JP2004075216A - Forklift - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a forklift with a drive wheel which can be steered in 360° for preventing danger by accurately informing a driver and people around of a travelling direction of the forklift. <P>SOLUTION: The forklift with the drive wheel 24 which can be steered in 360° comprises a steering angle detecting means 1 for detecting a steering angle of the drive wheel, a rotation direction detecting means for detecting a rotation direction of the drive wheel, a travelling direction determining means for determining the travelling direction of the fork lift based on the steering angle and the rotation direction of the drive wheel, a display 4 for informing a determination result determined by the travelling direction determining means 3, a forward chime 5, and a backward buzzer 6. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a forklift provided with drive wheels capable of being steered by 360 °.
[0002]
[Prior art]
Conventionally, a seat-type reach-type forklift (hereinafter simply referred to as a forklift) 21 as shown in FIG. 6 has been used. The driver sits on the seat 22 and controls the traveling direction of the forklift 21 by operating the directional switch 23 shown in FIG. 7 with the right hand while operating the handle 25 with the left hand. Further, the driver controls the traveling speed of the forklift 21 by adjusting the amount of depression of an accelerator pedal provided on the floor 26 of the forklift 21.
[0003]
In such a forklift 21, the steering angle of the drive wheel 24 is limited by a stopper so as to fall within a range of ± 90 ° with respect to the front of the forklift 21, or the drive wheel is not provided without the stopper. 24 is provided such that it can be steered by 360 °. In the former case, the tilting direction of the directional switch 23 and the rotation direction of the traveling motor that drives the drive wheels 24 are uniquely set. For example, when the directional switch 23 is tilted forward, the traveling motor becomes normal. The forklift 21 turns forward and moves forward. Also, in the latter case, the tilting direction of the directional switch 23 and the rotation direction of the traveling motor may be uniquely set by applying the former configuration as it is.
[0004]
8 to 12 show the state of the forklift 21 when the driver gradually rotates the steering wheel 25. FIG. However, for convenience of explanation, the forklift 21 in FIGS. 8 to 12 is simplified. FIGS. 8 to 12 also show that the directional switch 23 is tilted to the black triangle out of the two triangles representing the directional switch 23. When the directional switch 23 is tilted to the front side of the forklift 21, that is, to the front side as viewed from the driver, the driving motor rotates forward and the drive wheels 24 rotate forward, and the directional switch 23 is turned off. When the forklift 21 is tilted to the rear side, that is, to the back side when viewed from the driver, the driving motor rotates in the reverse direction and the drive wheels 24 rotate in the reverse direction.
[0005]
FIG. 8 shows a case where the steering angle of the forklift 21 with respect to the forward direction is 0 ° in a state where the drive wheel 24 is rotating forward, and the forklift 21 moves straight forward as indicated by the arrow. FIG. 9 shows a case where the steering angle of the forklift 21 with respect to the forward direction is −45 ° in a state where the drive wheel 24 is rotating forward, and as indicated by the arrow, the forklift 21 is at a right angle of 45 ° in the forward right direction. Proceed in the direction. FIG. 10 shows a case where the steering angle of the forklift 21 with respect to the forward direction is −90 ° in a state where the drive wheel 24 is rotating forward, and as indicated by the arrow, the forklift 21 is driven by two rear driven wheels. The vehicle turns to the right of the vehicle around the midpoint between 27a and 27b. FIG. 11 shows a case where the steering angle of the forklift 21 with respect to the forward direction is −135 ° in a state where the drive wheel 24 is rotating forward, and as indicated by the arrow, the forklift 21 is at a right angle 45 ° rearward. Proceed in the direction. FIG. 12 shows a case where the steering angle of the forklift 21 with respect to the front direction is −180 ° in a state where the drive wheel 24 is rotating forward, and as shown by the arrow, the forklift 21 moves straight backward.
[0006]
As described above, in the forklift 21 in which the drive wheels 24 can be steered by 360 °, the driver can freely change the traveling direction of the forklift 21 only by operating the handle 25, so that the steering angle of the drive wheels 24 is limited by the stopper. There is an advantage that the operability is higher than that which is performed.
[0007]
On the other hand, conventionally, in order to ensure the safety of work, the traveling direction of a forklift is reported. For example, the steering angle of the drive wheels 24 is limited by a stopper, and the direction of the directional switch 23 is controlled. In a forklift in which the tilting direction and the rotation direction of the traveling motor are uniquely set, when the directional switch 23 is tilted forward of the forklift 21, that is, when the directional switch 23 is tilted to the near side as viewed from the driver, the forward chime is generated. Is sounded, and the back buzzer sounds when the directional switch 23 is tilted backward in the forklift 21, that is, when it is tilted backward when viewed from the driver.
[0008]
[Problems to be solved by the invention]
Even in the forklift 21 in which the drive wheels 24 can be steered by 360 °, it may be necessary to notify the traveling direction of the forklift 21 in order to ensure the safety of the work. If the information method focusing only on the tilting direction is employed as it is, the following problem occurs.
[0009]
That is, in the case shown in FIG. 8 and the case shown in FIG. 12, although the tilt direction of the directional switch 23 is the same and the rotation direction of the drive wheel 24 is also the same, the steering angle of the drive wheel 24 becomes smaller. Since they differ by 180 °, the traveling direction of the forklift 21 is reversed. In the case shown in FIG. 13, the tilting direction of the directional switch 23 is opposite to that in the case shown in FIG. Since they are different, the traveling direction of the forklift 21 is the same. Further, in the case shown in FIG. 14, the tilting direction of the directional switch 23 is opposite to that in the case shown in FIG. Since they differ by 180 °, the traveling direction of the forklift 21 is the same. That is, the forklift 21 moves backward with the directional switch 23 tilted forward and the forward chime is sounding, or the forklift 21 moves forward with the directional switch 23 tilted backward and the back buzzer sounds. If a person around the forklift 21 determines the traveling direction of the forklift 21 only by the sound of the forward chime or the back buzzer, the determination may be erroneous.
[0010]
On the other hand, when the forklift 21 is once stopped to perform the cargo handling operation, and then the forklift 21 is to be moved again, or when the driver is changed, for example, the driver switches the directional switch 23 to the front side. When the forklift 21 is tilted, it is conceivable that the forklift 21 cannot be grasped in which direction. If the forklift 21 runs in the opposite direction to the intended direction due to lack of grasp, the forklift 21 may pose a danger to the surroundings.
[0011]
In view of the above problems, the present invention provides a drive wheel capable of 360 ° steering so that the traveling direction of a forklift can be accurately notified to a driver or a person in the vicinity to prevent danger. It is an object to provide a forklift.
[0012]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a forklift provided with a drive wheel capable of steering by 360 °, a steering angle detecting means for detecting a steering angle of the drive wheel, and a rotational direction for detecting a rotational direction of the drive wheel. Detecting means for determining a running direction of the forklift based on a steering angle of the drive wheel detected by the steering angle detecting means and a rotational direction of the drive wheel detected by the rotational direction detecting means; It is characterized by comprising a determining means and a notifying means for notifying a result of the determination made by the traveling direction determining means.
[0013]
The steering angle detecting means makes it possible to detect the steering angle of the drive wheel in the range of -180 ° to 180 ° with respect to the forward direction of the forklift, and the rotational direction detecting means makes the rotation direction of the drive wheel forward or reverse. In the configuration in which the driving direction is determined, the traveling direction determining means determines whether the steering angle of the drive wheel is within ± 90 ° with respect to the forward direction of the forklift and the rotation direction of the drive wheel is forward rotation. When the traveling direction is determined to be the forward direction, and the steering angle of the drive wheels is within ± 90 ° with respect to the forward direction of the forklift, and the rotation direction of the drive wheels is reverse, the traveling direction of the forklift is in the reverse direction. If the steering angle of the drive wheel exceeds the range of −90 ° to 90 ° with respect to the forward direction of the forklift and the rotation direction of the drive wheel is forward rotation, the traveling direction of the forklift is set to the reverse direction. In When the steering angle of the drive wheel exceeds the range of −90 ° to 90 ° with respect to the forward direction of the forklift, and the rotation direction of the drive wheel is reverse, the traveling direction of the forklift is in the forward direction. It may be determined that there is.
[0014]
The rotation direction detecting means directly detects the rotation direction of the drive wheel, such as an encoder provided on the rotation shaft of the drive wheel, and indirectly detects the rotation direction of the traveling motor that drives the drive wheel. In a forklift in which the tilt direction of the directional switch and the rotation direction of the traveling motor are uniquely set, the tilt direction of the directional switch is detected. Thus, the rotational direction of the drive wheel may be indirectly detected.
[0015]
The notifying means includes display means for visually displaying the determination result at a position visible to the driver. When the traveling direction determination means determines that the traveling direction of the forklift is the forward direction, the display means displays the result. Means for displaying that the traveling direction of the forklift is the forward direction, and when the traveling direction determination means determines that the traveling direction of the forklift is the backward direction, the display means displays the traveling direction of the forklift in the backward direction. A display that indicates that there is. Specifically, the traveling direction of the forklift may be displayed on a display, an indicator, or the like provided in the driver's seat, using symbols, pictures, characters, or the like. With this configuration, the driver can see the contents displayed on the display means and know the traveling direction of the forklift, and can drive safely.
[0016]
The notifying means includes a sound output means for audibly outputting the determination result to the periphery of the forklift. When the running direction determination means determines that the traveling direction of the forklift is the forward direction, the sound output means outputs the sound output. Means for outputting a sound indicating that the traveling direction of the forklift is the forward direction, and when the traveling direction of the forklift is determined to be the backward direction by the traveling direction determining means, the traveling direction of the forklift is changed by the sound output means. It may output a sound indicating that the vehicle is moving in the reverse direction. Specifically, a chime and a buzzer capable of outputting different sounds may be provided, or a buzzer capable of outputting sounds at a plurality of different cycles may be provided so that the output sounds can be distinguished. . In this way, a person around the forklift can hear the sound output by the sound output means and know the movement of the forklift accurately.
[0017]
Further, in addition to the above configuration, a driving wheel stop detecting means for detecting that the rotation of the driving wheel has stopped, and a traveling direction of the forklift when the rotation of the driving wheel is detected to be stopped by the driving wheel stop detecting means. And a start-up detecting unit that detects the start of the forklift, and the notifying unit detects the running direction stored in the storage unit when the start-up detecting unit detects that the forklift has been started. Can be notified.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment will be described in which the present invention is applied to a seat-type reach-type forklift in which drive wheels are provided so as to be steerable by 360 °. FIG. 1 is a functional block diagram for notifying a traveling direction in the present embodiment, FIG. 2 is a partial cross-sectional view showing a driving mechanism and a steering mechanism of a forklift in the present embodiment, and FIG. 3 is a steering angle in the present embodiment. FIG. 4 is an explanatory diagram showing a detecting means, FIG. 4 is a flowchart showing a control procedure in this embodiment, and FIG. 5 is an explanatory diagram showing a display on a display in this embodiment. Note that the overall configuration of the forklift according to the present embodiment is the same as that of the conventional art shown in FIGS.
[0019]
In the forklift 21 of the present embodiment, in addition to the conventional configuration, an example of a steering angle detection unit 1, a rotation direction detection unit 2, a traveling direction determination unit 3, and a notification unit as shown in FIG. , A forward chime 5 and a back buzzer 6 are provided. Further, as shown in FIG. 1, the forklift 21 of the present embodiment is also provided with a drive wheel stop detecting unit 7, a storage unit 8, and a starting detecting unit 9.
[0020]
FIG. 2 shows a drive mechanism and a steering mechanism of the drive wheels 24 included in the forklift 21 of the present embodiment. As shown in FIG. 2, a traveling motor 32 and a steering motor 33 are mounted on a support 31 attached to the vehicle body. The traveling motor 32 is connected to the driving wheels 24 via a shaft 34, and the driving wheels 24 rotate forward or backward by driving the traveling motor 32 in accordance with the operation of the accelerator pedal by the driver. On the other hand, the steering motor 33 is driven according to the driver's steering operation, and the steering gear 33 connected to the steering motor 33 is rotated by the driving of the steering motor 33. When the steering gear 35 rotates, a driven gear 36 interlocked with the steering gear 35 rotates, and a rotation of the driven gear 36 causes a driving wheel supporting portion 37 that supports the driving wheel 24 and the like to rotate, thereby driving the driving wheel. 24 is steered. Note that a projection 38 is provided on the upper surface of the driven gear 36, and a limit switch 39 is attached to a portion that can contact the projection 38.
[0021]
The projection 38 provided on the upper surface of the driven gear 36 is formed in a semi-cylindrical shape having a predetermined width as shown in FIGS. 4A and 4B, and as shown in FIG. When the steering angle of the drive wheel 24 is within the range of ± 90 ° with respect to the forward direction of the forklift, the limit switch 39 is in the off state without contacting the projection 38, as shown in FIG. When the steering angle of the drive wheel 24 exceeds the range of −90 ° to 90 ° with respect to the forward direction of the forklift, the limit switch 39 comes into contact with the projection 38 and is turned on. The projection 38 and the limit switch 39 constitute the steering angle detecting means 1. Here, the steering angle of the drive wheel 24 is defined as the forward direction of the forklift 21 and the direction in which the forklift 21 travels by the drive wheel 24 when the drive wheel 24 is driven in the forward direction by the traveling motor 32. A state in which the forward direction of the forklift 21 and the traveling direction coincide with each other is defined as a steering angle of zero, and from the state of the zero steering angle, the side on which the drive wheels 24 are steered counterclockwise in plan view. Positive values and the side steered clockwise are represented by negative values.
[0022]
Further, in the forklift 21 of the present embodiment, a rotary encoder as the rotation direction detecting means 2 is attached to a shaft 34 of a traveling motor 32 that drives the drive wheels 24. The rotation direction of the traveling motor 32 is detected based on the phase relationship of the two-phase approximate sine wave output by the rotary encoder in accordance with the rotation direction of the traveling motor 32. In this embodiment, the traveling motor Since the rotation direction of the drive wheel 32 and the rotation direction of the drive wheel 24 have a unique relationship, the rotation direction of the drive wheel 24 can be indirectly detected by detecting the rotation direction of the traveling motor 32.
[0023]
Then, the traveling direction determination unit 3 determines the traveling direction of the forklift 21 based on the detection result by the steering angle detection unit 1 and the detection result by the rotation direction detection unit 2.
[0024]
Hereinafter, the control procedure according to the present embodiment will be described with reference to FIG.
When the driver tilts the directional switch 23 in the direction in which the forklift 21 wants to travel and depresses the accelerator pedal, the traveling motor 32 rotates. First, it is determined whether or not the limit switch 39 is on (step S1). 1) Subsequently, it is determined whether or not the rotation direction of the traveling motor 32 is normal rotation (steps 2 and 3). Then, it is determined whether the traveling direction of the forklift 21 is the forward direction or the reverse direction according to the determination results in steps 2 and 3 (steps 4, 5, 6, and 7).
[0025]
Specifically, as shown in FIGS. 8 to 10, when the limit switch 39 is in the off state and it is detected that the rotation direction of the drive wheel 24 is normal rotation, the traveling direction determination unit 3 Determines that the limit switch 39 is not on in Step 1 (No in Step 1), and then determines in Step 2 that the rotation direction of the traveling motor 32 is normal rotation (Yes in Step 2), As a result, it is determined that the traveling direction of the forklift 21 is the forward direction (step 4).
[0026]
As shown in FIG. 14, when the limit switch 39 is in the off state and it is detected that the rotation direction of the drive wheel 24 is reversed, the traveling direction determination means 3 determines in step 1 that the limit switch 39 It is determined that it is not in the ON state (No in Step 1), and subsequently, in Step 2, it is determined that the rotation direction of the traveling motor 32 is not forward rotation (No in Step 2), and as a result, the traveling direction of the forklift 21 moves backward. The direction is determined (step 5).
[0027]
Also, as shown in FIGS. 11 and 12, when the limit switch 39 is in the ON state and it is detected that the rotation direction of the drive wheel 24 is normal rotation, the traveling direction determination means 3 performs the step In step 1, it is determined that the limit switch 39 is on (Yes in step 1). Subsequently, in step 3, it is determined that the rotation direction of the traveling motor 32 is normal rotation (Yes in step 3). It is determined that the traveling direction of 21 is the reverse direction (step 6).
[0028]
Further, as shown in FIG. 13, when the limit switch 39 is in the ON state and it is detected that the rotation direction of the drive wheel 24 is reversed, the traveling direction determination means 3 determines in step 1 39 is determined to be in the ON state (Yes in step 1), subsequently, in step 3, it is determined that the rotation direction of the traveling motor 32 is not normal rotation (No in step 3), and as a result, the traveling direction of the forklift 21 is determined. Is determined to be the forward direction (step 7).
[0029]
In this way, when the traveling direction determining means 3 determines whether the traveling direction of the forklift 21 is the forward direction or the reverse direction, the result of the determination is the display 4, the forward chime 5, or the back buzzer 6. Is notified.
[0030]
Specifically, when the traveling direction determination unit 3 determines that the traveling direction of the forklift 21 is the forward direction, information indicating that is provided in the display 4 provided in the driver's seat and in the vehicle body. The display 4 is sent to the forward chime 5, and the display 4 lights the mark F10 shown in FIG. 5 to notify the driver that the forklift 21 is moving forward. In addition, the forward chime 5 notifies a person around the forklift 21 by sound that the forklift 21 is moving forward.
[0031]
On the other hand, when the traveling direction determination means 3 determines that the traveling direction of the forklift 21 is the reverse direction, information to that effect is sent to the display 4 and the back buzzer 6 provided inside the vehicle main body. 4 lights the mark R11 shown in FIG. 6 to notify the driver that the forklift 21 moves backward. In addition, the back buzzer 6 notifies a person around the forklift 21 by a sound that the forklift 21 moves backward.
[0032]
As described above, when the forklift 21 is moving, the traveling direction of the forklift 21 determined by the traveling direction determination unit 3 is output as a sound by the forward chime 5 or the back buzzer 6, so that the persons around the forklift 21 The traveling direction of the moving forklift 21 can be reliably known. Further, since the traveling direction of the forklift 21 is displayed on the display 4, the driver can drive while checking the traveling direction of the forklift 21.
[0033]
By the way, the traveling direction determining means 3 cannot determine the traveling direction of the forklift 21 when the traveling motor 32 is not rotating, and therefore determines the traveling direction of the forklift 21 to start moving by the driver or the forklift. We cannot inform neighboring people.
[0034]
Therefore, as shown in FIG. 1, the forklift 21 of the present embodiment is provided with the drive wheel stop detection means 7, the storage means 8, and the activation detection means 9, and by these, the forklift 21 The traveling direction can be notified to the driver and the persons around the forklift 21.
[0035]
That is, the drive wheel stop detection means 7 detects that the rotation of the traveling motor 32 has stopped, and sends stop information to that effect to the storage means 8. The storage unit 8 receives the stop information from the drive wheel stop detection unit 7 and stores the traveling direction of the forklift 21 immediately before receiving the drive wheel stop information. Then, when the driver activates the forklift 21 by inserting a key into a predetermined place or the like, the activation detecting means 9 detects that the forklift 21 has been activated. When the activation detecting means 9 detects that the forklift 21 has been activated, the traveling direction of the forklift 21 stored in the storage means 8 immediately before the driving wheels 24 stop is displayed on the display 4 and the forward chime 5. Or, it is sent to the back buzzer 6. Then, the display 4 and the forward chime 5 or the back buzzer 6 notify the traveling direction of the forklift 21 immediately before the driving wheels 24 stop.
[0036]
If the storage unit 8 stores information that the traveling direction of the forklift 21 immediately before the driving wheels 24 stop is the forward direction, and the activation detection unit 9 detects that the forklift 21 has been activated, the forklift 21 Is transmitted to the display 4 and the forward chime 5. Then, the display 4 lights the mark F10 shown in FIG. 6 to notify the driver that the forklift 21 moves forward. Further, the forward chime 5 warns a person around the forklift 21 by a sound that the forklift 21 is moving forward.
[0037]
On the other hand, when the information that the traveling direction of the forklift 21 immediately before the driving wheels 24 stop is the backward direction is stored in the storage unit 8, when the activation detection unit 9 detects that the forklift 21 has been activated, Information that the traveling direction of the forklift 21 is the reverse direction is sent to the display 4 and the back buzzer 6. Then, the display 4 lights the mark R11 shown in FIG. 6 to notify the driver that the forklift 21 moves backward. Further, the back buzzer 6 warns a person around the forklift 21 by a sound that the forklift 21 moves backward.
[0038]
As described above, when the forklift 21 starts to move, the traveling direction immediately before the forklift 21 stops is displayed on the display 4. Therefore, when the driver determines that there is a risk of colliding with luggage or the like when the forklift 21 travels as it is, the driver switches the selection of the directional switch 23 to reverse the rotation direction of the drive wheel 24 and changes the traveling direction of the forklift 21. Can be reversed. In addition, a person around the forklift 21 can know in advance the traveling direction of the forklift 21 that is about to start moving, and can avoid contact with the forklift 21.
[0039]
In the above-described embodiment, the present invention has been described by taking a seat-type reach-type forklift as an example. However, the present invention is not limited to a seat-type reach-type forklift. For example, the present invention can be applied to other types of forklifts.
[0040]
【The invention's effect】
As described above, according to the present invention, the accurate traveling direction of the forklift is reported by the reporting means, so that erroneous determination of the traveling direction can be prevented, and the work can be performed safely.
[Brief description of the drawings]
FIG. 1 is a functional block diagram showing a configuration for notifying a traveling direction of a forklift according to an embodiment of the present invention.
FIG. 2 is a partial sectional view showing a driving mechanism and a steering mechanism of the forklift according to the embodiment of the present invention.
FIG. 3 is an explanatory diagram illustrating a steering angle detecting unit according to the embodiment of the present invention.
FIG. 4 is a flowchart showing a control procedure according to the embodiment of the present invention.
FIG. 5 is an explanatory diagram of a display according to the embodiment of the present invention.
FIG. 6 is a perspective view of a forklift provided with drive wheels capable of being steered by 360 ° as viewed from the front of the vehicle.
7 is an enlarged perspective view of the vicinity of the driver's seat of the forklift shown in FIG. 6 as viewed from the side of the vehicle.
FIG. 8 is an explanatory diagram showing a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
FIG. 9 is an explanatory diagram showing a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
FIG. 10 is an explanatory diagram showing a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
FIG. 11 is an explanatory diagram illustrating a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
FIG. 12 is an explanatory diagram showing a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
FIG. 13 is an explanatory diagram showing a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
FIG. 14 is an explanatory diagram showing a relationship between a steering angle and a rotation direction of a drive wheel and a traveling direction of a forklift.
[Explanation of symbols]
1 Steering angle detection means
2 Rotation direction detection means
3 running direction determination means
4 display (notification means)
5 Forward chime (reporting means)
6. Back buzzer (reporting means)
7 Drive wheel stop detection means
8 Storage means
9 Startup detection means
21 Seat-type reach-type forklift
23 Directional Switch
24 drive wheels
38 Projection
39 Limit switch

Claims (5)

In a forklift in which the drive wheels are provided to be steerable by 360 °, a steering angle detection unit that detects a steering angle of the drive wheels, a rotation direction detection unit that detects a rotation direction of the drive wheels, and a steering angle detection unit. A traveling direction determining unit configured to determine a traveling direction of the forklift based on the detected steering angle of the drive wheel and a rotational direction of the drive wheel detected by the rotational direction detection unit; A forklift, comprising: a notifying unit that notifies a result of the determination. The steering angle detection means is capable of detecting a steering angle of the drive wheel in a range of -180 ° to 180 ° with respect to a forward direction of the forklift, and the rotation direction detection means is configured to detect a rotation direction of the drive wheel. Is to detect whether the rotation is forward rotation or reverse rotation, the traveling direction determination means,
When the steering angle of the drive wheel is within ± 90 ° with respect to the forward direction of the forklift, and the rotation direction of the drive wheel is normal rotation, it is determined that the traveling direction of the forklift is the forward direction,
When the steering angle of the drive wheel is within ± 90 ° with respect to the forward direction of the forklift, and the rotation direction of the drive wheel is reverse, it is determined that the traveling direction of the forklift is the reverse direction,
When the steering angle of the drive wheel exceeds a range of −90 ° to 90 ° with respect to the forward direction of the forklift, and the rotation direction of the drive wheel is forward rotation, the traveling direction of the forklift is the reverse direction. Is determined,
When the steering angle of the drive wheel exceeds a range of −90 ° to 90 ° with respect to the forward direction of the forklift, and the rotation direction of the drive wheel is reverse, the traveling direction of the forklift is a forward direction. The forklift according to claim 1, wherein the forklift is to determine. The notifying unit includes a displaying unit that visually displays the determination result at a position where the driver can visually recognize the determination result,
When the traveling direction of the forklift is determined to be the forward direction by the traveling direction determination means, the display means displays that the traveling direction of the forklift is the forward direction,
The method according to claim 2, wherein when the traveling direction of the forklift is determined to be the reverse direction by the traveling direction determining means, the display means displays that the traveling direction of the forklift is the reverse direction. The forklift described. The notifying unit includes a sound output unit that outputs the determination result audibly to the periphery of the forklift,
When the traveling direction of the forklift is determined to be the forward direction by the traveling direction determining unit, a sound indicating that the traveling direction of the forklift is the forward direction is output by the sound output unit,
When the traveling direction of the forklift is determined to be the reverse direction by the traveling direction determining means, a sound indicating that the traveling direction of the forklift is the reverse direction is output by the sound output means. Item 3. A forklift according to item 2. A drive wheel stop detecting unit for detecting that the rotation of the drive wheel has stopped, and a traveling direction of the forklift immediately before the stop of the rotation of the drive wheel is detected by the drive wheel stop detector. Storage means for storing the forklift, the start detecting means for detecting the start of the forklift,
5. The information processing apparatus according to claim 1, wherein the notification unit notifies the traveling direction stored in the storage unit when the activation detection unit detects that the forklift has been activated. A forklift according to any of the above.

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