JP2018090405A - Industrial vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress deterioration in workability and limit a vehicle speed without requiring additional infrastructure.SOLUTION: A forklift 10 includes a traveling motor M1, a travel control device 54 controlling the traveling motor M1, a main controller 40, an imaging device 61 imaging a road surface positioned in a travelling direction, and a color discrimination device 62. The color discrimination device 62 determines a road surface color and outputs a color signal according to the road surface color to the main controller 40. The main controller 40 set a speed limit according to the road surface color. The travel control device 54 controls the traveling motor M1 so as to prevent the actual vehicle speed of the forklift 10 from exceeding the speed limit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an industrial vehicle.

Industrial vehicles used in workplaces such as factories may be subject to vehicle speed restrictions depending on the location. For example, in a workplace having a building on the site, a vehicle speed limit is imposed within the building.
Patent Document 1 discloses an industrial vehicle having a vehicle speed limiting button. An operator of an industrial vehicle operates a vehicle speed limit button when traveling in a place where a vehicle speed limit is imposed. Then, a vehicle speed limit is imposed on the industrial vehicle, and it becomes impossible to run at a speed exceeding the limit speed.

  Patent Document 2 describes a speed limit recognition device that recognizes a speed limit displayed on a sign by recognizing a road sign or a road sign. The speed limit recognition device compares the speed of the vehicle with the speed limit, and issues an alarm when an overspeed is detected.

JP 2011-16615 A JP 2005-128790 A

  By the way, in the industrial vehicle of patent document 1, in order to impose a vehicle speed restriction | limiting, it is necessary for the operator (operator) of an industrial vehicle to operate a vehicle speed restriction | limiting button. The operator needs to recognize whether or not the vehicle speed limit is imposed and operate the vehicle speed limit button, which may reduce workability.

  When the speed limit recognition device described in Patent Document 2 is mounted on an industrial vehicle and the speed limit of the sign is recognized and the vehicle speed limit is imposed, the operator of the industrial vehicle does not operate the vehicle speed limit button. Vehicle speed limits can be imposed. However, unlike public roads, road signs and road signs are often not provided at workplaces such as factories, and when new road signs and road signs are provided, the cost and effort for infrastructure development are reduced. Take it.

  An object of the present invention is to provide an industrial vehicle capable of suppressing a decrease in workability and imposing a vehicle speed limit without performing infrastructure maintenance.

  An industrial vehicle that solves the above problem includes a travel drive device and a travel control device that controls the travel drive device, and is an industrial vehicle that travels on a road surface of a work place by driving the travel drive device. An image pickup device for picking up an image of the vehicle, and a storage unit storing a speed limit corresponding to the color. The travel control device stores the color of the road surface imaged by the image pickup device and the storage unit. Based on the result of collation with the color, the travel drive device is controlled so as not to exceed the speed limit.

  According to this, the vehicle speed limit is imposed on the industrial vehicle based on the collation result between the color of the road surface (road surface color) imaged by the imaging device and the color stored in the storage unit, and at a speed exceeding the limit speed. Is restricted. Since the vehicle speed restriction is imposed according to the color of the road surface on which the industrial vehicle is traveling, the vehicle speed restriction is imposed on the industrial vehicle without an operation by the operator of the industrial vehicle. Therefore, the burden on the operator is reduced and the deterioration of workability is suppressed compared to an industrial vehicle in which a vehicle speed limit is imposed by pressing a push button switch.

  There are several road colors in the workplace. For example, in a workplace having a built-in house on the site, the road surface color differs between the built-in house and the outside of the built-up house. In the workplace, the color of the road surface at a specific place is different from that of other places. For example, in a pedestrian zone or a danger zone, the road surface color is made different from that of other places, so that the location of the place is expressed by the road surface color. By imposing a vehicle speed limit using the road surface color that originally exists in the workplace, it is not necessary to develop new infrastructure to impose a vehicle speed limit. Therefore, it is possible to impose vehicle speed restrictions on industrial vehicles without the cost of infrastructure maintenance and the effort of infrastructure maintenance.

  For the industrial vehicle, the color pattern is stored in the storage unit, and the traveling control device is based on a matching result between the color pattern of the road surface and the color pattern stored in the storage unit. The travel drive device may be controlled so as not to exceed the speed limit.

  In the workplace, there may be a monochromatic road surface and a road surface in which a plurality of colors are arranged in a specific pattern. By storing the color pattern in the storage unit, it is possible to impose a vehicle speed limit on any one of a single-color road surface and a multi-color pattern road surface.

  The industrial vehicle includes a cargo handling device on which a load is mounted, and an elevating unit that moves the cargo handling device up and down, wherein the traveling control device is responsive to at least one of a lifting height of the cargo handling device and a weight of the load. The travel drive device may be controlled so as not to exceed a speed limit lower than the speed limit corresponding to the color of the road surface.

  The stability of industrial vehicles decreases as the lifting height of the cargo handling equipment increases, and the stability decreases as the weight of the load increases. By imposing further vehicle speed restrictions according to the lifting height of the cargo handling equipment and the weight of the load, the stability of the industrial vehicle is easily maintained.

About the said industrial vehicle, you may provide the input part which inputs the color memorize | stored in the said memory | storage part, and the said speed limit corresponding to the said color.
According to this, the operator of the industrial vehicle or the manager of the industrial vehicle can arbitrarily input the color and the speed limit corresponding to the color.

  According to the present invention, it is possible to suppress a decrease in workability and to impose a vehicle speed limit without performing infrastructure maintenance.

The schematic side view which shows a forklift. The schematic block diagram of a forklift. The figure which shows the speed memorize | stored in the color memorize | stored in the memory | storage part, and a color. The figure for demonstrating the effect | action of a forklift.

Hereinafter, an embodiment of an industrial vehicle will be described.
As shown in FIGS. 1 and 2, the forklift 10 as an industrial vehicle includes a vehicle body 11, drive wheels 12 disposed in a front lower portion of the vehicle body 11, steering wheels 13 disposed in a rear lower portion of the vehicle body 11, Is provided. The forklift 10 includes a cargo handling device 14 at the front portion of the vehicle body 11. The cargo handling device 14 includes a mast 15 erected on the front portion of the vehicle body 11, a lift bracket 16 fixed to the mast 15, and a pair of forks 17 fixed to the lift bracket 16. A load W is loaded on the fork 17. The cargo handling device 14 includes a lift cylinder 18 that moves the lift bracket 16 up and down. By the operation of the lift cylinder 18, the fork 17 as a cargo handling tool moves up and down together with the lift bracket 16. The lift cylinder 18 functions as a lifting unit that moves the fork 17 up and down. The cargo handling device 14 includes a tilt cylinder 19 that tilts the mast 15. As the tilt cylinder 19 is driven, the fork 17 tilts together with the mast 15. The lift cylinder 18 and the tilt cylinder 19 are hydraulic cylinders.

  The forklift 10 includes a travel motor M1 that drives the drive wheels 12, a cargo handling motor M2 that drives the cargo handling apparatus 14, and a battery B. The traveling motor M1 and the cargo handling motor M2 are driven by electric power supplied from the battery B. The forklift 10 travels by driving a travel motor M1 as a travel drive device.

  The forklift 10 includes a cab 20 provided in the center of the vehicle body 11 and a cab seat 21 provided in the center of the cab 20. The forklift 10 includes a plurality of cargo handling levers 22 for performing various operations such as raising / lowering operations and tilting operations of the cargo handling device 14 and a handle 23 for steering the forklift 10 in the cab 20. The forklift 10 includes an accelerator pedal 24 on the floor surface of the cab 20. The forklift 10 includes a display unit 30. The display unit 30 is arranged at a position where an operator (operator) seated on the driving seat 21 can visually recognize.

  As shown in FIG. 2, the display unit 30 is a storage unit that stores a display 31 that displays the status of the forklift 10, a CPU (arithmetic unit) 32, and programs for performing various controls. A memory 33 and a plurality of operation units 34 are provided. The plurality of operation units 34 include an operation unit that changes the display content of the display 31. The operation unit 34 may be, for example, a push button switch arranged around the display 31 or may be a touch panel function provided in the display 31.

  The forklift 10 includes a main controller 40. The main controller 40 includes a CPU (arithmetic unit) 41 and a memory 42 in which programs for performing various controls are stored.

  The forklift 10 includes an accelerator sensor 51 that detects the amount of operation of the accelerator pedal 24 (accelerator opening) by the operator, a lift sensor 52 that detects the lift of the fork 17, and the weight of the load W loaded on the fork 17. And a load sensor 53 for detecting. The accelerator sensor 51 outputs an electrical signal corresponding to the operation amount of the accelerator pedal 24 to the main controller 40. The lift sensor 52 is disposed on the mast 15, for example. The lift sensor 52 detects the lift (height position) of the fork 17 and outputs an electrical signal corresponding to the detected lift of the fork 17 to the main controller 40. The lift sensor 52 is, for example, a reel sensor. The load sensor 53 is disposed in the lift cylinder 18. The load sensor 53 detects the hydraulic pressure inside the lift cylinder 18 and outputs an electrical signal corresponding to the weight of the load W. The load sensor 53 is, for example, a pressure sensor.

  The CPU 41 of the main controller 40 calculates the target vehicle speed by inputting an electric signal from the accelerator sensor 51. The CPU 41 of the main controller 40 calculates the command rotational speed based on the target vehicle speed. The command rotational speed is a command value for causing the forklift 10 to reach the target speed. The CPU 41 of the main controller 40 recognizes the current lift height of the fork 17 by inputting an electrical signal from the lift sensor 52. The CPU 41 of the main controller 40 recognizes the weight of the load W by inputting an electric signal from the load sensor 53.

  The forklift 10 includes a travel control device 54. The travel control device 54 is connected to the main controller 40. The travel control device 54 is a motor driver. The power supplied to the traveling motor M1 is controlled by the traveling control device 54. The forklift 10 includes a vehicle speed sensor 55 that detects the actual vehicle speed. The vehicle speed sensor 55 of the present embodiment is a rotation speed sensor mounted on the traveling motor M1. The vehicle speed sensor 55 outputs an electrical signal corresponding to the rotational speed of the traveling motor M1 to the traveling control device 54. The traveling control device 54 controls the traveling motor M1 so that the rotational speed of the traveling motor M1 matches the command rotational speed.

  The forklift 10 of this embodiment is used in a work place. A work place is a private property such as a factory or a warehouse. In the work place, a vehicle speed limit corresponding to the place is imposed on the forklift 10. The forklift 10 has the following configuration in order to recognize a speed limit according to a place and to restrict travel exceeding the speed limit.

  The forklift 10 includes an imaging device 61 that images a road surface located in the traveling direction, and a color discrimination device 62. The imaging device 61 is at least one camera that images an imaging target, and is, for example, a CCD image sensor or a CMOS image sensor. The imaging device 61 images a road surface that is an imaging target, and outputs RGB-format imaging data to the color discrimination device 62. The imaging device 61 is provided so that at least a road surface located in front of the forklift 10 and a road surface located behind the forklift 10 can be imaged. For example, the imaging device 61 may be a camera that images the front of the forklift 10 and two cameras that image the rear of the forklift 10, or may be a single camera that images 360 degrees around the forklift 10. Good. The road surface is the surface where the forklift 10 travels.

  The color discriminating device 62 discriminates the road surface color that is the color of the road surface located in the traveling direction of the forklift 10 by inputting the imaging data. Specifically, when the forklift 10 is moving forward, the road surface color ahead of the forklift 10 is determined, and when the forklift 10 is moving backward, the road surface color behind the forklift 10 is determined.

  The color discrimination device 62 is, for example, an ECU having a calculation unit and a memory. The color determination device 62 outputs a color signal corresponding to the road surface color to the main controller 40. The color discrimination device 62 also determines whether the road surface color is a single color or a plurality of colors. Whether the road surface color is a single color or a plurality of colors is determined based on a change in RGB luminance values.

  The memory 33 of the display unit 30 stores the color and the speed limit associated with the color. In this embodiment, as shown in FIG. 3, 20 km / h is stored as the speed limit corresponding to black, 15 km / h is stored as the speed limit corresponding to ash, and 5 km / h as the speed limit corresponding to blue. Is stored, 7 km / h is stored as the speed limit corresponding to the zebra zone, and 5 km / h is stored as the speed limit corresponding to the pedestrian crossing. The zebra zone and the pedestrian crossing are road surfaces in which a plurality of colors are arranged in a specific pattern. The zebra zone is a pattern in which yellow and black are alternately arranged. The pedestrian crossing is a pattern in which white and black are alternately arranged. The color and the speed limit associated with the color are examples, and the color and the speed limit can be changed as appropriate.

  The color stored in the memory 33 of the display unit 30 and the speed limit corresponding to the color can be input by operating the operation unit 34 of the display unit 30. For example, the operation unit 34 includes a vehicle speed limit input unit that can arbitrarily input a speed limit, and a setting unit that can set a color corresponding to each speed limit. The speed limit can be input by operating the vehicle speed limit input unit and inputting the vehicle speed limit. When setting a color corresponding to the speed limit, the setting unit is operated. When the setting unit is operated, the CPU 32 of the display unit 30 displays the color of the road surface when the setting unit is operated, that is, the color of the road surface captured by the imaging device 61 when the setting unit is operated. Obtained via the main controller 40. The acquired color is stored in the memory 33 of the display unit 30 in association with the speed limit. Therefore, the speed limit and the color associated with the speed limit can be arbitrarily set by operating the display unit 30. In the present embodiment, the operation unit 34 functions as an input unit.

  The display unit 30 sends the color stored in the memory 33 and the speed limit corresponding to the color to the main controller 40. The main controller 40 collates the color sent from the display unit 30 with the road surface color sent from the color discrimination device 62. When the color sent from the display unit 30 matches the road surface color sent from the color discriminating device 62, the main controller 40 sets a speed limit corresponding to the matched color. For example, when the road surface color is black, 20 km / h corresponding to black is set as the speed limit.

  The forklift 10 is controlled so that the actual vehicle speed does not exceed the speed limit. Specifically, when the target vehicle speed calculated from the operation amount of the accelerator sensor 51 exceeds the speed limit, the main controller 40 outputs a rotation speed command based on the speed limit and the actual vehicle speed. Further, when the target vehicle speed calculated from the operation amount of the accelerator sensor 51 is equal to or less than the speed limit, the main controller 40 outputs a rotation speed command based on the deviation between the target vehicle speed and the actual vehicle speed. Since the command rotational speed is calculated so as not to exceed the speed limit, the travel control device 54 drives the travel motor M1 so as not to exceed the speed limit. That is, the traveling control device 54 drives the traveling motor M <b> 1 based on the collation result between the color of the road surface imaged by the imaging device 61 and the color stored in the memory 33. As a result, the forklift 10 is imposed with a vehicle speed limit that uses a speed limit corresponding to the road color as a speed upper limit value.

  Further, the stability of the forklift 10 decreases as the lift height of the fork 17 increases. For this reason, the main controller 40 imposes a further speed limit according to the lift height. For example, a threshold value is set for the lifting height, and when the lifting height is lower than the threshold value, the lower lifting height is set. When the lifting height is equal to or higher than the threshold, the lifting height is set. The main controller 40 imposes a vehicle speed limit when the lift of the fork 17 is high. When the lift of the fork 17 is high, the main controller 40 according to the present embodiment sets a speed obtained by multiplying a speed limit corresponding to the road color by a predetermined lift height constant less than 1. For example, when the lift constant is 0.8, the road surface color is black, and the lift speed of the fork 17 is high, the set speed limit is 16 km / h.

  Further, the stability of the forklift 10 decreases as the weight of the load W increases. For this reason, the main controller 40 imposes a further speed limit according to the weight of the load W. For example, a threshold is set for the weight of the load W, and the weight is low when the weight of the load W is lighter than the threshold, and is high when the weight of the load W is equal to or greater than the threshold. When the weight of the load W is high, the main controller 40 of the present embodiment sets a value obtained by multiplying the speed limit according to the road color by a predetermined weight constant less than 1. For example, when the weight constant is 0.8, the road color is black, and the weight of the load W is high, the set speed limit is 16 km / h.

  Either the vehicle speed limitation due to the lifting height or the vehicle speed limitation due to the weight of the load W may be performed, or both may be performed. When both vehicle speed limits are performed, when the lift of the fork 17 is high and the weight of the load W is high, the value obtained by multiplying the speed limit according to the road color by the lift constant and weight constant. Is the speed limit. For example, if the lift constant is 0.8 and the weight constant is 0.8, the road color is black, the lift of the fork 17 is high, and the weight of the load W is high, The set speed limit is 12.8 km / h.

  Next, the operation of the forklift 10 according to this embodiment will be described. In the following description, as an example, a case where the forklift 10 is used in a factory as a work place will be described. The weight of the load W loaded on the forklift 10 is low, and the lift of the fork 17 is low. In other words, the forklift 10 is in a state where only the vehicle speed limit corresponding to the road surface color is imposed.

  As shown in FIG. 4, the factory F includes a building BB in the site. A private road D paved with asphalt is maintained outside the building BB. The road surface color of the private road D is black which is the color of asphalt. A part of the private road D is provided with a crosswalk CW. The pedestrian crossing CW is provided by drawing white lines at regular intervals. Asphalt color black is located between the white lines, and the road surface color of the pedestrian crossing CW is a pattern in which black and white are alternately arranged.

  The road surface color of the floor FL in the building BB is ash. Ash is the color of the material constituting the floor FL or the color of the paint that coats the surface of the floor FL. A walking zone WZ is provided on a part of the floor FL in the building BB. The walking zone WZ is painted in blue to make the worker recognize that it is the walking zone WZ, and the road surface color is blue. In addition, a zebra zone ZZ indicating a danger range is provided on a part of the floor FL in the building BB. The zebra zone ZZ is painted in yellow and black to make the worker aware that it is in danger. The road surface color of the zebra zone ZZ is a pattern in which yellow and black are alternately arranged.

  As indicated by reference numeral P1 in FIG. 4, when the forklift 10 is traveling on a place different from the pedestrian crossing CW on the private road D outside the building BB, the road surface color is black and 20 km associated with black. / H is set as the speed limit.

  As indicated by reference numeral P2, when the forklift 10 tries to travel on the pedestrian crossing CW, 5 km / h associated with a pattern in which white and black are alternately arranged is set as the speed limit. The speed limit is set lower at the pedestrian crossing CW in the private road D than at a place different from the pedestrian crossing CW.

  As indicated by reference numeral P3, when the forklift 10 enters the building BB, 15 km / h associated with ash which is the road surface color of the building BB is set as the speed limit. In the building BB, the forklift 10 and workers work together. In order to prevent the worker's work from being obstructed, the speed limit is set lower in the building BB than in the private road D outside the building BB.

  As indicated by reference numeral P4, when the forklift 10 tries to travel on the walking zone WZ, 5 km / h associated with blue, which is the road surface color of the walking zone WZ, is set as the speed limit. As indicated by reference numeral P5, when the forklift 10 tries to travel in the zebra zone ZZ, 7 km / h associated with a pattern in which yellow and black are alternately arranged is set as the speed limit. In the walking zone WZ and the zebra zone ZZ, the speed limit is set lower than in other places in the building BB.

Therefore, according to the above embodiment, the following effects can be obtained.
(1) The main controller 40 sets a speed limit according to the road surface color. Since the speed limit is set according to the road surface color recognized by the imaging device 61, the vehicle speed limit is imposed without depending on the operation of the operator. Compared with a forklift in which a speed limit is set by pressing a push button switch, the burden on the operator is reduced and a decrease in workability is suppressed.

  There are several road colors in the workplace. For example, the road surface color is different between the building BB and the outside of the building BB. In addition, in order for workers to recognize the location of a specific location by the color of the road surface, the color of the road surface of the specific location is set as a different road surface color from other locations based on the unique rules for each workplace. Yes. The road surface color is not provided for imposing a vehicle speed limit on the forklift 10, but is originally present in the workplace. By imposing a vehicle speed limit using the road surface color, there is no need to develop infrastructure to impose a vehicle speed limit. It is possible to impose a vehicle speed limit on the forklift 10 without taking the cost of infrastructure maintenance and the effort of infrastructure maintenance.

  As described above, the road surface color indicates what kind of place the specific place is. Therefore, the speed limit corresponding to the place can be set by setting the speed limit in association with the road surface color.

  (2) There may be a road surface in which a plurality of colors are arranged in a specific pattern, such as a zebra zone ZZ and a pedestrian crossing CW, in the work place. The memory 33 stores a pattern of a plurality of colors in addition to a single color. Therefore, the main controller 40 can perform pattern matching between the pattern stored in the memory 33 and the pattern input from the color discrimination device 62. Therefore, even if there is a road surface color with a plurality of colors such as zebra zone ZZ and pedestrian crossing CW, it is possible to impose a vehicle speed restriction according to the road surface color.

  (3) In addition to the vehicle speed limit according to the road surface color, a further vehicle speed limit is imposed according to at least one of lift and load. When the stability of the forklift 10 decreases due to the lift and load, the stability of the forklift 10 can be maintained by imposing further vehicle speed restrictions.

  (4) The display unit 30 includes an operation unit 34 for inputting a color stored in the memory 33 and a speed limit corresponding to the color. Therefore, the operator of the forklift 10 or the administrator of the forklift 10 can arbitrarily set the speed limit and the color associated with the speed limit. Although the road surface color of the work place varies from work place to work place, the color can be set according to the work place where the forklift 10 is used because the administrator can arbitrarily set the color.

  (5) It may be possible to impose a vehicle speed limit by providing road signs and road signs for displaying the speed limit and recognizing the speed displayed on these signs. However, in this case, since the speed displayed on the sign becomes the speed limit, the same speed limit is set for all forklifts. Forklifts vary in size depending on the type and the like, and there are cases where it is desired to change the speed limit depending on the size. Specifically, there is a case where the larger the forklift, the lower the speed limit, and the smaller the forklift, the higher the vehicle speed limit. As in the present embodiment, a vehicle speed limit corresponding to the speed limit stored in the memory 33 is imposed, so that an individual speed limit can be set for each forklift.

In addition, you may change embodiment as follows.
The color stored in the memory 33 and the speed limit associated with the color may not be input by operating the operation unit 34. In this case, the color and the speed limit corresponding to the color are stored in the memory 33 in advance by an external input device other than the display unit 30.

O One of the color stored in the memory 33 and the speed limit corresponding to the color may be input by the operation of the operation unit 34.
The vehicle height restriction according to the lift height of the fork 17 and the weight of the load W may be performed without setting a threshold value. For example, the speed limit may be decreased in proportion to an increase in the lift height of the fork 17, or the speed limit may be decreased in proportion to an increase in the weight of the load W.

  As the lift sensor 52, a limit switch that outputs an electrical signal when the lift of the fork 17 reaches a predetermined lift may be used. In this case, it is determined whether the lift is high or low depending on whether the limit switch outputs an electrical signal.

-Only the vehicle speed restriction | limiting according to the road surface color may be performed, without performing the vehicle speed restriction | limiting by the lifting height of the fork 17 and the weight of the load W.
The color stored in the memory 33 may be only a single color.

  ○ When the road surface color and the color stored in the memory 33 do not match, the vehicle speed restriction may not be imposed. In addition, a speed limit may be set when the road surface color and the color stored in the memory 33 do not match.

The speed limit and the color associated with the speed limit may be stored in the memory 42 of the main controller 40.
-An engine may be used as a travel drive device. That is, the forklift 10 may travel by driving the engine. In this case, the travel control device is a device that controls the amount of fuel injected into the engine. The travel control device adjusts the fuel injection amount so that the forklift 10 does not exceed the speed limit.

  In the case where a drive recorder is mounted on the forklift 10, this drive recorder may be used as an imaging device. In other words, the imaging device may be provided exclusively for limiting the vehicle speed according to the road surface color, or may be shared with other devices.

O Other than the fork 17 may be used as the cargo handling equipment. For example, an attachment such as a clamp or a ram may be used.
The industrial vehicle may be a vehicle that is used in the workplace and needs to impose a vehicle speed limit, and may be, for example, a construction machine.

The vehicle speed limit may be imposed according to the color of the road surface existing around the forklift 10 such as a road surface positioned beside the forklift 10 without being limited to the road surface positioned in the traveling direction.
The main controller 40 approximates the road surface color and the color stored in the memory 33 based on the collation result even if the road surface color by the color discrimination device 62 and the color by the memory 33 do not match. In such a case, a vehicle speed limit corresponding to the approximate color may be imposed.

  M1 ... Traveling motor (traveling drive), 10 ... Forklift (industrial vehicle), 17 ... Fork (loading equipment), 18 ... Lift cylinder (lifting / lowering part), 33 ... Memory (storage part), 34 ... Operation part (input) Part), 40 ... main controller, 54 ... travel control device, 61 ... imaging device, 62 ... color discrimination device.

Claims (4)

A travel drive device;
A travel control device that controls the travel drive device, and an industrial vehicle that travels on a road surface of a workplace by driving the travel drive device,
An imaging device for imaging the road surface;
A storage unit storing a speed limit corresponding to the color,
The travel control device controls the travel drive device so as not to exceed the speed limit based on a collation result between the color of the road surface imaged by the imaging device and the color stored in the storage unit. Industrial vehicle. The storage unit stores the color pattern,
The travel control device controls the travel drive device so as not to exceed the speed limit based on a collation result between the color pattern of the road surface and the color pattern stored in the storage unit. The industrial vehicle according to 1. Cargo handling equipment on which the load is mounted;
An elevating part for elevating the cargo handling equipment,
The travel control device controls the travel drive device so as not to exceed a speed limit lower than the speed limit corresponding to the color of the road surface according to at least one of a lifting height of the cargo handling equipment and a weight of the load. The industrial vehicle according to claim 1 or 2.   The industrial vehicle as described in any one of Claims 1-3 provided with the input part which inputs at least one of the color memorize | stored in the said memory | storage part, and the said speed limit corresponding to the said color.

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