration. become.
Incidentally, as in the comparative example shown in FIG. 3, when the deceleration of the forklift 10 on the uphill road is completed, the influence of acceleration disappears, so the gradient detection sensor 32 outputs a gradient detection value S indicating the actual gradient.
The comparative example shows the vehicle speed when the output control for increasing the driving torque of the traveling motor 17 is performed after the detected slope value S is equal to or greater than the slope setting value T.
In the case of the comparative example, the gradient detection sensor 32 cannot indicate the actual gradient until the influence of acceleration disappears.

The gradient detection sensor 32 transmits the detected gradient detection value S to the controller 29.
At this time, the controller 29 obtains a vehicle speed difference (Vp−Vn) from the vehicle speeds Vn and Vp calculated based on the motor rotation speed, corrects the gradient detection value S based on the vehicle speed difference, and obtains a gradient correction value B.
Since the vehicle speed when entering the uphill road is the maximum speed Vmax and the vehicle speed after entering is decreasing, the vehicle speed difference is a positive value, and the correction addition value A added to the gradient detection value S is a positive value. .
For this reason, the gradient correction value B becomes larger than the gradient detection value S due to the correction of the gradient detection value S.
In the present embodiment, the correction addition value A that is a positive value is added to the gradient detection value S, so that the gradient correction value B becomes larger than the gradient detection value S.

When the gradient correction value B becomes equal to or greater than the gradient set value T, the controller 29 instructs the drive circuit 30 to perform output control for increasing the drive torque of the travel motor 17 at a predetermined rate based on the gradient correction value B. Put out.
For this reason, the driving torque of the traveling motor 17 is increased at a rate corresponding to the gradient correction value, the forklift 10 is accelerated and accelerated until reaching the maximum speed Vmax, and when the maximum speed is reached, the forklift 10 is driven at a constant speed.
In the present embodiment, the gradient correction value B is a value indicating the actual gradient when entering the uphill road.
That is, even if the gradient detection sensor 32 is affected by the acceleration due to the deceleration of the forklift 10, the gradient correction value B indicating the actual gradient of the uphill road is obtained.
The gradient detection value S detected by the gradient detection sensor 32 is a value indicating the actual gradient after the forklift 10 reaches the maximum speed Vmax and travels at a constant speed.
The gradient correction value B is the same as the gradient detection value S because the vehicle speed difference is zero in constant speed travel.

When an uphill road with a gradient correction value B equal to or greater than the gradient setting value T continues, the controller 29 causes the drive circuit 30 to drive the drive torque of the travel motor 17 at a predetermined ratio based on the gradient correction value B. Continue to increase the output control command.
When the slope correction value B becomes an uphill road with a slope that is less than the slope setting value T, the controller 29 outputs to the drive circuit 30 the driving torque of the travel motor 17 at a predetermined rate based on the slope correction value B. The control command is canceled and the driving torque is returned to the same level as when traveling on a flat road.
When the forklift 10 travels on an uphill road having a gradient correction value B less than the gradient setting value T, the controller 29 drives the driving motor 17 with respect to the drive circuit 30 based on the gradient correction value B. Output control for increasing the torque at a predetermined rate is not performed.
That is, the forklift 10 travels on an uphill road with the same driving torque as that on a flat road.

According to this embodiment, there exist the following effects.
(1) The controller 29 acquires vehicle speeds Vn and Vp during traveling based on the detection of the motor rotational speed detected by the motor rotational speed detection unit 31, and the gradient detection sensor 32 is obtained from the front and rear inclination of the vehicle body 11 during traveling. A road gradient is detected and a signal of the gradient detection value S is output. The gradient detection value correction unit 33 corrects the gradient detection value S based on the acquired vehicle speeds Vn and Vp to obtain the gradient correction value B. The controller 29 issues a command to perform output control to the drive circuit 30 based on the gradient correction value B obtained by correcting the gradient detection value S. As a result, even if the gradient detection sensor 32 is affected by acceleration due to acceleration or deceleration, output control for the traveling motor 17 according to the gradient of the uphill road can be performed. Even if the forklift 10 traveling on a flat road enters the uphill road, the vehicle speed (for example, the maximum speed) during traveling on the flat road can be obtained.

(2) By obtaining the vehicle speed difference (Vp−Vn) of the forklift 10 during traveling, the acceleration accompanying acceleration or deceleration can be recognized, and the gradient detection value S is corrected based on the vehicle speed difference to obtain the gradient correction value B. It is done. In the case of deceleration at which the vehicle speed difference is a positive value, the gradient detection value correction unit 33 of the controller 29 corrects the gradient correction value B to be greater than the gradient detection value S, and the vehicle speed difference is a negative value. In the case of acceleration, the gradient correction value B can be corrected to be smaller than the gradient detection value S.

(3) When the gradient correction value B is equal to or greater than the gradient setting value T, the controller 29 instructs the drive circuit 30 to perform output control for increasing the driving torque of the traveling motor 17 at a predetermined rate based on the gradient correction value B. Therefore, the vehicle speed can be increased based on the output corresponding to the gradient. Further, when the gradient correction value B is less than the gradient set value T, output control for increasing the driving torque of the traveling motor 17 at a predetermined rate is not performed on the driving circuit 30, so that waste of power of the traveling motor 17 is suppressed. It is possible to avoid shortening the operation time of the forklift 10.

(4) When the traveling forklift 10 enters the uphill road and decelerates, the gradient correction value B is a value indicating the actual gradient. That is, even if the gradient detection sensor 32 is affected by the acceleration due to the deceleration of the forklift 10, the gradient correction value B indicating the actual gradient of the uphill road is obtained. For this reason, compared with the case of the comparative example in which the output control for increasing the driving torque of the traveling motor 17 at a predetermined rate is performed on the driving circuit 30 based on the detected gradient value S, there is no delay due to the influence of deceleration. It is possible to control the output of the forklift 10 to the traveling motor 17 after entering the uphill road.

(5) Using the gradient detection sensor 32, the gradient detection value S is corrected using the vehicle speed difference (Vp−Vn), and the gradient of the road surface is determined based on the gradient correction value B. Therefore, it is not necessary to use an acceleration sensor. . Further, by obtaining the gradient correction value B, it is not necessary to consider the influence of acceleration due to acceleration or deceleration on the gradient detection sensor 32.

(6) In order to obtain the gradient correction value B by correcting the gradient detection value S using the vehicle speed difference (Vp−Vn), not only the correction of the gradient detection value S for deceleration but also the correction of the gradient detection value S for acceleration. Is also possible. Therefore, it is effective not only for an increase in driving torque when the forklift 10 enters the uphill road but also as a countermeasure against erroneous detection of the gradient detection sensor 32 when the forklift 10 starts from a stopped state.

(7) Since the gradient set value T can be easily changed by input to the display unit 28, for example, it is possible to meet the demand of each operator of the forklift 10, and the use conditions and use environment of the forklift 10 The slope set value T can be set in accordance with.

  The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the gist of the invention. For example, the following modifications may be made.

In the above embodiment, the vehicle speed difference is used, but the acceleration may be directly measured, the gradient detection value may be corrected based on the measured acceleration, and the gradient correction value may be calculated.
In the above embodiment, a liquid level sensor is used as the gradient detection sensor, but the gradient detection sensor is not limited to the liquid level sensor. The gradient detection sensor may be, for example, a pendulum type provided with a pendulum inside the sensor body.
In the above embodiment, the gradient set value can be changed by inputting the display unit, but the gradient set value may be fixed. In addition, a travel mode such as a high power mode in which the drive torque is increased as compared with the normal power mode and the normal power mode may be set in advance. In this case, when the gradient correction value is equal to or greater than the gradient set value, the output control may be performed by switching the traveling mode from the normal power mode to the high power mode.
In the above embodiment, the battery forklift as an industrial vehicle has been described. However, the present invention can also be applied to an engine forklift, for example. Industrial vehicles include towing vehicles and construction vehicles in addition to forklifts.

DESCRIPTION OF SYMBOLS 10 Forklift 11 Car body 12 Cargo handling device 13 Driver's seat 15 Drive wheel 16 Steering wheel 17 Travel motor 18 Mast 22 Fork 28 Display unit 29 Controller 30 Drive circuit 31 Motor rotation speed detection part 32 Gradient detection sensor 33 Gradient detection value correction part 34 Gradient correction Value comparison unit A Correction addition value B Gradient correction value S Gradient detection value T Gradient set value Vn Current vehicle speed Vp Past vehicle speed α acquired before acquisition of the current vehicle speed Correction coefficient

Claims (3)

In an industrial vehicle including a driving device for traveling mounted on a vehicle body and a control device that performs output control on the driving device,
Vehicle speed acquisition means for acquiring the vehicle speed;
A gradient detection sensor for detecting the gradient of the road surface;
Gradient detection value correction means for correcting the gradient detection value detected by the gradient detection sensor based on the vehicle speed acquired by the vehicle speed acquisition means,
The industrial vehicle according to claim 1, wherein the control device performs output control on the drive device based on the gradient correction value corrected by the gradient detection value correction means.   2. The gradient detection value correction unit corrects the gradient detection value based on a vehicle speed difference between a current vehicle speed acquired by the vehicle speed acquisition unit and a vehicle speed closest to the current vehicle speed. Industrial vehicles. The control device compares the slope correction value with a preset slope setting value,
When the gradient correction value is equal to or greater than the gradient set value, output control is performed to increase the output of the driving device,
3. The industrial vehicle according to claim 1, wherein when the gradient correction value is less than the gradient set value, output control for increasing the output of the driving device is not performed.

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