Kabushiki Kaisha Toyota Jidoshokki

National Institute of Advanced Industrial Science and Technology

Yukikazu Koide

Norihiko Kato

Hironobu Okamoto

Takehiro Kubotani

Hiroyuki Tanaka

Ryusuke Sagawa

Hirokazu Kobayashi

Daisuke Okabe

Yuichi Nishino

Takuro Kato

Shinichi Mae

An anomaly detection device includes processing circuitry and a memory. The memory stores map data and association data. The map data defines a map. The map receives, as input data, manipulation value data and the image data of the vehicle, thereby outputting, as output data, a state ID corresponding to an anomaly state related to the vehicle. The association data associates an anomaly state related to the vehicle with the state ID. The processing circuitry is configured to acquire the manipulation value data, acquire the image data from a camera mounted in the vehicle, input, as the input data, the manipulation value data and the image data, to the map, thereby acquiring, as the output data, the state ID from the map, and identify the anomaly state related to the vehicle based on the state ID acquired from the map and the association data.

Anomaly detection device, vehicle, and anomaly detection method

A controlling device of a forklift executes a stopping process of stopping lowering of a fork by a lift device when a detection sensor is separated from a first facing surface while the fork is being lowered by the lift device in a placing operation, a forward tilting process executed after execution of the stopping process, the forward tilting process controlling the tilt device to tilt the fork forward until the tilt angle reaches a limit value, and a returning process of sequentially obtaining values of the tilt angle during execution of the forward tilting process and tilting the fork rearward when the value of the tilt angle stops changing before the tilt angle reaches the limit value. The returning process is not executed in a case in which the tilt angle reaches the limit value.

Forklift and forklift controlling method

A forklift includes a vehicle body, a fork that mounts a pallet, and a sensor provided in an insertion portion of the fork. The forklift inserts the insertion portion into an insertion opening, while moving the fork. When the sensor detects a proximity state, in which the insertion portion has approached a facing surface to such an extent that a distance between the insertion portion and the facing surface is less than or equal to a specified value, the forklift executes a stopping process that stops movement of the fork. The forklift executes an avoidance process that tilts and vertically moves, after the stopping process, the fork to separate the insertion portion away from the facing surface such that a position of the insertion portion with respect to an entrance of the insertion opening does not change in an up-down direction of the vehicle body.

Forklift and control method for forklift

A switchback control apparatus for an industrial vehicle, includes a forward and reverse operating part, a forward and reverse position detector detecting a position of the forward and reverse operating part, a vehicle speed detector; and a shift control section shifting the transmission forcibly to a first speed stage and then, releasing the first speed stage of the transmission that is set forcibly when the forward and reverse operating part is shifted from the forward position to the reverse position or from the reverse position to the forward position by the forward and reverse position detector and a vehicle speed detected by the vehicle speed detector greater is than or equal to a threshold value that is smaller than a shift-up vehicle speed for shifting the transmission from the first speed stage to a second speed stage.

Switchback control apparatus for industrial vehicle

A shift control system for an industrial vehicle includes a vehicle speed monitor, a vehicle speed limit value setting section, a gear determination section, and a control section. The vehicle speed monitor is configured to monitor and detect an actual vehicle speed of the industrial vehicle. The vehicle speed limit value setting section is configured to set a vehicle speed limit value. The gear determination section is configured to select a transmission gear position of the transmission based on the actual vehicle speed and the vehicle speed limit value. The control section is configured to control the transmission in response to the selected transmission gear position. The gear determination section maintains the transmission in the currently-selected transmission gear position when the vehicle speed limit value is equal to or less than a predetermined threshold value and the threshold value is greater than an upshifting vehicle speed for upshifting the transmission.

Shift control system for industrial vehicle

A vehicle speed control device for an industrial vehicle is configured to control a vehicle speed of the industrial vehicle. The vehicle speed control device includes an operation detector that is configured to detect whether an accelerator pedal is being operated and a controller that is configured to control the vehicle speed of the industrial vehicle by controlling the rotation speed of the engine. The controller is configured to derive a vehicle speed limit value that increases during an operated state of the accelerator pedal and decreases during a non-operated state of the accelerator pedal, and set an upper limit value of the vehicle speed to the derived vehicle speed limit value.

Vehicle speed control device for industrial vehicle

A cargo vehicle includes a hydraulic pump driven by an engine, a cargo handling apparatus operated by hydraulic oil from the hydraulic pump, a cargo operating unit for performing an instruction operation to operate the cargo handling apparatus, an electromagnetic proportional control valve disposed between the hydraulic pump and the cargo handling apparatus, a valve controller that controls the electromagnetic proportional control valve depending on an operation state of the cargo operating unit, and a revolution detector that detects a revolution of the engine, wherein the valve controller controls the electromagnetic proportional control valve such that an opening degree of the electromagnetic proportional control valve is limited for a certain time when the revolution of the engine detected by the revolution detector is lower than a predetermined value.

Cargo vehicle

An industrial vehicle includes an engine, a hydraulic pump, a hydraulic operation device, a supply passage, a drainage passage, an unloading valve that connects the supply passage and the drainage passage to each other, and a controller that controls open/closed state of the unloading valve. If an on-load period at the time of application of load on the engine is less than a first predetermined time, the controller performs open/close control of causing the unloading valve to enter the closed state to set an on-load state, thereby increasing pressure of hydraulic oil passing through the supply passage and then causing the unloading valve to enter the open state.

Industrial vehicle

An industrial vehicle includes a hydraulic mechanism, an operation lever, and a pump, a hydraulic control valve unit, a lever operation detector, an internal combustion engine controller, and a valve controller that controls the hydraulic control valve unit. When the lever operation detector detects the operation of the operation lever under a situation in which a speed of the internal combustion engine is less than or equal to a predetermined speed, the valve controller operates the hydraulic control valve unit to discharge the hydraulic oil without supplying the hydraulic oil to the hydraulic mechanism and instructs the internal combustion engine controller to increase the speed of the internal combustion engine, and subsequently operates the hydraulic control valve unit to supply the hydraulic mechanism with the hydraulic oil.

Industrial vehicle and method for controlling industrial vehicle

A current controller includes a current control circuit and a current detection circuit, which detects a current flowing through a solenoid of an electromagnetic proportional relief valve. The current control circuit sets a current command to a sum of a value obtained by multiplying a feedforward gain by a target current value, a value obtained by multiplying a proportional gain by a current deviation, and a value obtained by multiplying an integral gain by a current deviation integral value. The current control circuit then controls the current flowing through the solenoid in accordance with the current command. When the current detected by the current detection circuit is less than or equal to the predetermined value, the current control circuit resets the current deviation and the current deviation integral value and sets the current command based on the reset values.

Current controller

A vehicle speed control apparatus of an industrial vehicle has a controller that determines a target engine speed by PI control based on a deviation between a target vehicle speed and an actual vehicle speed. The controller controls an upper limit of the target engine speed according to an actual engine speed.

Vehicle speed control apparatus of industrial vehicle

An industrial vehicle which is equipped with an engine and having an Eco-mode in which torque of the engine is restricted includes an accelerator, an accelerator opening detector that detects an opening of the accelerator, a vehicle speed detector that detects a speed of the vehicle, an engine speed detector that detects a speed of the engine, and a torque restriction releasing unit which, when the torque of the engine is restricted, if conditions that the opening of the accelerator detected by the accelerator opening detector is a first predetermined value or greater, that the vehicle speed detected by the vehicle speed detector is a second predetermined value or smaller and that the engine speed detected by the engine speed detector is a third predetermined value or smaller are satisfied, releases the torque restriction.

An industrial vehicle that includes an engine, a hydraulic actuator, a hydraulic pump, and an instruction member operated to instruct operation of the hydraulic actuator. A supply passage supplies hydraulic oil to the hydraulic actuator. A return passage returns return the hydraulic oil to an oil tank. A controller compares an engine speed and a predetermined comparison threshold value. When the engine speed is less than the comparison threshold value, the controller opens the return passage. The comparison threshold value includes a first threshold value and a second threshold value that is lower than the first threshold value. In response to the operation of the instruction member, the controller opens the return passage, performs revving control to increase the engine speed, and changes the comparison threshold value from the first threshold value to the second threshold value.

An industrial vehicle includes an accelerator, an accelerator opening sensor which detects an opening of the accelerator, a loading unit, an engine and a torque restriction releasing unit. When the torque restriction releasing unit is set in an Eco-mode in which torque of the engine is restricted, if the opening of the accelerator detected by the accelerator opening sensor is a first predetermined value or greater and at least one of conditions that a speed of the vehicle is a second predetermined value or greater and that the loading unit is in a lifting operation, is satisfied and such conditions of the accelerator and the vehicle speed and/or lifting operation are continued for a predetermined period of time, the torque restriction releasing unit releases the torque restriction.

A power control device for a cargo handling vehicle provided with a cargo handling apparatus operated by a hydraulic oil from a hydraulic pump driven by an engine includes a controller and an engine speed sensor detecting an engine speed. The controller controls an engine torque to be limited by using an engine torque limit value for limiting the engine torque, and controls the engine torque limit on the engine by an engine torque limiting unit to be canceled when the engine speed detected by the engine speed sensor is equal to or lower than a predetermined first engine speed.

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Kariya, Japan

Yukikazu Koide