CN114253259A - Unmanned transport vehicle automatic driving system capable of automatically adjusting height - Google Patents
Unmanned transport vehicle automatic driving system capable of automatically adjusting height Download PDFInfo
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- 238000000034 method Methods 0.000 claims description 14
- 230000008447 perception Effects 0.000 claims description 14
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- 238000004364 calculation method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 description 9
- 230000007613 environmental effect Effects 0.000 description 6
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses an automatic driving system of an unmanned transport vehicle capable of self-adjusting height, which comprises a server and a computing unit, wherein a signal port of the computing unit is connected with a vehicle control module, an environment sensing module, a lifting platform control module, a warning system and a vehicle positioning module, wherein: the server is used for storing various information of the vehicle; the computing unit is used for processing the received information and sending instructions to each module; the vehicle control module is used for controlling the running state of the vehicle; the environment sensing module is used for acquiring external environment information; the lifting platform control module is used for controlling the movement of the lifting platform; the server is connected with the computing unit through an electric signal, and the vehicle positioning module is connected with the lifting platform control module through the computing unit; the invention has the advantages that: the automatic goods shelf device is beneficial to the unmanned transport vehicle to rapidly pass through the barrier, and can adjust the height of the goods tray according to the height of the goods shelf, so that the goods on the lifting platform can be conveniently transferred to the goods shelf.
Description
Technical Field
The invention relates to the field of unmanned transportation, in particular to an automatic driving system of an unmanned transport vehicle capable of automatically adjusting height.
Background
Along with the development of automatic control technique and artificial intelligence technique, unmanned transport vechicle is by wide application in logistics transportation such as warehouse, workshop, colliery, unmanned transport vechicle is based on unmanned transport vechicle of automatic driving technique possess the ability of environmental perception, route planning and control vehicle action, unmanned transport vechicle has all-weather work, advantage such as the cost of labor is low, but the height of the last goods of elevating platform can not adjust by oneself according to on-the-spot actual conditions when unmanned transport warehouse, the transportation in the workshop, because the barrier is like in the workshop: the height difference of door frame, goods shelves, the transport vechicle can not be adjusted according to the actual conditions of barrier, and unmanned transport vechicle staff can not in time maintain when having a fault, in addition, unmanned transportation can not remind passerby in the workshop when the form, and is dangerous, for this reason, we provide one kind can self-interacting height unmanned transport vechicle autopilot system.
Disclosure of Invention
The invention aims to solve the technical problems that the height of goods on a lifting platform cannot be automatically adjusted according to the actual situation on site when the goods are transported in an unmanned transport warehouse or a workshop, so that an unmanned transport vehicle cannot pass through some barriers and is inconvenient to load and unload.
The invention adopts the following technical scheme to solve the technical problems: the utility model provides a but self-interacting height's unmanned transport vechicle autopilot system, includes server, computational element, the signal port of computational element is connected with vehicle control module, environmental perception module, elevating platform control module, warning system, vehicle orientation module, wherein: the server is used for storing various information of the vehicle;
the computing unit is used for processing the received information and sending instructions to each module;
the vehicle control module is used for controlling the running state of the vehicle;
the environment sensing module is used for acquiring external environment information;
the lifting platform control module is used for controlling the movement of the lifting platform;
the server is connected with the computing unit through an electric signal, and the vehicle positioning module is connected with the lifting platform control module through the computing unit.
Preferably, the vehicle control module comprises a braking module, a steering module and a driving module, and the braking module, the steering module and the driving module are all electrically connected with the computing unit.
Preferably, the environment sensing module comprises a millimeter wave radar and a camera, and the millimeter wave radar and the camera are both electrically connected with the computing unit.
Preferably, the environment perception module is connected with the lifting platform control module through the computing unit, the environment perception module is electrically connected with the vehicle control module through the computing unit, the environment perception module captures external information and transmits the external information to the computing unit, and the computing unit processes electric signals received by the environment perception module and controls the vehicle advancing mode through the vehicle control module.
Preferably, the calculation unit can judge the height of the obstacle, the height of the loading platform, the height of the vehicle, the height of the lifting platform and the height of the goods, and the calculation unit judges the height of the lifting platform, which needs to be adjusted, according to the height of the obstacle, the height of the vehicle, the height of the lifting platform and the height of the goods and controls the lifting of the lifting platform.
Preferably, the vehicle positioning module is configured to position a vehicle to query a vehicle position, the vehicle positioning module includes an inertial navigation module, a speed sensor, an angle sensor, and a positioning system, the inertial navigation module is configured to measure an acceleration of a carrier in an inertial reference frame, the speed sensor is configured to measure a vehicle speed, the angle sensor is configured to measure a vehicle deflection angle, and the positioning system is configured to position the vehicle position, and the positioning system includes: galileo, GPS, BDS, GLONASS, UWB.
Preferably, the vehicle positioning module is connected with the lifting platform control module through a calculation unit, the position of the positioning system for positioning the vehicle is transmitted to the calculation unit, the calculation unit judges the working state of the vehicle, the calculation unit adjusts the height of the lifting platform through the lifting platform control module, and the working state comprises a loading and unloading state and a transportation state.
Preferably, the warning system is used for giving an alarm to the outside, and comprises an acoustic alarm and an LED alarm lamp.
Preferably, the warning system is in telecommunication connection with the vehicle control module, the environment sensing module, the lifting platform control module and the vehicle positioning module through a computing unit, the computing unit controls the warning system to give an alarm through alarm information transmitted by the vehicle control module, the environment sensing module, the lifting platform control module and the vehicle positioning module, and the alarm information comprises vehicle starting, vehicle turning, vehicle acceleration, vehicle deceleration, approaching to an obstacle, incapability of passing through the obstacle, instrument failure in the vehicle and lifting platform operation.
Compared with the prior art, the invention provides the automatic driving system of the unmanned transport vehicle with the self-adjustable height, which has the following beneficial effects:
1. the automatic driving system of the unmanned transport vehicle with the self-adjustable height can acquire the distance between the vehicle and surrounding obstacles through millimeter wave radar, acquire images around the vehicle through a camera and upload the images to a computing unit, ensure accurate sensing of the external environment through the millimeter wave radar and the camera to ensure the driving safety of the vehicle, judge the surrounding conditions of the vehicle through external information acquired by an environment sensing module by the computing unit, calculate the total height between the vehicle and goods and the height of the obstacles, control a lifting platform to descend through a lifting platform control module to enable the vehicle to pass through the obstacles, facilitate the unmanned transport vehicle to pass through the obstacles quickly, judge whether the vehicle travels to a goods loading and unloading point or not according to the position of the vehicle sent by a positioning system by the computing unit, and control the descending distance of the lifting platform through the lifting platform control module, the height of the goods tray can be adjusted according to the height of the goods shelf, so that a forklift can conveniently transfer goods on the lifting platform to the goods shelf, the unmanned transport vehicle can conveniently load and unload the goods, and the goods tray can pass through barriers with different heights;
2. according to the automatic driving system of the unmanned transport vehicle with the height self-adjusting function, the vehicle positioning module can measure the acceleration, the speed, the deflection angle and the vehicle position of the vehicle in the vehicle advancing process and transmit the information to the computing unit, the computing unit analyzes the information transmitted back by the environment sensing module and the vehicle positioning module, the vehicle control module controls the acceleration, the deceleration, the stop, the starting and the steering of the vehicle, goods can be conveyed in an unmanned state, the unmanned transport system is accurate in identification, and the use safety is improved;
3. this unmanned transport vechicle autopilot system that can self-interacting height, at the vehicle operation in-process, can start at the vehicle, the vehicle turns, the vehicle accelerates, the vehicle slows down, be close to the barrier, can't pass through the barrier, instrument trouble in the car, the elevating platform operation etc. under the state send out the police dispatch newspaper through warning system, make the staff in time maintain and remind the pedestrian to keep away from the unmanned transport vechicle of going, it is relatively safe, and can in time maintain when unmanned transport vechicle trouble.
Drawings
FIG. 1 is a relational diagram of the present invention.
In the figure: 1. a server; 2. a calculation unit; 3. a vehicle control module; 31. a brake module; 32. a steering module; 33. a drive module; 4. an environment sensing module; 41. a millimeter wave radar; 42. a camera; 5. a lifting platform control module; 6. a warning system; 61. an audible alarm; 62. an LED warning light; 7. a vehicle positioning module; 71. an inertial navigation module; 72. a speed sensor; 73. an angle sensor; 74. a positioning system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an automatic driving system of an unmanned transportation vehicle capable of self-adjusting height includes a server 1 and a computing unit 2, wherein a signal port of the computing unit 2 is connected to a vehicle control module 3, an environment sensing module 4, an elevating platform control module 5, a warning system 6 and a vehicle positioning module 7, wherein: the server 1 is used for storing various information of the vehicle;
the computing unit 2 is used for processing the received information and sending instructions to each module;
the vehicle control module 3 is used for controlling the running state of the vehicle;
the environment sensing module 4 is used for acquiring external environment information;
the lifting platform control module 5 is used for controlling the movement of the lifting platform;
the server 1 is connected with the computing unit 2 through an electric signal, and the vehicle positioning module 7 is connected with the lifting platform control module 5 through the computing unit 2.
In this embodiment, the vehicle control module 3 includes a braking module 31, a steering module 32, and a driving module 33, and the braking module 31, the steering module 32, and the driving module 33 are all electrically connected to the computing unit 2.
Specifically, the braking module 31 is used for controlling deceleration and stopping of the vehicle, the steering module 32 is used for changing the traveling direction of the vehicle, and the driving module 33 is used for controlling traveling of the vehicle.
In this embodiment, the environment sensing module 4 includes a millimeter wave radar 41 and a camera 42, and both the millimeter wave radar 41 and the camera 42 are electrically connected to the computing unit 2.
Specifically, the millimeter wave radar 41 is used to discriminate a very small target and recognize a plurality of targets at the same time; the camera 42 is used to capture an outside image.
In this embodiment, environmental awareness module 4 is connected with elevating platform control module 5 through calculating unit 2, and environmental awareness module 4 passes through calculating unit 2 and vehicle control module 3 electric connection, and environmental awareness module 4 will catch external information and convey to calculating unit 2, and calculating unit 2 handles the electric signal that environmental awareness module 4 received and controls the mode of marcing of vehicle through vehicle control module 3.
The height of barrier, loading platform height, vehicle height, elevating platform height, goods height can be judged to computational element 2, and computational element 2 judges the height that needs the adjustment of elevating platform according to the height of barrier, vehicle height, elevating platform height, goods height, controls the lift of elevating platform.
Specifically, the millimeter wave radar 41 and the camera 42 are combined to ensure accurate sensing of the external environment, driving safety of the vehicle is guaranteed, the lifting of the lifting platform can be controlled through the computing unit 2, and the unmanned transport vehicle can conveniently pass through the barrier quickly.
In this embodiment, the vehicle positioning module 7 is configured to position a vehicle to query a vehicle position, the vehicle positioning module 7 includes an inertial navigation module 71, a speed sensor 72, an angle sensor 73, and a positioning system 74, where the inertial navigation module 71 is configured to measure an acceleration of a carrier in an inertial reference system, the speed sensor 72 is configured to measure a vehicle speed, the angle sensor 73 is configured to measure a vehicle deflection angle, and the positioning system 74 is configured to position the vehicle position, and the positioning system 74 includes: galileo, GPS, BDS, GLONASS, UWB.
The vehicle positioning module 7 is connected with the lifting platform control module 5 through the computing unit 2, the positioning system 74 positions the position of the vehicle and transmits the position to the computing unit 2, the computing unit 2 judges the working state of the vehicle, and the computing unit 2 adjusts the height of the lifting platform through the lifting platform control module 5, wherein the working state comprises a loading and unloading state and a transportation state.
Specifically, the vehicle positioning module 7 measures the acceleration, the speed, the deflection angle and the vehicle position of the vehicle during the vehicle traveling process, and transmits the information to the calculating unit 2, and the calculating unit 2 also judges whether the vehicle travels to a cargo handling point according to the vehicle position sent by the positioning system 74, so that the descending distance of the lifting platform is controlled by the lifting platform control module 5, and the cargo handling of the unmanned transport vehicle is facilitated.
In this embodiment, the warning system 6 is used for giving an alarm to the outside, and the warning system 6 includes an audio alarm 61 and an LED alarm lamp 62.
The warning system 6 is in telecommunication connection with the vehicle control module 3, the environment perception module 4, the lifting platform control module 5 and the vehicle positioning module 7 through the computing unit 2, the computing unit 2 controls the warning system 6 to give out an alarm through alarm information transmitted by the vehicle control module 3, the environment perception module 4, the lifting platform control module 5 and the vehicle positioning module 7, and the alarm information comprises vehicle starting, vehicle turning, vehicle acceleration, vehicle deceleration, approaching to an obstacle, passing failure of the obstacle, instrument failure in the vehicle and lifting platform operation.
Specifically, in the running process of the vehicle, an alarm can be given through the warning system 6 under the conditions of starting of the vehicle, turning of the vehicle, acceleration of the vehicle, deceleration of the vehicle, approaching to an obstacle, incapability of passing through the obstacle, instrument failure in the vehicle, running of the lifting platform and the like, so that a worker can timely maintain and remind pedestrians of keeping away from the running unmanned transport vehicle.
It should be noted that, the distance between the vehicle and the surrounding obstacle is collected by the millimeter wave radar 41, the image around the vehicle is collected by the camera 42 and uploaded to the computing unit 2, the computing unit 2 judges the surrounding situation of the vehicle by the external information collected by the environment sensing module 4, calculates the total height between the vehicle and the cargo, and the height of the obstacle, then controls the lifting platform by the lifting platform control module 5 to enable the vehicle to pass through the obstacle, the vehicle positioning module 7 measures the acceleration, the speed, the deflection angle and the vehicle position of the vehicle during the vehicle traveling process, and transmits the information to the computing unit 2, the computing unit 2 analyzes the information of the environment sensing module 4 and the vehicle positioning module 7, controls the acceleration, the deceleration, the loading and unloading return, the stop, the start and the steering of the vehicle by the vehicle control module 3, and the computing unit 2 judges whether the vehicle travels to the cargo point or not by the vehicle position sent by the positioning system 74 at the same time Therefore, the descending distance of the lifting platform is controlled through the lifting platform control module 5, and in the running process of the vehicle, an alarm can be given through the warning system 6 under the conditions of starting of the vehicle, turning of the vehicle, acceleration of the vehicle, deceleration of the vehicle, approaching of an obstacle, incapability of passing through the obstacle, failure of instruments in the vehicle, running of the lifting platform and the like.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An automatic driving system of unmanned transport vehicle capable of self-adjusting height, comprising a server (1) and a computing unit (2), and is characterized in that: the signal port of the computing unit (2) is connected with a vehicle control module (3), an environment perception module (4), a lifting platform control module (5), a warning system (6) and a vehicle positioning module (7), wherein: the server (1) is used for storing various information of the vehicle;
the computing unit (2) is used for processing the received information and sending instructions to the modules;
the vehicle control module (3) is used for controlling the running state of the vehicle;
the environment perception module (4) is used for acquiring external environment information;
the lifting platform control module (5) is used for controlling the movement of the lifting platform;
the server (1) is connected with the computing unit (2) through an electric signal, and the vehicle positioning module (7) is connected with the lifting platform control module (5) through the computing unit (2).
2. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the vehicle control module (3) comprises a braking module (31), a steering module (32) and a driving module (33), and the braking module (31), the steering module (32) and the driving module (33) are electrically connected with the computing unit (2).
3. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the environment sensing module (4) comprises a millimeter wave radar (41) and a camera (42), and the millimeter wave radar (41) and the camera (42) are electrically connected with the computing unit (2).
4. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the environment perception module (4) is connected with the lifting platform control module (5) through the computing unit (2), the environment perception module (4) is electrically connected with the vehicle control module (3) through the computing unit (2), the environment perception module (4) transmits captured outside information to the computing unit (2), the computing unit (2) processes electric signals received by the environment perception module (4) and controls the vehicle advancing mode through the vehicle control module (3).
5. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the calculation unit (2) judges the height of the lifting platform to be adjusted according to the height of the obstacle, the height of the vehicle, the height of the lifting platform and the height of the goods, and controls the lifting of the lifting platform.
6. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the vehicle positioning module (7) is used for positioning a vehicle to inquire the position of the vehicle, the vehicle positioning module (7) comprises an inertial navigation module (71), a speed sensor (72), an angle sensor (73) and a positioning system (74), the inertial navigation module (71) is used for measuring the acceleration of a carrier in an inertial reference system, the speed sensor (72) is used for measuring the speed of the vehicle, the angle sensor (73) is used for measuring the deflection angle of the vehicle, the positioning system (74) is used for positioning the position of the vehicle, and the positioning system (74) comprises: galileo, GPS, BDS, GLONASS, UWB.
7. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 6, wherein: the vehicle positioning module (7) is connected with the lifting platform control module (5) through the computing unit (2), the position of the vehicle positioned by the positioning system (74) is transmitted to the computing unit (2), the computing unit (2) judges the working state of the vehicle, the computing unit (2) adjusts the height of the lifting platform through the lifting platform control module (5), and the working state comprises a loading and unloading state and a transportation state.
8. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the warning system (6) is used for giving an alarm to the outside, and the warning system (6) comprises an acoustic alarm (61) and an LED alarm lamp (62).
9. The automatic ride-on system of an unmanned transport vehicle capable of self-adjusting height according to claim 1, wherein: the warning system (6) is in telecommunication connection with the vehicle control module (3), the environment sensing module (4), the lifting platform control module (5) and the vehicle positioning module (7) through the computing unit (2), the computing unit (2) controls the warning system (6) to give out an alarm through alarm information transmitted by the vehicle control module (3), the environment sensing module (4), the lifting platform control module (5) and the vehicle positioning module (7), and the alarm information comprises vehicle starting, vehicle turning, vehicle acceleration, vehicle deceleration, approaching to an obstacle, passing of the obstacle, instrument faults in the vehicle and lifting platform operation.
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| CN202111439174.4A CN114253259A (en) | 2021-11-30 | 2021-11-30 | Unmanned transport vehicle automatic driving system capable of automatically adjusting height |
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| CN202111439174.4A CN114253259A (en) | 2021-11-30 | 2021-11-30 | Unmanned transport vehicle automatic driving system capable of automatically adjusting height |
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2021
- 2021-11-30 CN CN202111439174.4A patent/CN114253259A/en active Pending
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| JP2005075616A (en) * | 2003-09-03 | 2005-03-24 | Nippon Yusoki Co Ltd | Safety device for cargo handling vehicle |
| CN205737198U (en) * | 2016-05-09 | 2016-11-30 | 山东交通学院 | A kind of road-maintaining truck of band lifting warning lamp |
| CN109131925A (en) * | 2018-07-25 | 2019-01-04 | 云南中商正晓农业科技有限公司 | A kind of unmanned plane place duty luggage traffic vehicle and business model |
| CN109809334A (en) * | 2019-03-01 | 2019-05-28 | 航天通用技术(北京)有限公司 | A method of for transferring fork truck operation and lifting |
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