CN205187774U - Portal agencies positioning system - Google Patents
Portal agencies positioning system Download PDFInfo
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- CN205187774U CN205187774U CN201520826516.1U CN201520826516U CN205187774U CN 205187774 U CN205187774 U CN 205187774U CN 201520826516 U CN201520826516 U CN 201520826516U CN 205187774 U CN205187774 U CN 205187774U
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Abstract
The utility model discloses a portal agencies positioning system. Portal agencies positioning system wherein includes: sensor, controller and valve way control system. The sensor is connected with the controller electricity, controller and valve way control system intercommunication. Wherein, the real -time position data of sensor collection portal mechanism erupts simultaneously and gives the controller, the controller sends control command to valve way control system when the expectation position data of the real -time position data of portal mechanism and portal mechanism is inconsistent, valve way control system adjusts the position of portal mechanism in response to control command. Through adopting this kind of system, can make portal mechanism directly reach the expectation position, realized the automatic positioning of portal mechanism, need not not the user operating handle frequently.
Description
Technical field
The utility model belongs to loading transport field, particularly relates to a kind of door frame mechanism position fixing system.
Background technology
Counterbalanced lift truck is the major equipment of material handling, mainly contains door frame, pallet fork, fork, faces upward the vitals such as oil cylinder, lift oil tank composition of bowing.When getting thing, door frame can lean forward, and is convenient to fork and inserts; After getting thing, door frame hypsokinesis is so that goods is stable in operational process.Its pallet fork is free to insert pallet and gets thing or put thing, and can move along door frame slideway.All there is the fuzzy problem of localizing objects in operation in hydraulic booster, the electric proportional control two kinds of control system of main employing in current industry.In addition the applying working condition of counterbalanced lift truck is comparatively frequent, and in different work operating mode, the position needing operator not stop to adjust door frame realizes fork picking thing, and the repeatability of operation is high, and inefficiency easily produces operation fatigue.
Utility model content
The utility model embodiment technical matters to be solved is: how to improve the work efficiency that opposite house frame mechanism positions.
According to an aspect of the utility model embodiment, a kind of door frame mechanism position fixing system is provided, comprises: sensor, controller and valve path control system.Sensor is electrically connected with controller, and controller is communicated with valve path control system.Wherein, sensor gathers the real time position data of door frame mechanism and sends to controller; Controller the real time position data of door frame mechanism and the desired locations data of door frame mechanism inconsistent time to valve path control system sending controling instruction; Valve path control system adjusts in response to the position of control command opposite house frame mechanism.
In one embodiment, sensor comprises: left fork displacement pickup, for the real time position data of left fork gathered; Right fork displacement pickup, for the real time position data of right fork gathered; Door frame obliquity sensor, for the real-time inclination data of door frame gathered; Mast height, for the real-time altitude information of door frame gathered.
In one embodiment, valve path control system comprises: elevating ram scaling valve, for being adjusted by the height of the door frame in the control opposite house frame mechanism of controller; Dump ram scaling valve, for adjusting by the inclination angle of the door frame in the control opposite house frame mechanism of controller; Fork oil cylinder movement apportioning valve and fork oil cylinder movement switch valve, for adjusting by the displacement of the fork in the control opposite house frame mechanism of controller.
In one embodiment, system also comprises: intelligence is returned the vehicle to the garage and knock off switch, be connected by digital signal interface with controller, after unlatching, trigger controller carries out the location of state of returning the vehicle to the garage and knock off, and/or, intelligent positioning switch, is connected by digital signal interface with controller, carries out the location of operating condition for trigger controller after unlatching.
In one embodiment, system also comprises telltale, is connected with sensor, for the desired locations numerical value of show gate frame mechanism and the real time position numerical value of door frame mechanism.
In one embodiment, controller comprises memory module, for storing the desired locations data of door frame mechanism.
The utility model at least has the following advantages: by the desired locations data of the real time position data comparing door frame mechanism and the door frame mechanism preset, the position of controller adjustment door frame mechanism is used to make door frame mechanism reach desired locations, door frame mechanism can be made directly to reach desired locations, achieve the automatic location of door frame mechanism, need not user's operating handle continually.
By referring to the detailed description of accompanying drawing to exemplary embodiment of the present utility model, further feature of the present utility model and advantage thereof will become clear.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 illustrates the schematic flow sheet of the utility model door frame mechanism localization method embodiment.
Fig. 2 illustrates the schematic flow sheet of a desired locations data presetting method embodiment of the utility model door frame.
Fig. 3 illustrates the schematic flow sheet of the utility model door frame mechanism another embodiment of localization method.
Fig. 4 illustrates the schematic flow sheet of an embodiment of the utility model automatic positioning die formula lower mast mechanism localization method.
Fig. 5 illustrates the structural representation of the unified embodiment of the utility model door frame mechanism positioning systems.
Fig. 6 illustrates the structural representation of the utility model door frame mechanism another embodiment of position fixing system.
Fig. 7 illustrates operating mode list schematic diagram.
Fig. 8 illustrates operating mode page schematic diagram.
Fig. 9 illustrates the constructional drawing of an embodiment of the controller that the utility model is located for door frame mechanism.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the utility model and application or use.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
The door frame mechanism localization method of the utility model embodiment is described below with reference to Fig. 1.
Fig. 1 is the diagram of circuit of an embodiment of the utility model door frame mechanism localization method.As shown in Figure 1, the method for this embodiment comprises:
Step S102, the real time position data of the door frame mechanism that controller receiving sensor gathers.
Step S104, the desired locations data of the real time position data of door frame mechanism and door frame mechanism compare by controller.
Step S106, if the desired locations data of the real time position data of door frame mechanism and door frame mechanism are inconsistent, then the position of controller opposite house frame mechanism adjusts, until the desired locations data consistent of the real time position data of door frame mechanism and door frame mechanism.
Such scheme can make door frame mechanism directly reach desired locations, achieves the automatic location of door frame mechanism, need not user's operating handle continually.
The desired locations data of door frame mechanism such as can be arranged in advance before carrying out operation, preferably, can arrange the desired locations data under several conventional operating mode.Below in conjunction with Fig. 2, a kind of illustrative methods that controller obtains the desired locations data of door frame mechanism is described.
Fig. 2 is the diagram of circuit of an embodiment of the desired locations data presetting method of the utility model door frame mechanism.As shown in Figure 2, the method for this embodiment comprises:
Step S202, controller by door frame mechanism operation to desired locations.
Step S204, the desired locations data of door frame mechanism at desired locations place that controller receiving sensor gathers.
Step S206, the desired locations data of controller record door frame mechanism at desired locations place.
By adopting such method, operator first by the desired locations needed for door frame mechanism operation to operation, then can carry out record by sensor to current location, and without the need to paying close attention to the concrete numerical value of door frame mechanism position.
In the position data of door frame mechanism, frequently-used data has the inclination angle of the displacement of left fork, the displacement of right fork, the height of door frame and door frame.Therefore, in foregoing embodiments, left fork displacement pickup, right fork displacement pickup, door frame obliquity sensor and mast height can be adopted respectively to gather above four kinds of data respectively.Obviously, except four kinds of sensors of foregoing description, other sensors can also be adopted as required to gather the position data of door frame mechanism miscellaneous part, no longer exhaustive here.
In the operation of reality, the operating mode that operator commonly uses is often more than a kind of.Therefore, operator can adopt the method for step S202 ~ S204 to obtain desired locations data when door frame mechanism is in diverse location.And, in step S206, controller can also store the title of the operating mode corresponding with these data further when storing and expecting position data, different operating modes made a distinction, so that operator selects corresponding operating mode when operation according to operating mode title, can reference diagram 7 and Fig. 8.Below in conjunction with Fig. 3, door frame mechanism localization method when having many group desired locations data is described.
Fig. 3 is the diagram of circuit of another embodiment of the utility model door frame mechanism localization method.As shown in Figure 3, the method for this embodiment comprises:
Step S301, controller detects the operation that user selects the desired locations data of one group of door frame mechanism.
Step S302, the real time position data of the door frame mechanism that controller receiving sensor gathers.
Step S304, the desired locations data of the door frame mechanism that the real time position data of door frame mechanism and user are selected compare by controller.
Step S306, if the desired locations data of the real time position data of door frame mechanism and door frame mechanism are inconsistent, then the position of opposite house frame mechanism adjusts, until the desired locations data consistent of the real time position data of door frame mechanism and door frame mechanism.
By adopting in this way, operator can under various working expeditiously opposite house frame mechanism position.
In addition, carry out at opposite house frame mechanism in the process adjusted, different speed can be adopted according to actual needs to carry out, such as, can adopt following methods.First, before entering operation, operator arranges hierarchical speed information.Hierarchical speed information can adopt the form of numerical value, represents the actual speed of adjustment, the form of percentum also can be adopted to set, and represents the percentum of the maximum speed accounting for door frame institutional adjustment of regulating the speed.Then, the real time position data of the door frame mechanism of controller receiving sensor collection.If the desired locations data of the real time position data of door frame mechanism and door frame mechanism are inconsistent, then the position of opposite house frame mechanism adjusts with the execution speed that hierarchical speed information is corresponding, until the desired locations data consistent of the real time position data of door frame mechanism and door frame mechanism.
The utility model can also according to the range information of the reduction of speed preset and velocity information, slow down close to during target location in door frame institutional adjustment, avoid because mechanism's all standing and working the mischief to equipment and personnel when being in larger running velocity, such as, can adopting following methods.First, the real time position data of the door frame mechanism of controller receiving sensor collection.Then, if the desired locations data of the real time position data of door frame mechanism and door frame mechanism are inconsistent, then the position of opposite house frame mechanism adjusts.In position adjustment, when the position of door frame mechanism reaches position corresponding to the range information of reduction of speed, adjustment is proceeded, until the desired locations data consistent of the real time position data of door frame mechanism and door frame mechanism according to the position of execution speed opposite house frame mechanism corresponding to the velocity information of reduction of speed arranged.For how judging that the position of door frame mechanism reaches position corresponding to the range information of reduction of speed, can with reference to following method.Such as, the range information of reduction of speed is 10%, and the velocity information of reduction of speed is 5%.When meeting formula
| door frame height-door frame expection in real time height |/door frame expection height <=10%
Time, decision gate frame mechanism has arrived position corresponding to the range information of reduction of speed.Now, adjustment is proceeded, until the desired locations data consistent of the real time position data of mast height and mast height according to the position of former 5% opposite house frame mechanism of regulating the speed.
In above-mentioned adjustment process, oil cylinder valve path system can be controlled by controller and execution speed is regulated and controled.Such as, controller can be adjusted by the height controlling the door frame in elevating ram scaling valve opposite house frame mechanism, can be adjusted by the inclination angle controlling the door frame in dump ram scaling valve opposite house frame mechanism, can also be adjusted by the displacement controlling the fork in fork oil cylinder movement apportioning valve and fork oil cylinder movement switch valve opposite house frame mechanism, etc.Controller can realize the control to velocity magnitude by the switch size of adjustment apportioning valve.
Before stating the method for various door frame location before execution, by sending the instruction entering automatic positioning die formula to controller, controller and correlation module can be started, perform each step of door frame location.In order to increase the safety of method, just door frame mechanism can also be made under the condition meeting safe condition to enter station-keeping mode.Below in conjunction with Fig. 4, the process that door frame mechanism enters automatic positioning die formula is described.
Fig. 4 is the diagram of circuit of an embodiment of the utility model automatic positioning die formula lower mast mechanism localization method.As shown in Figure 4, the method for this embodiment comprises:
Step S400, controller receives the control command entering automatic positioning die formula.
Step S401, whether controller detecting gate frame mechanism is in a safe condition.If in a safe condition, then enter automatic positioning die formula, and perform step S102 ~ S106; If not in a safe condition, be then prohibited from entering automatic positioning die formula.
In step S401, judge that door frame mechanism mode whether in a safe condition can have multiple, enumerate two kinds at this.
Such as, step S401 can be: whether controller detecting gate frame mechanism operating handle is at meta.If operating handle is at meta, enter automatic positioning die formula, then perform the location of door frame mechanism; If operating handle is not at meta, be then prohibited from entering automatic positioning die formula.By arranging door frame operating handle, can prevent not gate frame mechanism operator from carrying out maloperation to equipment, to avoid the danger brought owing to starting automatic location when N/R.
Such as, step S401 can also be: controller is in response to the control command entering automatic positioning die formula, and whether detecting gate frame mechanism exists lift heavy load.If door frame mechanism is unloaded, then enter automatic positioning die formula; If there is lift heavy load, be then prohibited from entering automatic positioning die formula.When automatically locating when there is lift heavy load in door frame mechanism, larger regulating the speed likely can cause damage to equipment, also likely makes goods depart from door frame mechanism and produce harm to staff.Not carrying out the limiting condition of location automatically during by arranging lift heavy load, this risk can be avoided.
Obviously, except above-mentioned enumerate judge whether mode in a safe condition except, other mode can also be adopted as required to ensure safety when door frame mechanism locates, here no longer particularize.As required, wherein a kind of judgment mode can be selected, also can select multiple, namely just enter automatic positioning die formula when door frame mechanism meets the condition of multiple safe condition.
In actual use, the operation of opposite house frame mechanism has two kinds of situations usually, and one makes door frame be returned to the state of returning the vehicle to the garage and knock off, and one makes door frame be in operating condition.Therefore, the desired locations data of door frame mechanism can comprise: desired locations data and the door frame mechanism desired locations data under each working condition of door frame mechanism under the state of returning the vehicle to the garage and knock off.For this two states, said method all can be adopted automatically to locate.Because the state of returning the vehicle to the garage and knock off only has one, more single, the location that therefore can only realize automatically returning the vehicle to the garage and knock off by the switch that returns the vehicle to the garage and knock off in concrete enforcement.And for operating condition, the automatic location under the method selecting one group of data to carry out operation from multi-group data can be adopted to realize different operating mode operation.
The door frame mechanism position fixing system of the utility model embodiment is described below with reference to Fig. 5.
Fig. 5 is the constructional drawing of an embodiment of the utility model door frame mechanism position fixing system.As shown in Figure 5, system comprises sensor 52, controller 54 and valve path control system 56.Sensor 52 is electrically connected with controller 54, and controller 54 is communicated with valve path control system 56.Wherein, sensor 52 gathers the real time position data of door frame mechanism and sends to controller 54; Controller 54 the real time position data of door frame mechanism and the desired locations data of door frame mechanism inconsistent time to valve path control system 56 sending controling instruction; Valve path control system 56 adjusts in response to the position of control command opposite house frame mechanism.
The door frame mechanism position fixing system of another embodiment of the utility model is described below with reference to Fig. 6.
Fig. 6 is the constructional drawing of another embodiment of the utility model door frame mechanism position fixing system.As shown in Figure 6, system can also comprise telltale 68, and telltale 68 is connected by bus with controller 54.
Sensor can comprise door frame obliquity sensor 622, mast height 624, left fork displacement pickup 626 and right fork displacement pickup 628.Wherein, door frame obliquity sensor 622, mast height 624 are connected by bus with controller 54, connected by bus equally with telltale 68, controller 54 and telltale 68 are all by signal that two-wire differential interface CAN_H and the CAN_L receiving sensor of bus send.Left fork displacement pickup 626, right fork displacement pickup 628 are connected by electric current input type port with telltale 68.
Because the cost of electric current input type port is lower, thus, above-mentioned four kinds of sensor all or part of employing electric current input type ports can be connected with telltale 68 as required.Obviously, also can by four kinds of sensors fully or partially through bus connection control device 54 and telltale 68.No matter adopt which kind of mode, controller 54 and telltale 68 all can obtain the data that sensor sends.
The real-time inclination data of door frame of door frame obliquity sensor 622 for gathering; The real-time altitude information of door frame of mast height 624 for gathering; The real time position data of left fork of left fork displacement pickup 626 for gathering; The real time position data of right fork of right fork displacement pickup 628 for gathering.
The desired locations numerical value of telltale 68 for show gate frame mechanism and the real time position numerical value of door frame mechanism, can also be used for showing various working list and select for operator.Such as, as shown in Figure 7, the telltale alternative 5 kinds of operating modes of display and self-defined operating mode, operator both can select a kind of defined operating mode from operating mode 1 ~ 5 option, also can by the desired locations numerical value of the newly-built door frame mechanism of self-defined operating mode option.When carrying out door frame mechanism location, the content of telltale display such as can reference diagram 8, operator can check the desired locations numerical value of door frame mechanism and the real time position numerical value of door frame mechanism in the display, can also check whether hierarchical speed information and door frame mechanism have entered automatic positioning die formula.
The valve path control system 56 of system is connected with controller 54, and valve path control system 56 can also comprise elevating ram scaling valve 662, dump ram scaling valve 664, fork oil cylinder movement apportioning valve 666 and fork oil cylinder movement switch valve 668.Wherein, the signal that elevating ram scaling valve 662, dump ram scaling valve 664 and fork oil cylinder movement apportioning valve 666 is sent by pulse width modulation port accepts controller 54, fork oil cylinder movement switch valve 668 receives the signal of controller 54 transmission by digital output port.Pulse width modulation can make the output voltage of power supply keep constant when operation conditions change, is to utilize the numeral of microprocessor to export the very effective technology of one controlled analogous circuit, significantly can reduce cost and the power consumption of system.
Elevating ram scaling valve 662 is for adjusting by the height of the door frame in the control opposite house frame mechanism of controller 54; Dump ram scaling valve 664 is for adjusting by the inclination angle of the door frame in the control opposite house frame mechanism of controller 54; Fork oil cylinder movement apportioning valve 666 and fork oil cylinder movement switch valve 668 are for adjusting by the displacement of the fork in the control opposite house frame mechanism of controller 54.
System can also comprise intelligence and to return the vehicle to the garage and knock off switch 692 and/or intelligent positioning switch 694, is connected, sends signal by digital signal input end mouth to controller 54 with controller 54.The intelligence switch 692 that returns the vehicle to the garage and knock off carries out the location of state of returning the vehicle to the garage and knock off for trigger controller after unlatching, intelligent positioning switch 694 carries out the location of operating condition for trigger controller after unlatching.
Controller 54 can also comprise memory module, for storing the desired locations data of door frame mechanism.As required, controller 54 can also possess other corresponding modules.The controller for door frame mechanism location of the utility model embodiment is described below with reference to Fig. 9.
Fig. 9 is the constructional drawing of an embodiment of the controller that the utility model is located for door frame mechanism.As shown in Figure 9, controller 54 comprises: data reception module 942, for the real time position data of the door frame mechanism that receiving sensor gathers; Judge module 944, for comparing the desired locations data of the real time position data of door frame mechanism and door frame mechanism; Locating module 946, for when the real time position data of door frame mechanism and the desired locations data of door frame mechanism inconsistent time, the position of opposite house frame mechanism adjusts, until the desired locations data consistent of the real time position data of door frame mechanism and door frame mechanism.
Data reception module 942 may be used for the desired locations data of door frame mechanism at desired locations place that receiving sensor gathers.Controller 54 can also comprise memory module, for recording the desired locations data of door frame mechanism at desired locations place.
Controller 54 can also comprise detection module, selects the operation of the desired locations data of one group of door frame mechanism for detecting user.Judge module 944 compares for the desired locations data of the door frame mechanism real time position data of door frame mechanism and user selected.
Locating module 946 can comprise hierarchical speed adjustment unit, for according to the hierarchical speed information arranged, adjusts according to the position of execution speed opposite house frame mechanism corresponding to hierarchical speed information.
Locating module 946 can comprise reduction of speed control unit, for according to the range information of reduction of speed preset and velocity information, when the position of door frame mechanism reaches position corresponding to the range information of reduction of speed, proceed adjustment according to the position of execution speed opposite house frame mechanism corresponding to the velocity information of reduction of speed.
Controller 54 can also comprise automatic mode control module, for in response to the control command entering automatic positioning die formula, whether the operating handle of detecting gate frame mechanism is at meta, and/or, whether detecting gate frame mechanism exists lift heavy load, if operating handle not at meta or there is lift heavy load, is then prohibited from entering automatic positioning die formula, if operating handle is at meta or there is not lift heavy load, enter automatic positioning die formula.
In addition, a kind of computer program can also be embodied as according to method of the present utility model, this computer program comprises computer-readable medium, stores the computer program for performing the above-mentioned functions limited in method of the present utility model on the computer-readable medium.Those skilled in the art will also understand is that, may be implemented as electronic hardware, computer software or both combinations in conjunction with various illustrative logical blocks, module, circuit and the algorithm steps described by disclosure herein.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. a door frame mechanism position fixing system, comprising: sensor, controller and valve path control system; Sensor is electrically connected with controller, and controller is communicated with valve path control system;
Sensor gathers the real time position data of door frame mechanism and sends to controller; Controller the real time position data of door frame mechanism and the desired locations data of door frame mechanism inconsistent time to valve path control system sending controling instruction; Valve path control system adjusts in response to the position of control command opposite house frame mechanism.
2. system according to claim 1, is characterized in that, described sensor comprises:
Left fork displacement pickup, for gathering the real time position data of left fork;
Right fork displacement pickup, for gathering the real time position data of right fork;
Door frame obliquity sensor, for gathering the real-time inclination data of door frame;
Mast height, for gathering the real-time altitude information of door frame.
3. system according to claim 1, is characterized in that, described valve path control system comprises:
Elevating ram scaling valve, the height for the door frame in opposite house frame mechanism adjusts;
Dump ram scaling valve, adjusts with the inclination angle of the door frame in opposite house frame mechanism;
Fork oil cylinder movement apportioning valve and fork oil cylinder movement switch valve, the displacement for the fork in opposite house frame mechanism adjusts.
4. system according to claim 1, is characterized in that, also comprises:
Intelligence is returned the vehicle to the garage and knock off switch, is connected, triggers in unlatching the location that described controller carries out state of returning the vehicle to the garage and knock off afterwards with described controller by digital signal interface,
And/or intelligent positioning switch, is connected by digital signal interface with described controller, for triggering in unlatching the location that described controller carries out operating condition afterwards.
5. system according to claim 1, is characterized in that, also comprises:
Telltale, is connected with sensor, for the real time position numerical value of the desired locations numerical value and described door frame mechanism that show described door frame mechanism.
6. system according to claim 1, is characterized in that, described controller comprises memory module, for storing the desired locations data of door frame mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520826516.1U CN205187774U (en) | 2015-10-23 | 2015-10-23 | Portal agencies positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520826516.1U CN205187774U (en) | 2015-10-23 | 2015-10-23 | Portal agencies positioning system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105174141A (en) * | 2015-10-23 | 2015-12-23 | 徐州重型机械有限公司 | Portal mechanism positioning method and system and controller |
| CN106274486A (en) * | 2016-08-31 | 2017-01-04 | 长沙中联恒通机械有限公司 | A kind of steering control apparatus of fork truck and method |
| CN110790190A (en) * | 2019-10-08 | 2020-02-14 | 安徽合力股份有限公司 | Automatic forklift collecting method and device |
| CN114935320A (en) * | 2022-07-22 | 2022-08-23 | 深圳市永达电子信息股份有限公司 | Safety door positioning device and method based on linear sensor and safety door |
-
2015
- 2015-10-23 CN CN201520826516.1U patent/CN205187774U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105174141A (en) * | 2015-10-23 | 2015-12-23 | 徐州重型机械有限公司 | Portal mechanism positioning method and system and controller |
| CN105174141B (en) * | 2015-10-23 | 2019-01-08 | 徐州重型机械有限公司 | Door frame mechanism localization method, controller and system |
| CN106274486A (en) * | 2016-08-31 | 2017-01-04 | 长沙中联恒通机械有限公司 | A kind of steering control apparatus of fork truck and method |
| CN106274486B (en) * | 2016-08-31 | 2019-02-15 | 长沙中联恒通机械有限公司 | A kind of steering control apparatus of fork truck and method |
| CN110790190A (en) * | 2019-10-08 | 2020-02-14 | 安徽合力股份有限公司 | Automatic forklift collecting method and device |
| CN114935320A (en) * | 2022-07-22 | 2022-08-23 | 深圳市永达电子信息股份有限公司 | Safety door positioning device and method based on linear sensor and safety door |
| CN114935320B (en) * | 2022-07-22 | 2022-11-15 | 深圳市永达电子信息股份有限公司 | Safety door positioning device and method based on linear sensor and safety door |
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