JP7188289B2 - battery-powered industrial vehicle - Google Patents

Description

The present invention relates to battery-powered industrial vehicles.

2. Description of the Related Art Some industrial vehicles such as forklifts operate hydraulic pumps with electric motors to supply hydraulic oil to actuators through control valves (for example, Patent Document 1).

JP 2006-298519 A

By the way, for example, in a battery-powered forklift, when an operation member is operated, a hydraulic pump driven by an electric motor operates an actuator, thereby performing cargo handling or traveling. Since the operation of the hydraulic pump is started after a person operates the operation member, it takes time to respond, and workability (operability) and work efficiency are lowered. For example, compared to an engine-powered forklift that is always driven by a hydraulic pump, there is a problem that cargo handling is less responsive and work efficiency is reduced.

SUMMARY OF THE INVENTION An object of the present invention is to provide a battery-powered industrial vehicle capable of improving operability and work efficiency.

A battery-powered industrial vehicle for solving the above problems includes an operation member , an operation amount sensor that detects an operation amount of the operation member, and an operation amount of the operation member detected by the operation amount sensor becomes a predetermined amount. A battery-powered industrial vehicle comprising: an electric motor that is driven by the electric motor; a hydraulic pump that is operated by driving the electric motor; and a cargo handling actuator that is operated by supplying hydraulic oil as the hydraulic pump is operated. a camera that captures an image of the operation member; an image processing unit that detects an operation amount of the operation member from an image captured by the camera; an electric motor control unit for starting the image processing, wherein the operation member is a cargo handling operation member operated for cargo handling, and the electric motor control unit performs an operation of starting the operation of the cargo handling operation member to perform the image processing. When detected by the unit, it starts driving the electric motor .

According to this, the operation member is imaged by the camera, the amount of operation of the operation member is detected from the image of the camera, and the electric motor is started to be driven, thereby activating the hydraulic pump at an early stage to operate the cargo handling or travel actuator. It can be activated early, and the operability and work efficiency can be improved.

Further, the battery-powered industrial vehicle includes an electromagnetic proportional valve that supplies the hydraulic oil to the cargo handling actuator when the number of revolutions of the hydraulic pump rises from 0 to a predetermined value, and the electric motor control unit controls the cargo handling operation member. It is preferable that the proportional solenoid valve is started to be driven when the image processing section detects an operation to start the operation.
Also, in a battery-powered industrial vehicle, it is preferable that the camera always takes an image. In this case, the manipulated variable can always be detected.
Further, in the battery-powered industrial vehicle, it is preferable to image the operation member from multiple directions using a plurality of the cameras. In this case, the operation amount can be accurately detected as compared with the case where the operation amount of the operation member is imaged by one camera.

According to the present invention, it is possible to improve operability and work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic side view of the battery-powered forklift in embodiment. Schematic plan view of a battery powered forklift. A hydraulic circuit diagram of a battery-powered forklift. The block diagram which shows the control system of a battery type forklift. FIG. 4 is a diagram for explaining a path for actuation of an actuator associated with operation of a cargo handling lever; The perspective view which shows the camera arranged around the cargo-handling lever. 4(a) to 4(e) are time charts for explaining the operation of the actuator associated with the operation of the cargo handling lever in the embodiment; (a) to (e) are time charts for explaining the operation of the actuator associated with the operation of the cargo handling lever in the comparative example.

An embodiment embodying the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 and 2 , the battery-powered forklift 10 includes a machine base 11 and a mast 12 arranged in front of the machine base 11 . The mast 12 consists of a pair of left and right outer masts 12a that are tiltably supported on the machine base 11, and an inner mast 12b that is arranged inside the outer masts 12a and can be raised and lowered with respect to the outer masts 12a.

A lift cylinder 13 is arranged on the rear side of the mast 12 as a lifting hydraulic cylinder. The tip of the piston rod of the lift cylinder 13 is connected to the upper portion of the inner mast 12b.

A lift bracket 14 is movably supported on the inner mast 12b. A fork 15 for loading cargo is attached to the lift bracket 14 . When the lift cylinder 13 is extended and retracted, the fork 15 is moved up and down together with the lift bracket 14 via the chain.

Tilt cylinders 16 are supported on both left and right sides of the machine base 11 . The tip of the piston rod of the tilt cylinder 16 is rotatably connected to the substantially central portion of the outer mast 12a in the height direction. When the tilt cylinder 16 is extended and retracted, the mast 12 is tilted.

An operator's cab 17 is provided in the upper part of the machine base 11 . A lift operation lever 18 for operating the lift cylinder 13 to raise and lower the fork 15, and a tilt operation lever 19 for operating the tilt cylinder 16 to tilt the mast 12 are provided in the front part of the cab 17. It is

A steering wheel 20 for steering is provided in front of the driver's cab 17 . The steering 20 is a hydraulic power steering, and can assist the driver's steering with a PS cylinder 21 (see FIG. 3) as a hydraulic cylinder for power steering (PS).

The forklift 10 also includes an attachment cylinder 22 (see FIG. 3) for operating an attachment (not shown). As an attachment, for example, there are those that move the fork 15 left and right, tilt, and rotate. The operator's cab 17 is also provided with an attachment control lever (not shown) for operating the attachment cylinder 22 to operate the attachment.

Further, although not shown, the operator's cab 17 is provided with a direction switch for switching the traveling direction (forward/backward/neutral) of the forklift 10 .
As shown in FIGS. 1 and 2, the operator's cab 17 is surrounded by left and right pillars 23 erected on the machine base 11 and a head guard 24 fixed to the upper ends of the pillars 23 .

As shown in FIG. 3 , the forklift 10 has lift cylinders 13 , tilt cylinders 16 , attachment cylinders 22 and PS cylinders 21 .
The forklift 10 includes a single hydraulic pump/motor 29 and a single electric motor 30 that drives the hydraulic pump/motor 29 . The hydraulic pump motor 29 has a suction port 29a for sucking hydraulic oil and a discharge port 29b for discharging hydraulic oil. The hydraulic pump motor 29 is configured to be rotatable in one direction.

The electric motor 30 functions as an electric motor or a generator. Specifically, when the hydraulic pump motor 29 operates as a hydraulic pump, the electric motor 30 functions as an electric motor, and when the hydraulic pump motor 29 operates as a hydraulic motor, the electric motor 30 functions as a generator. do. When the electric motor 30 functions as a generator, electric power generated by the electric motor 30 is stored in a battery (not shown). That is, regenerative operation will be performed.

A suction port 29 a of the hydraulic pump motor 29 is connected via a hydraulic pipe 32 to a tank 31 that stores hydraulic oil. The hydraulic pipe 32 is provided with a check valve 33 that allows hydraulic oil to flow only in the direction from the tank 31 to the hydraulic pump motor 29 . The hydraulic pump motor 29 functions as a pump that supplies hydraulic fluid to the lift cylinder 13 when the lift operation lever 18 is operated to move upward, and is driven by hydraulic fluid discharged from the lift cylinder 13 when the lift operation lever 18 is operated to descend. Functions as a hydraulic motor.

A discharge port 29 b of the hydraulic pump motor 29 and the bottom chamber 13 b of the lift cylinder 13 are connected via a hydraulic pipe 34 . The hydraulic pipe 34 is provided with an electromagnetic proportional valve 35 for raising the lift. The electromagnetic proportional valve 35 has an open position 35a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the bottom chamber 13b of the lift cylinder 13, and an open position 35a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the bottom chamber 13b of the lift cylinder 13. is switched between a closed position 35b blocking the

The electromagnetic proportional valve 35 is normally in the closed position 35b (shown), and an operation signal (a solenoid current command value for lifting the lift corresponding to the operation amount of the lifting operation of the lift operation lever 18) is input to the solenoid operation portion 35c. , it switches to the open position 35a. Then, hydraulic oil is supplied from the hydraulic pump/motor 29 to the bottom chamber 13b of the lift cylinder 13, the lift cylinder 13 is extended, and the fork 15 is lifted accordingly. When the electromagnetic proportional valve 35 is at the open position 35a, it opens to an opening degree according to the operation signal. A check valve 36 is provided between the proportional solenoid valve 35 and the lift cylinder 13 in the hydraulic pipe 34 so as to allow hydraulic oil to flow only in the direction from the proportional solenoid valve 35 to the lift cylinder 13 .

A tilting electromagnetic proportional valve 38 is connected via a hydraulic pipe 37 to a branch point between the hydraulic pump motor 29 and the electromagnetic proportional valve 35 in the hydraulic pipe 34 . The hydraulic pipe 37 is provided with a check valve 39 that allows hydraulic oil to flow only in the direction from the hydraulic pump motor 29 to the electromagnetic proportional valve 38 .

The electromagnetic proportional valve 38 and the rod chamber 16a and bottom chamber 16b of the tilt cylinder 16 are connected via hydraulic pipes 40 and 41, respectively. The electromagnetic proportional valve 38 has an open position 38a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the rod chamber 16a of the tilt cylinder 16, and an open position 38a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the bottom chamber 16b of the tilt cylinder 16. and a closed position 38c that blocks the flow of hydraulic oil from the hydraulic pump/motor 29 to the tilt cylinder 16.

The electromagnetic proportional valve 38 is normally at the closed position 38c (shown), and an operation signal (a tilting solenoid current command value corresponding to the operation amount of the tilting operation lever 19 backward) is sent to the solenoid operation portion 38d on the side of the open position 38a. ) is input, the switch is switched to the open position 38a, and an operation signal (tilt solenoid current command value corresponding to the operation amount of the forward tilting operation of the tilt operation lever 19) is input to the solenoid operation portion 38e on the side of the open position 38b. Then, it switches to the open position 38b. When the electromagnetic proportional valve 38 is switched to the open position 38a, hydraulic oil is supplied from the hydraulic pump/motor 29 to the rod chamber 16a of the tilt cylinder 16, the tilt cylinder 16 contracts, and the mast 12 tilts backward accordingly. When the electromagnetic proportional valve 38 is switched to the open position 38b, hydraulic oil is supplied from the hydraulic pump/motor 29 to the bottom chamber 16b of the tilt cylinder 16, the tilt cylinder 16 extends, and the mast 12 tilts forward accordingly. It should be noted that the electromagnetic proportional valve 38 opens to an opening degree corresponding to the operation signal when it is at the open positions 38a and 38b.

An electromagnetic proportional valve 43 for attachment is connected via a hydraulic pipe 42 to the upstream side of the check valve 39 in the hydraulic pipe 37 . The hydraulic pipe 42 is provided with a check valve 44 that allows hydraulic oil to flow only in the direction from the hydraulic pump motor 29 to the electromagnetic proportional valve 43 .

The electromagnetic proportional valve 43 and the rod chamber 22a and bottom chamber 22b of the attachment cylinder 22 are connected via hydraulic pipes 45 and 46, respectively. The electromagnetic proportional valve 43 has an open position 43a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the rod chamber 22a of the attachment cylinder 22, and an open position 43a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the bottom chamber 22b of the attachment cylinder 22. and a closed position 43c that blocks the flow of hydraulic oil from the hydraulic pump/motor 29 to the attachment cylinder 22 .

The electromagnetic proportional valve 43 is normally in the closed position 43c (illustrated), and an operation signal (an attachment solenoid current command value corresponding to the operation amount of one side operation of the attachment operation lever) is sent to the solenoid operation portion 43d on the open position 43a side. is input, the switch is switched to the open position 43a, and an operation signal (an attachment solenoid current command value corresponding to the operation amount of the other side operation of the attachment operation lever) is input to the solenoid operation portion 43e on the side of the open position 43b. , it switches to the open position 43b. Note that the operation of the attachment cylinder 22 is omitted. Further, the electromagnetic proportional valve 43 opens to an opening degree according to the operation signal when it is at the open positions 43a and 43b.

An electromagnetic proportional valve 48 for PS is connected via a hydraulic pipe 47 to the upstream side of the check valve 44 in the hydraulic pipe 42 . The hydraulic pipe 47 is provided with a check valve 49 that allows hydraulic oil to flow only in the direction from the hydraulic pump motor 29 to the electromagnetic proportional valve 48 .

The electromagnetic proportional valve 48 and the first rod chamber 21a and the second rod chamber 21b of the PS cylinder 21 are connected via hydraulic pipes 50 and 51, respectively. The electromagnetic proportional valve 48 has an open position 48a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the first rod chamber 21a of the PS cylinder 21, and an open position 48a that allows hydraulic fluid to flow from the hydraulic pump/motor 29 to the second rod chamber 21b of the PS cylinder 21. Switching is made between an open position 48 b that allows the flow of hydraulic oil and a closed position 48 c that blocks the flow of hydraulic oil from the hydraulic pump/motor 29 to the PS cylinder 21 .

The electromagnetic proportional valve 48 is normally at the closed position 48c (illustrated), and an operation signal (a PS solenoid current command value corresponding to the operation speed of left and right one side operation of the steering 20) is sent to the solenoid operation portion 48d at the open position 48a side. is input, the switch is switched to the open position 48a, and an operation signal (PS solenoid current command value corresponding to the operation speed of the other left and right side operation of the steering 20) is input to the solenoid operation portion 48e on the open position 48b side. , it switches to the open position 48b. Note that the operation of the PS cylinder 21 is omitted. Further, the electromagnetic proportional valve 48 opens to an opening degree according to the operation signal when it is at the open positions 48a and 48b.

A branch point of the hydraulic pump motor 29 and the electromagnetic proportional valve 35 in the hydraulic pipe 34 is connected to the tank 31 via the hydraulic pipe 52 . The hydraulic pipe 52 is provided with an unload valve 53 and a filter 54 . The hydraulic pipe 52 and the electromagnetic proportional valves 38 , 43 , 48 are connected via hydraulic pipes 55 , 56 , 57 . Furthermore, the electromagnetic proportional valves 35 , 38 , 43 , 48 are connected to the hydraulic piping 52 via the hydraulic piping 58 .

The suction port 29 a of the hydraulic pump motor 29 and the bottom chamber 13 b of the lift cylinder 13 are connected via a descending oil passage 59 . The descent oil passage 59 is arranged between the bottom chamber 13b of the lift cylinder 13 and the hydraulic pump motor 29 so that the hydraulic oil discharged from the lift cylinder 13 flows to the suction port 29a of the hydraulic pump motor 29 when the lift operation lever 18 is operated independently to lower the descent. 29 is connected to the suction port 29a. An operating valve 60 for lowering the lift is disposed in the lowering oil passage 59 . The operation valve 60 has an open position 60a that allows hydraulic oil to flow from the bottom chamber 13b of the lift cylinder 13 to the suction port 29a of the hydraulic pump/motor 29, and an open position 60a that allows the hydraulic oil to flow from the bottom chamber 13b of the lift cylinder 13 to the suction port of the hydraulic pump/motor 29. 29a is switched between a closed position 60b which blocks the flow of hydraulic fluid to 29a.

The operation valve 60 is normally in the closed position 60b (shown), and when an operation signal (lift lowering solenoid current command value corresponding to the operation amount of the lowering operation of the lift operation lever 18) is input to the solenoid operation portion 60c, , to the open position 60a. Then, the fork 15 is lowered by its own weight, the lift cylinder 13 is contracted accordingly, and hydraulic oil flows out from the bottom chamber 13b of the lift cylinder 13. As shown in FIG. When the operation valve 60 is at the open position 60a, the operation valve 60 opens to an opening degree according to the operation signal.

A branch point between the hydraulic pump motor 29 and the operation valve 60 in the descending oil passage 59 is connected to the tank 31 via a hydraulic pipe (bypass oil passage) 61 . A bypass flow control valve 62 is arranged in the hydraulic pipe 61 . The bypass flow control valve 62 is a flow control valve with pressure compensation function. A filter 63 is provided in the hydraulic pipe 61 .

The bypass flow control valve 62 is switched between an open position 62a that allows hydraulic fluid to flow, a closed position 62b that blocks hydraulic fluid flow, and a throttle position 62c that adjusts the hydraulic fluid flow rate. A pilot operation portion on the closed position 62 b side of the bypass flow control valve 62 and the upstream side (front side) of the operation valve 60 are connected via a pilot flow path 64 . A pilot operation portion on the open position 62 a side of the bypass flow control valve 62 and the downstream side (rear side) of the operation valve 60 are connected via a pilot flow path 65 . The bypass flow control valve 62 opens to a degree of opening corresponding to the pressure difference across the operation valve 60 . Specifically, as the pressure difference across the operation valve 60 increases, the degree of opening of the bypass flow control valve 62 decreases.

In the configuration diagram showing the control system of the forklift 10 shown in FIG. A tilt operation lever operation amount sensor (potentiometer sensor) 71 for detection, an attachment operation lever operation amount sensor 72 for detecting the operation amount of an attachment operation lever (not shown), and a steering operation speed sensor for detecting the operation speed of the steering wheel 20. 73 , a rotation speed sensor 74 that detects the actual rotation speed of the electric motor 30 (actual motor rotation speed), and a controller 90 .

The controller 90 is configured by a microcomputer, and the microcomputer includes a CPU and a storage section including RAM, ROM, and the like. Various programs for control are stored in the storage unit. The microcomputer may include dedicated hardware that executes at least part of the various types of processing, such as an application specific integrated circuit (ASIC). A microcomputer can be configured as a circuit that includes one or more processors that operate according to a computer program, one or more dedicated hardware circuits such as ASICs, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to perform processes. Memory, or computer-readable media, includes anything that can be accessed by a general purpose or special purpose computer.

The controller 90 inputs detection values of the operation amount sensors (70, 71, 72), the steering operation speed sensor 73, and the rotation speed sensor 74, performs predetermined processing, and controls the electric motor 30, the electromagnetic proportional valves (35, 38, 43, 48, 60).

Thus, as shown in FIG. 3, the forklift 10 as an industrial vehicle includes an electric motor 30, a hydraulic pump motor 29 as a hydraulic pump, cargo handling actuators (cylinders 13, 16, 21, 22, etc.), Prepare. The electric motor 30 is driven according to the operation of the operating members (the operating levers 18, 19, the steering wheel 20, etc.). A hydraulic pump motor 29 as a hydraulic pump operates as the electric motor 30 is driven. The cargo-handling actuators (cylinders 13, 16, 21, 22, etc.) are operated by the supply of hydraulic oil accompanying the operation of a hydraulic pump motor 29 as a hydraulic pump.

As shown in FIG. 4, the forklift 10 includes cameras 80, 81, 82, and a controller 90 as an image processing section and an electric motor control section.
As shown in FIGS. 1 and 2, the cameras 80 and 81 on the head guard 24 face the lift operation lever 18 and the tilt operation lever 19 as operation members from the upper right and upper left. 1, 2, and 6, the cameras 80 and 81 constantly image the lift operation lever 18 and the tilt operation lever 19 as operation members. . Further, as shown in FIGS. 1 and 2, a camera 82 is mounted on the front pillar 23 and faces the lift operation lever 18 and the tilt operation lever 19 as operation members from the front side. 1, 2, and 6, the camera 82 always images the lift operation lever 18 and the tilt operation lever 19 as operation members.

As shown in FIG. 4, a controller 90 as an image processing unit detects the operation amounts (movements) of the lift operation lever 18 and the tilt operation lever 19 as operation members from the images of the cameras 80, 81 and 82. FIG. A controller 90 as an electric motor control unit starts driving the electric motor 30 when detecting the operation of the lift operation lever 18 and the tilt operation lever 19 as operation members. Specifically, when the operator moves the operating levers 18 and 19 even a little, the electric motor 30 is started to be driven.

Next, the action will be described.
FIG. 7(a) is a time chart showing the amount of operation of the cargo handling levers (lift control lever 18, tilt control lever 19). FIG. 7(b) is a time chart showing the operation of the sensing system for the amount of operation of the cargo handling levers (the lift operation lever 18 and the tilt operation lever 19) by the camera. FIG. 7(c) is a time chart showing the pump rotation speed. FIG. 7(d) is a time chart showing the amount of movement of the electromagnetic proportional valves 35 and 38. FIG. FIG. 7(e) is a time chart showing the amount of movement of the actuators (cylinders 13, 16).

A plurality of cameras 80, 81, 82 mounted on the forklift 10 are used to observe the operation of the lift operation lever 18 and the tilt operation lever 19, which are cargo handling levers, by the operator. 7(c), 7(d), and 7(e), the controller 90 starts driving the hydraulic pump motor 29. Let By doing so, the responsiveness of cargo handling can be improved.

FIGS. 8(a), 8(b), 8(c), 8(d), and 8(e) are comparative examples.
FIG. 8(a) is a time chart showing the amount of operation of the cargo handling lever. FIG. 8(b) is a time chart showing detected values of the operation amount of the cargo handling lever by the potentiosensor. FIG. 8(c) is a time chart showing the pump rotation speed. FIG. 8(d) is a time chart showing the amount of movement of the electromagnetic proportional valve. FIG. 8(e) is a time chart showing the amount of movement of the actuator.

8(a), 8(b), and 8(a), 8(b), and 8(a), 8(b), and 8(a), 8(b), and FIG. 8(c), FIG. 8(d), and FIG. 8(e), a first delay period from when the operation amount of the cargo handling lever is detected by the potentiosensor until the operation amount of the cargo handling lever reaches a predetermined amount Lth. There is a (first time lag) T1 and a second period (second time lag) T2 during which the hydraulic pump rotation speed rises from 0 to a predetermined value and hydraulic oil is sent from the electromagnetic proportional valve to the actuator. The reason why the operation of the hydraulic pump is not started until the operation amount of the cargo handling lever by the potentiosensor reaches the predetermined amount Lth is to prevent malfunction due to noise.

In order to shorten the second period T2, for example, the rise (acceleration) of the rotation speed of the pump is increased (the inclination is made steeper), or an accumulator is attached to speed up the rise of the hydraulic pressure by the accumulator. is possible. Also, the first delay period T1 can be shortened by advancing the sensing position of the potentiosensor, but there is a limit to shortening the first delay period T1 because a dead zone is required. In particular, a battery-operated forklift equipped with an electromagnetic proportional valve operates the hydraulic pump/motor 29 after being operated by a person. Efficiency tends to decrease.

In this embodiment, as shown in FIGS. 7(a) and 7(b), by using a sensing system with cameras 80, 81, and 82, the operation member is imaged by the cameras 80, 81, and 82, and the camera 80 , 81 and 82, the operation amount of the operation member is detected, and the driving of the electric motor 30 is started. In this way, it is possible to improve operability and work efficiency by shortening the first delay period T1 by sensing that the worker has carried out the cargo handling operation and issuing a command to the electric motor 30 early. be able to.

According to the above embodiment, the following effects can be obtained.
(1) A forklift truck 10 as an industrial vehicle includes cameras 80 , 81 , 82 that capture images of a lift operation lever 18 and a tilt operation lever 19 as operation members, and a controller 90 . A controller 90 as an image processing unit detects the operation amounts of the lift operation lever 18 and the tilt operation lever 19 as operation members from the images of the cameras 80 , 81 , 82 . A controller 90 as an electric motor control unit starts driving the electric motor 30 when detecting the operation of the lift operation lever 18 and the tilt operation lever 19 as operation members by image processing. Therefore, the lift operation lever 18 and the tilt operation lever 19 as the operation members are picked up by the cameras 80, 81 and 82, and the lift operation lever 18 and the tilt operation lever 19 as the operation members are detected from the images of the cameras 80, 81 and 82. By detecting the operation amount and starting to drive the electric motor 30, the hydraulic pump motor 29 as a hydraulic pump can be activated early, and the cargo handling actuators (lift cylinder 13, tilt cylinder 16) can be activated early. , operability and work efficiency can be improved.

(2) The cameras 80, 81, and 82 are always imaged. Therefore, by constantly observing with the cameras 80, 81, 82, it is possible to constantly detect the operation amounts of the lift operation lever 18 and the tilt operation lever 19 as operation members.

(3) A plurality of cameras 80, 81, 82 capture images of the lift operation lever 18 and the tilt operation lever 19 as operation members from multiple directions. As a result, the operation amounts can be accurately detected as compared with the case where the operation amounts of the lift operation lever 18 and the tilt operation lever 19 as operation members are captured by one camera.

Embodiments are not limited to the above, and may be embodied as follows, for example.
O Although the electric motor 30 functions as an electric motor or a generator, and the hydraulic pump motor 29 operates as a hydraulic pump or a hydraulic motor, the present invention is not limited to this, and an electric motor functioning simply as an electric motor and a hydraulic pump may be combined. may

○ In FIGS. 2 and 6, the cameras 80, 81, and 82 capture images of the lift operation lever 18 and the tilt operation lever 19, but the present invention is not limited to this.
For example, only the lift operation lever 18 may be imaged by a camera. Alternatively, only the tilt operation lever 19 may be imaged by a camera. Alternatively, the lift operation lever 18, the tilt operation lever 19, and the steering wheel 20 may be imaged by a camera.

○ Although the operation member imaged by the camera was the cargo handling operation member, it may be a traveling operation member (for example, a brake pedal, etc.). Specifically, in FIG. 1, the pedal 100 indicated by the phantom line may be imaged by the camera 101 indicated by the phantom line.

In short, the operating member is an operating member for cargo handling or traveling, and the electric motor is driven by the operation of the operating member, and the hydraulic pump is operated by driving the electric motor, thereby driving the cargo handling or traveling actuator. Any system will do.

○ There are no restrictions on the number of cameras or the location of the cameras.
(circle) you may apply to a manual valve besides applying to the electromagnetic proportional valves 35 and 38 which are electromagnetic valves.

○ Although it has been embodied for forklifts, it may be applied to industrial vehicles other than forklifts.

DESCRIPTION OF SYMBOLS 10... Forklift, 13... Lift cylinder, 16... Tilt cylinder, 18... Lift operation lever, 19... Tilt operation lever, 29... Hydraulic pump motor, 30... Electric motor, 80, 81, 82... Camera, 90... Controller.

Claims (4)

an operating member ;
an operation amount sensor that detects an operation amount of the operation member;
an electric motor driven when the operation amount of the operation member detected by the operation amount sensor reaches a predetermined amount ;
a hydraulic pump that operates as the electric motor is driven;
a cargo handling actuator that operates by supplying hydraulic oil accompanying the operation of the hydraulic pump, the battery powered industrial vehicle comprising:
a camera that captures an image of the operation member;
an image processing unit that detects the operation amount of the operation member from the image of the camera;
an electric motor control unit that starts driving the electric motor when the image processing unit detects an operation of the operation member ;
The operation member is a cargo handling operation member operated for cargo handling,
The industrial vehicle , wherein the electric motor control unit starts driving the electric motor when the image processing unit detects an operation of starting the operation of the cargo handling operation member . an electromagnetic proportional valve that supplies the hydraulic oil to the cargo handling actuator when the number of revolutions of the hydraulic pump rises from 0 to a predetermined value;
2. The industrial vehicle according to claim 1, wherein the electric motor control unit starts driving the electromagnetic proportional valve when the image processing unit detects an operation of starting the operation of the cargo handling operation member. 3. The industrial vehicle according to claim 1, wherein the camera constantly takes images. 4. The industrial vehicle according to any one of claims 1 to 3, wherein the operation member is imaged from multiple directions by a plurality of cameras.

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