JP2004269243A - Forklift - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a forklift capable of properly inserting a fork into a pallet while traveling forward on a road surface with an inclination. <P>SOLUTION: In the forklift F provided with the fork 4 capable of rising and falling along a mast 2 erected on a vehicle front, inserting the fork 4 into the pallet P to perform cargo handling operation, an inclination angle θ of the vehicle is detected. When the vehicle travels forward on the road surface with the inclination, the lift height HO of a fork tip 4a is controlled so that the height H2 of the fork tip 4a coincides with an insertion height H1 for the pallet using the inclination angle to insert the fork 4 into the pallet P. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a fork positioning technique at the time of a cargo handling operation using a fork.
[0002]
[Prior art]
A technique for keeping the fork tip of a forklift at a constant height is described in the following patent documents.
[0003]
[Patent Document 1]
JP 2001-206689 A
[Problems to be solved by the invention]
The lift height of the fork tip is a height perpendicular to the ground plane of the vehicle body.When the body of the forklift is in contact with a horizontal road surface, the direction perpendicular to this road surface, that is, the vertical direction is the vertical direction of the fork tip. It will be lifted. According to the above-mentioned conventional technique, when the vehicle body is on a horizontal road surface, the fork tip can be moved forward and the fork tip can be inserted into the pallet simply by keeping the fork tip at a constant height. However, when the vehicle body moves up the ascending slope, the fork tip relatively rises with respect to the pallet as the vehicle body moves up the ascending slope, while the lift of the fork tip is kept constant. There was a risk of piercing.
[0005]
An object of the present invention is to provide a safe forklift that does not hit a pallet with a fork tip even on a sloped road surface.
[0006]
[Means for Solving the Problems]
In order to solve the above-described problem, the present invention includes a forklift that includes a fork that can move up and down along a mast erected in front of a vehicle body, and that inserts the fork into a pallet and performs a cargo handling operation. When the vehicle body moves forward or backward on a sloped road surface, the fork tip is controlled so that the height of the fork tip is inserted into the pallet using the inclination angle, and the fork is moved with respect to the pallet. It is characterized in that it is configured to be inserted or removed.
[0007]
Specifically, the insertion height of the fork into the pallet is a height when the fork is inserted into a pallet placed on a rack or the like. If a rack or the like is installed on a horizontal road surface, the height of insertion into the pallet indicates the vertical height from the horizontal road surface to, for example, the center of the pallet insertion port. The height of the fork tip refers to the vertical height from the horizontal road surface on which the rack or the like is installed to the fork tip. The lift at the tip of the fork refers to the height from the road surface where the tires of the forklift are installed to the tip of the fork in a direction perpendicular to the forklift tires. When the vehicle touches the ground on an inclined road surface, it indicates the height from the virtual plane including both the ground lines of the front wheels and the rear wheels to the tip of the fork in a direction perpendicular to the ground. The tilt angle of the vehicle body is an angle indicating how much the forklift is tilted from a horizontal plane. When the forklift is on an uphill slope, an acute angle formed by the slope and a horizontal plane is the slope angle. When the front wheels of the forklift are on a horizontal road surface and the rear wheels are on an upwardly inclined road surface, an acute angle formed by a horizontal plane and an imaginary plane including both the front and rear wheel installation lines is the inclination angle.
[0008]
According to the present invention, when a forklift climbs an inclined road surface having an ascending slope or the like, and when it is desired to insert a fork into a pallet on a rack installed on a horizontal road surface ahead of the forklift, the forklift body tilt angle is adjusted. In addition, by controlling the lift of the fork tip so that the height of the fork tip matches the height of insertion into the pallet, the height of the fork tip is inserted into the pallet according to the inclination angle on the uphill slope. The fork can be prevented from becoming higher than the height, and the fork can be inserted into the pallet insertion port from the fork tip even when the vehicle is climbing uphill. The same applies to the backward movement of the vehicle body on the uphill slope and the forward / backward movement of the vehicle body on the downgrade.
[0009]
Further, in a forklift, which is provided with a fork that can be moved up and down along a mast erected in front of the vehicle body and performs loading and unloading work by inserting the fork into a pallet, an insertion height to the pallet, an inclination angle of the vehicle body, It is provided with fork height control means for controlling the height of the fork tip from the value of the horizontal distance from the front wheel of the vehicle body to the tip of the fork so that the height of the tip of the fork matches the height of insertion into the pallet. It is characterized by.
[0010]
The present invention shows an example of a fork height control means for controlling by taking in a value necessary for controlling the lift of the fork tip so that the height of the fork tip matches the height of insertion into the pallet. . Here, the necessary values include the height of insertion into the pallet, the inclination angle of the vehicle body, and the horizontal distance from the front wheel of the vehicle body to the tip of the fork. The height of insertion into the pallet and the inclination angle of the vehicle body are as described above. The horizontal distance from the front wheel of the vehicle to the tip of the fork is the horizontal distance from the center of the front wheel to the tip of the fork when the vehicle is placed on a horizontal road surface. In an automatic guided vehicle in which the horizontal portion of an L-shaped fork is fixed horizontally, if the length of the fork horizontal portion is different, the horizontal distance from the front wheel of this body to the tip of the fork is also different, and the fork is tilted slightly behind. When the length of the horizontal portion of the fork is changed, the horizontal distance from the front wheel of the vehicle body to the tip of the fork is also changed at a predetermined ratio in the automatic guided vehicle fixed in the locked state.
[0011]
According to the present invention, it is possible to obtain a specific value necessary for lift control of a fork from specific values of an insertion height to a pallet, an inclination angle of a vehicle body, and a horizontal distance from a front wheel of the vehicle body to a fork tip. The fork lift control can be performed with this value.
[0012]
Also, a forklift is provided with a fork which can be moved up and down by a lifting means along a mast erected in front of the vehicle body, and the fork is inserted into the pallet to perform a cargo handling operation. A storage unit that stores a horizontal distance from the fork tip to the fork tip, an inclination angle detection unit that detects the inclination angle of the vehicle body, an insertion height to the pallet stored in the storage unit, and a horizontal distance to the fork tip. A calculating unit for calculating the lift of the fork tip from the tilt angle obtained by the tilt angle detecting means, so that the height of the fork tip matches the height of insertion into the pallet; And a control means for controlling the elevating means so that the lift becomes the lift obtained by the calculation unit.
[0013]
The present invention includes a storage unit, a calculation unit, and a control unit. The calculation unit performs a calculation necessary for fork height control using a value stored in the storage unit, and uses the calculation value. The control means controls the elevating means, so that the elevating means is driven to change the lift of the fork, and the height of the fork tip matches the height of the fork tip with the insertion height to the pallet. It is controlled by In the present invention, as the values stored in the storage unit, the height of insertion into the pallet and the horizontal distance from the front wheel of the vehicle body to the tip of the fork are selected. In order to obtain the insertion height on the pallet, besides the method of direct input by a person, the forklift is configured to obtain a cargo handling command signal, and the height information of the cargo is added to the cargo handling command signal, May be obtained from the height information by calculation or via a data table. The horizontal distance from the front wheel of the vehicle body to the tip of the fork is a constant value determined by each forklift, and may be input in advance.
[0014]
Also, a forklift is provided with a fork which can be moved up and down by a lifting means along a mast erected in front of the vehicle body, and the forklift inserts the fork into a pallet to perform a loading operation. A storage unit that stores a horizontal distance from a front wheel of the vehicle body to a tip end of the fork, and a diameter of the front wheel of the vehicle body; a tilt angle detecting unit that detects a tilt angle of the vehicle body; and a storage unit that is stored in the storage unit. From the height of insertion into the pallet, the horizontal distance to the tip of the fork, the diameter of the front wheel, and the inclination angle obtained by the inclination angle detection means, the height of the tip of the fork is changed to the height of insertion into the pallet. And a control means for controlling the lifting / lowering means so that the lift of the fork tip becomes the lift obtained by the calculation part. Characterized in that it comprises the forks fork height control means.
[0015]
The present invention includes a storage unit, a calculation unit, and a control unit, as in the above-described invention, and adds the diameter of the front wheels of the vehicle body as a value stored in the storage unit. The diameter of the front wheel may vary depending on each forklift, but a constant value may be input in advance as a value for calculation.
[0016]
Also, a forklift is provided with a fork which can be moved up and down by a lifting means along a mast erected in front of the vehicle body, and the forklift inserts the fork into a pallet to perform a loading operation. A storage unit for storing a horizontal distance from a front wheel of the vehicle body to a tip end of the fork, a table indicating a relationship between a traveling distance of the vehicle body from a predetermined point and an inclination angle of the vehicle body; A point detecting means, a distance measuring means for detecting a traveling distance of the vehicle body, an insertion height to a pallet stored in the storage section, a horizontal distance to a fork tip, and a predetermined point detected by the predetermined point detecting means. The height of the tip of the fork is calculated from the inclination angle of the vehicle body obtained from the table based on the travel distance of the vehicle body detected by the distance measuring means after the detection, and A calculating unit for calculating the lift of the fork tip so as to match the insertion height of the fork, and a control means for controlling the lifting / lowering means so that the lift of the fork tip is the lift obtained by the calculating unit. And fork lift control means comprising:
[0017]
According to the present invention, in addition to the configurations of the storage unit, the calculation unit, and the control unit, the configurations of the predetermined point detection unit and the distance measurement unit are added. In the above-described invention, the inclination angle detecting means is provided. When the inclination angle detecting means is provided, there is an advantage that even when the inclination angle is not known, the inclination angle detecting means can obtain the inclination angle of the vehicle body. However, in an automatic guided vehicle or the like traveling on a fixed traveling road surface, if the inclination angle of the inclined road surface is measured in advance, it is not necessary to detect the inclination angle detecting means each time. The present invention shows a configuration in the case where the inclination angle is known in advance, and has a configuration of the above-mentioned predetermined point detecting means and distance measuring means. As the predetermined point detecting means and the distance measuring means, a magnet is embedded in the traveling road surface in advance, and a detection sensor for detecting the magnet is provided on the vehicle body side. When this magnet is detected during traveling of the vehicle body, the traveling distance of the vehicle body is measured based on a detection value of an encoder provided on the rear wheel of the vehicle body with reference to the point. The storage unit stores in advance a table indicating the relationship between the traveling distance from a predetermined point and the inclination angle of the vehicle body, and by incorporating the traveling distance into the calculation unit, the inclination angle of the vehicle body is calculated by comparison with the table. What you can get. As described above, the inclination angle of the vehicle body can be obtained without using the inclination angle detecting means, and the lift of the fork tip can be calculated using this value.
[0018]
Also, a forklift is provided with a fork which can be moved up and down by a lifting means along a mast erected in front of the vehicle body, and the forklift inserts the fork into a pallet to perform a loading operation. A storage unit that stores a horizontal distance from a front wheel of the vehicle body to a fork tip, a diameter of the front wheel of the vehicle body, and a table indicating a relationship between a traveling distance from a predetermined point of the vehicle body and an inclination angle of the vehicle body. A predetermined point detecting means for detecting the predetermined point; a distance measuring means for detecting a traveling distance of the vehicle body; an insertion height into a pallet stored in the storage unit; a horizontal distance to a tip of a fork; From the diameter and the inclination angle of the vehicle body obtained from the table based on the travel distance of the vehicle body detected by the distance measuring means after detecting the predetermined point by the predetermined point detecting means. A calculation unit for calculating the lift of the fork tip so that the height of the fork tip matches the insertion height to the pallet, and the lift of the fork tip is the lift obtained by the calculation unit. And a control means for controlling the lifting / lowering means.
[0019]
In the present invention, the diameter of the front wheel of the vehicle body is added as a value stored in the storage unit in the invention not using the inclination angle detecting means. The diameter of the front wheel may vary depending on each forklift, but a constant value may be input in advance as a value for calculation.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
The forklift F in this example is an automatic guided vehicle. The forklift F includes a vehicle body 1 and a cargo handling device in front of the vehicle body, and the cargo handling device includes a mast 2, a lifting carriage 3 supported on the mast 2 so as to be able to move up and down, and moving the lifting carriage 3 up and down. The vehicle includes a lift drive source (a lift cylinder 5, a hydraulic motor 18, a lift proportional electromagnetic control valve 17 and the like), and a fork 4 whose tip projects forward of the vehicle body 1 from the lift carriage 3.
[0021]
The forklift F travels while detecting a guide line buried continuously on the inclined road surface 90a and the horizontal road surface 90b. The forklift F is provided with fork lift control means 20 inside the vehicle body 1. The fork height control means 20 includes a fork height detection means 10, a central processing unit 15, a lift proportional electromagnetic control valve 17, and a hydraulic motor 18, and an inclination angle detection means 21 for detecting the inclination angle of the vehicle body 1. And a distance measuring means 22 for detecting a traveling distance of the vehicle body 1. The central processing unit 15 includes a storage unit 15a that reads and stores the detected values of the fork height detecting unit 10, the inclination angle detecting unit 21, and the distance measuring unit 22, and performs a predetermined calculation from the read detected values. A control unit for controlling the unit 15b, the storage unit 15a and the calculation unit 15b, and transmitting a command value for driving and controlling the lift proportional electromagnetic control valve 17 and the hydraulic motor 18 in response to the calculation result obtained by the calculation unit 15b. 15c.
[0022]
The fork height detecting means 10 attaches one end of the wire wound on the reel to the lifting carriage 3 and detects the amount of wire withdrawal accompanying the lifting and lowering of the lifting carriage 3 by a rotary potentiometer or the like provided on the reel portion, From this detected value, the lift H0 of the fork tip 4a is obtained. Here, the lift H0 of the fork tip 4a is a direction perpendicular to the ground plane of the vehicle body 1 and the distance from the ground plane to the fork tip 4a.
[0023]
The tilt angle detecting means 21 is fixed to the vehicle body 1. A pendulum type inclination sensor or the like may be applied as the inclination angle detecting means 21. The inclination angle detecting means 21 detects the inclination angle of the vehicle body 1 based on the inclination of the road surface. As the distance measuring means 22, an encoder or the like for reading the angle of rotation of the rear wheel 1b may be applied. Alternatively, magnets and the like are provided on the road surface at equal pitches alongside the above-mentioned guide lines, and these magnets and the like are detected by a sensor or the like fixed to the vehicle body 1 side, and the traveled distance of the vehicle body 1 is calculated based on the number of times of detection. May be configured.
[0024]
The gantry 13 is installed on the horizontal road surface 90b, and the load W placed on the pallet P is placed on the gantry 13. An insertion opening for inserting the fork 4 is formed in the pallet P, and the height of the insertion opening is defined as an insertion height H1 into the pallet P. The insertion height H1 into the pallet P is a direction perpendicular to the horizontal road surface 90b, that is, a vertical direction, and is a height from the horizontal road surface 90b to the insertion opening of the pallet P. The fork 4 of the forklift F is inserted into the pallet P by adjusting the height of the fork tip 4a to the height H1 of the insertion opening. Here, the height of the fork tip 4a is H2. The height H2 of the fork tip 4a is a direction perpendicular to the horizontal road surface 90b, that is, a vertical direction, and is a height from the horizontal road surface 90b to the fork tip 4a.
[0025]
Next, an operation of inserting the fork tip 4a into the pallet P by the forklift F moving forward on the inclined road surface 90a having the inclination angle θ will be described.
[0026]
If there is a request for unloading of the load W or the like, a cargo handling command is distributed to the forklift F from a host computer or the like (not shown). Since the contents of the command include a code indicating the storage location of the pallet P, the forklift F obtains the height H1 at which the tip of the fork 4 is inserted into the pallet P at the same time as receiving the command signal. The central processing unit 15 temporarily stores the height H1 in the storage unit 15a.
[0027]
The forklift F keeps the height of the fork 4 at an arbitrary height, usually a lowered position to ensure the running stability of the vehicle body, while traveling until the forklift F approaches the load W. At a point approaching a predetermined distance from the pallet P, the height H2 of the fork tip 4a is adjusted to the height H1 of the insertion opening of the pallet P. In this example, when the forklift F reaches a point X which is a boundary point between the inclined road surface 90a and the horizontal road surface 90b, the forklift control by the forklift control means 20 starts. The method of recognizing the point X may be that the distance measuring means 22 detects that the vehicle body 1 has advanced from the reference point to the point X as described above, or the magnet for detecting the point X as described above. May be buried, and it may be recognized that the point X is detected because the magnet is detected several times.
[0028]
When the lift control is started, the inclination angle detection means 21 detects the inclination angle θ of the vehicle body 1, and an output signal is sent from the inclination angle detection means 21 to the storage unit 15 a of the central processing unit 15. Based on this output signal, the central processing unit 15 obtains the inclination angle θ of the vehicle body 1. Further, the lift H0 of the fork tip 4a is detected by the fork height detecting means 10, and the central processing unit 15 obtains the lift H0 of the fork tip 4a. The horizontal distance Z from the center of the front wheel 1a to the tip 4a of the fork, which is determined as a constant, is also stored in the storage unit 15a. The radius R1 of the front wheel 1a is also stored in the storage unit 15a as a constant.
[0029]
The route on which the vehicle body 1 travels is finely divided into relatively short equal pitches of about 10 cm, and the fork 4 is sequentially controlled every time the vehicle body 1 travels in such a section ΔL of about 10 cm. That is, the calculation unit 15b of the central processing unit 15 repeatedly calculates the lift H0 of the fork tip 4a for each section ΔL assigned to the traveling route of the vehicle body 1, and stores the height H2 of the fork tip 4a in the storage unit 15a. The lift drive source is repeatedly controlled so as to be equal to the inserted height H1 into the pallet, that is, the hydraulic motor 18 is driven and the valve opening of the lift proportional electromagnetic control valve 17 is adjusted to extend and retract the lift cylinder 5. Is performed.
[0030]
Here, the height H2 of the fork tip 4a is determined by the following equation.
H2 = ((Z + R1 tan θ) tan θ + H0) cos θ
Thus, the lift H0 of the fork tip 4a is determined by the following equation.
H0 = (H2 / cos θ) − (Z + R1 tan θ) tan θ
[0031]
That is, the lift drive source 5 is repeatedly controlled so that the height H2 of the fork tip 4a becomes the insertion height H1 into the pallet P. When the slope 90a is very gentle, the error is small even if the above R1tan θ is calculated as zero.
[0032]
The present invention can be implemented in various modified, modified, and modified forms based on the knowledge of those skilled in the art without departing from the spirit of the present invention. For example, when the inclination angle θ of the inclination of the inclined road surface 90a is quantitatively clear, the inclination angle detecting means 21 may be omitted. In this case, the relationship between the traveling distance of the vehicle body 1 and the inclination angle θ is stored in a table in the storage unit 15a, the inclination angle θ is called and calculated according to the traveling distance from the point X, and the height H2 of the fork tip 4a is calculated May be controlled so that the height H1 of the fork tip 4a is equal to the height H1 of the insertion opening of the pallet P.
[0033]
Further, in the above-described embodiment, the example in which the forklift F advances on the inclined road surface and inserts the fork 4 into the pallet P has been described, but the same applies to the case where the forklift F moves backward on the inclined road surface and removes the fork 4 from the pallet P. Can be controlled. Further, in the above-described embodiment, the case where the forklift F moves forward or backward on the ascending slope is shown. However, the same control is applied to the cargo handling work in the case where the pallet P mounted on the horizontal road surface is downhill, that is, under the downhill. Can be performed.
[0034]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to the forklift which concerns on this invention, in the process which injects a fork in the back of a pallet etc., the tip of a fork goes straight in the back of a pallet etc. Let me do. Therefore, the tip of the fork does not hit the inner surface of the pallet or the like, and the pallet or the like can be prevented from being damaged. Furthermore, when an unmanned transport vehicle is used as a vehicle body, it is possible to prevent a trouble during operation in which the tip of a fork hits an inner surface of a pallet or the like and the vehicle body is prevented from running.
[Brief description of the drawings]
FIG. 1 is a side view showing an operating state of a forklift according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a main part of the forklift according to the embodiment of the present invention.
[Explanation of symbols]
1: forklift 2: mast 3: lifting carriage 4: fork 4a: fork tip 6: tilt drive source 90a: inclined road surface 90b: horizontal road surface 10: fork lift detecting means 15: central processing unit 15a: storage unit 15b: calculation Unit 15c: Control unit 16: Memory 17: Proportional electromagnetic control valve for lift 18: Hydraulic motor 20: Fork lift control unit 21: Inclination angle detecting unit 22: Distance measuring unit F: Forklift P: Pallet H0: Fork tip Lifting height H1: Insertion height to pallet H2: Height of fork tip Z: Horizontal distance from front wheel center to fork tip R1: Diameter of front wheel θ: Inclination angle

Claims (6)

A forklift that includes a fork that can move up and down along a mast erected in front of the vehicle body and that performs loading and unloading work by inserting the fork into a pallet,
By detecting the inclination angle of the vehicle body, when the vehicle body moves forward or backward on a sloped road surface, the fork tip height is controlled using the inclination angle so that the height of the fork tip becomes the height of insertion into the pallet. A forklift configured to insert or withdraw a fork from a pallet. A forklift that includes a fork that can move up and down along a mast erected in front of the vehicle body and that performs loading and unloading work by inserting the fork into a pallet,
From the values of the insertion height to the pallet, the inclination angle of the vehicle body, and the horizontal distance from the front wheel of the vehicle body to the tip of the fork, the height of the fork tip matches the insertion height to the pallet. A forklift comprising fork lift control means for controlling the lift of a fork tip. A forklift that includes a fork that can be lifted and lowered by lifting means along a mast erected in front of the vehicle body and that performs loading and unloading work by inserting the fork into a pallet;
A storage unit that stores an insertion height to the pallet and a horizontal distance from a front wheel of the vehicle body to a tip of a fork;
Inclination angle detection means for detecting an inclination angle of the vehicle body,
From the insertion height to the pallet stored in the storage unit, the horizontal distance to the tip of the fork, and the inclination angle obtained by the inclination angle detection means, the height of the tip of the fork is determined as the insertion height to the pallet. A calculation unit for calculating the lift of the tip of the fork so as to match the height,
Control means for controlling the elevating means so that the lift at the tip of the fork becomes the lift obtained by the calculation unit;
A forklift comprising fork lift control means comprising: A forklift that includes a fork that can be lifted and lowered by lifting means along a mast erected in front of the vehicle body and that performs loading and unloading work by inserting the fork into a pallet;
A storage unit that stores the insertion height of the fork tip into the pallet at the time of cargo handling, the horizontal distance from the front wheel of the vehicle body to the tip of the fork, and the diameter of the front wheel of the vehicle body.
Inclination angle detection means for detecting an inclination angle of the vehicle body,
The height of the fork tip is determined from the insertion height to the pallet stored in the storage unit, the horizontal distance to the tip of the fork, the diameter of the front wheel, and the inclination angle obtained by the inclination angle detecting means. A calculation unit for calculating the lift of the tip of the fork so as to match the insertion height to the pallet;
Control means for controlling the elevating means so that the lift at the tip of the fork becomes the lift obtained by the calculation unit;
A forklift comprising fork lift control means comprising: A forklift that includes a fork that can be lifted and lowered by lifting means along a mast erected in front of the vehicle body and that performs loading and unloading work by inserting the fork into a pallet;
The table stores the height of the fork tip inserted into the pallet during loading, the horizontal distance from the front wheel of the vehicle body to the tip of the fork, and the relationship between the travel distance of the vehicle body from a predetermined point and the inclination angle of the vehicle body. Storage unit to
Predetermined point detection means for detecting the predetermined point,
Distance measuring means for detecting a traveling distance of the vehicle body,
The insertion height to the pallet stored in the storage unit, the horizontal distance to the tip of the fork, and the travel distance of the vehicle body detected by the distance measuring means after the predetermined point is detected by the predetermined point detecting means. A calculation unit for calculating the lift of the tip of the fork so that the height of the tip of the fork coincides with the height of insertion into the pallet from the inclination angle of the vehicle body obtained from the table,
Control means for controlling the elevating means so that the lift at the tip of the fork becomes the lift obtained by the calculation unit;
A forklift comprising fork lift control means comprising: A forklift that includes a fork that can be lifted and lowered by lifting means along a mast erected in front of the vehicle body and that performs loading and unloading work by inserting the fork into a pallet;
The height of the fork tip inserted into the pallet at the time of cargo handling, the horizontal distance from the front wheel of the vehicle body to the tip of the fork, the diameter of the front wheel of the vehicle body, the traveling distance from a predetermined point on the vehicle body, and the inclination angle of the vehicle body A storage unit for storing a table indicating the relationship of
Predetermined point detection means for detecting the predetermined point,
Distance measuring means for detecting a traveling distance of the vehicle body,
The height of insertion into the pallet stored in the storage unit, the horizontal distance to the tip of the fork, the diameter of the front wheel, and the predetermined point detected by the predetermined point detection unit and then detected by the distance measurement unit A calculation unit that calculates the lift of the tip of the fork such that the height of the tip of the fork matches the height of insertion into the pallet from the inclination angle of the body obtained from the table based on the travel distance of the body,
Control means for controlling the elevating means so that the lift at the tip of the fork becomes the lift obtained by the calculation unit;
A forklift comprising fork lift control means comprising:

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