JP2021066538A - Confronting method of cargo handling vehicle - Google Patents

Abstract

To provide a confronting method of a cargo handling vehicle capable of making a vehicle face a cargo handling target by approaching diagonally to the front face of the target.SOLUTION: A confronting method of a cargo handling vehicle has a first step and a second step where: the first step is for preventing lateral movement, in which the cargo handling vehicle measures the position of a palette 100 and aligns the center Cpf of the front face 101 of the palette 100, with the shortest distance line Lmi to a plane that passes through the center Cfh of the left and right front wheels 23a, 23b and that includes the front face 101 of the palette 100; and the second step is for preventing an angle deviation, in which the cargo handling vehicle turns at the maximum steering angle after it aligns the center Cpf of the front face 101 of the palette 100, with the shortest distance line Lmi at the first step, and aligns an orthogonal line Lr1 passing through the center Cfh of the left and right front wheels 23a, 23b and orthogonal to the wheel axis Axfh of the left and right front wheels 23a, 23b, with the center Cpf of the front face 101 of the palette 100.SELECTED DRAWING: Figure 7

Description

The present invention relates to a method of facing a cargo handling vehicle.

In the turning method of the forklift vehicle disclosed in Patent Document 1, the forklift vehicle is driven straight, the traveling speed of the forklift vehicle is reduced, light is emitted from the forklift vehicle, and light is emitted to the turning start position mark arranged at a predetermined position. When they overlap, the forklift truck starts turning, and the forklift truck is operated so as to take a predetermined turning trajectory.

Japanese Unexamined Patent Publication No. 2008-8891

By the way, it is possible to face the pallet, which is the object of cargo handling at the time of loading, by running parallel to the front surface of the pallet and turning 90 °, but it cannot face the pallet correctly when approaching the front surface of the pallet diagonally. ..

An object of the present invention is to provide a method for facing a cargo handling vehicle that can approach the front surface of a cargo handling object at an angle and face it.

The facing method of the cargo handling vehicle for solving the above problem is to measure the position of the cargo handling target, pass through the center of the left and right front wheels, and handle the cargo on the shortest distance line to the plane including the front surface of the cargo handling target. After aligning the center of the front surface of the target with the center of the front surface of the cargo handling target on the shortest distance line in the first step for preventing lateral displacement and then turning at the maximum steering angle, the left and right sides of the target are turned. It is a gist to have a second step for preventing an angular deviation that passes through the center of the front wheels and aligns an orthogonal line orthogonal to the axles of the left and right front wheels with the center of the front surface of the cargo handling object.

According to this, in the first step for preventing lateral displacement, the position of the cargo handling target is measured, and the cargo handling target passes through the center of the left and right front wheels and is on the shortest distance line to the plane including the front surface of the cargo handling target. Align the center of the front. After aligning the center of the front surface of the cargo handling target on the shortest distance line in the first step, in the second step to prevent angle deviation, turn at the maximum steering angle, pass through the center of the left and right front wheels, and left and right. Align the orthogonal line orthogonal to the axle of the front wheel with the center of the front surface of the cargo handling target. Therefore, it is possible to approach the front surface of the cargo handling object diagonally and face it.

Further, in the method of facing the cargo handling vehicle, the cargo handling vehicle may be a forklift.
Further, in the method of facing a cargo handling vehicle, the cargo handling target may be a pallet.
Further, the method of facing the cargo handling vehicle is used for the remote control system for the cargo handling vehicle, and the remote control system for the cargo handling vehicle includes the cargo handling vehicle and the remote control device, and the cargo handling vehicle includes the cargo handling vehicle and the remote control device. The machine base is provided with a cargo handling device and has a vehicle communication unit, and the remote control device has an operation device communication unit that performs wireless communication with the vehicle communication unit, and travels on the cargo handling vehicle and handles cargo by the cargo handling device. It should be used for remote control.

According to the present invention, it is possible to approach the front surface of the cargo handling object at an angle and face it.

The block diagram which shows the electrical structure of the remote control system for a forklift. Schematic side view showing a forklift. The schematic perspective view which shows by breaking a part of a forklift. The plan view which shows typically the forklift. Schematic plan view showing pallets and forklifts in the workplace. The figure for demonstrating the display contents on the display part. Schematic plan view showing pallets and forklifts in the workplace. The figure for demonstrating the display contents on the display part. Schematic plan view showing pallets and forklifts in the workplace. The figure for demonstrating the display contents on the display part.

Hereinafter, an embodiment embodying the present invention will be described with reference to the drawings.
In the present embodiment, the method of facing a cargo handling vehicle is used for a remote control system for a forklift as a remote control system for a cargo handling vehicle.

As shown in FIG. 1, the forklift remote control system 10 includes a reach-type forklift 20 as a cargo handling vehicle and a remote control device 40 used for remotely controlling the traveling of the forklift 20 and the cargo handling by the cargo handling device. I have. The forklift 20 is arranged in the workplace. Then, the forklift 20 in the workplace can be remotely controlled from the operation room by using the remote control device 40.

The forklift 20 is located at a place away from the pallet or the like in the work place. From this state, the operator remotely controls the forklift 20 to bring the forklift 20 closer to the pallet and insert the fork into the hole of the pallet. It is possible to carry out loading and unloading with such a pallet.

As shown in FIGS. 2 and 3, the forklift 20 includes a machine base 21. A pair of left and right reach legs 22a and 22b are arranged on the front side of the machine base 21, and the reach legs 22a and 22b extend forward. Specifically, the reach leg 22a is provided on the right side in the traveling direction, and the reach leg 22b is provided on the left side in the traveling direction. Front wheels 23a and 23b are arranged at the front of the reach legs 22a and 22b. Specifically, the right front wheel 23a is provided on the reach leg 22a on the right side in the traveling direction, and the left front wheel 23b is provided on the reach leg 22b on the left side in the traveling direction. As described above, a pair of left and right front wheels 23a and 23b are provided on the front side of the machine base 21.

As shown in FIGS. 2, 3 and 4, rear wheels 24 and caster wheels (training wheels) 25 are arranged at the rear of the machine base 21. The rear wheel 24 is provided on the left side of the machine base 21, and the caster wheel 25 is provided on the right side of the machine base 21. The rear wheels 24 are drive wheels and steering wheels.

As shown in FIGS. 2 and 4, the forklift 20 travels on three wheels, two front wheels 23a and 23b, and one rear wheel 24. As shown in FIG. 2, the machine base 21 is equipped with a traveling motor 26 that is a driving source of the forklift 20 and a battery 27 that is a power source of the traveling motor 26. Then, the rear wheels 24 are rotationally driven by the traveling motor 26.

As shown in FIG. 2, the forklift 20 includes a cargo handling device 28 in front of the machine base 21. The cargo handling device 28 includes a mast 29 that moves back and forth along the reach legs 22a and 22b by driving a reach cylinder (not shown). A pair of left and right forks 30a and 30b are provided in front of the mast 29 via a lift bracket 31. The forks 30a and 30b have a claw (hereinafter, referred to as a fork claw) Nf that extends in the front direction, specifically, when the tilt angle is 0, in the horizontal direction. The forks 30a and 30b move up and down along the mast 29. That is, the forklift 20 includes a fork claw Nf as a cargo handling unit that moves up and down.

The forklift 20 of the present embodiment is configured so that the driver can sit and operate it. An unmanned forklift without a driver's seat may be used.
As shown in FIG. 3, the forklift 20 includes a standing type driver's cab 32 at the rear of the machine base 21. Steering tables 33a and 33b are provided in front of and to the left of the driver's cab 32. The steering table 33a located in front of the driver's cab 32 is provided with a direction lever 34 for operating the forklift 20 and a plurality of cargo handling levers 35 for operating the cargo handling device 28. The direction lever 34 is operated to rotate the rear wheels 24 to drive the vehicle. The steering table 33b located to the left of the driver's cab 32 is provided with a steering wheel 36 for steering the rear wheels 24. Further, a brake pedal 37 is provided on the floor surface of the driver's cab 32.

As shown in FIGS. 2 and 3, the machine base 21 has two pillars 38 and a head guard 39. The driver's cab 32 is surrounded by two pillars 38 erected on the machine base 21 and a head guard 39 fixed to the upper end of the pillars 38. The head guard 39 has a plate shape that extends in the horizontal direction, and has a quadrangular shape in a plan view.

As shown in FIG. 1, the forklift 20 includes a controller 51 as a forklift-mounted device 50, a radio unit 52 as a vehicle communication unit, an image processing unit 53, and a radio 54 as a vehicle communication unit. It has cameras 71 and 72.

The remote control device 40 includes a controller 61, an operation unit 62, a display unit (monitor) 63, and radios 64 and 65 as operation device communication units. The remote control device 40 includes a controller 61, an operation unit 62, and a display unit (monitor) 63 as operation room side equipment 60.

The radio 64 of the remote control device 40 is arranged in the work place. Further, the radio 65 of the remote control device 40 is arranged in the work place. The controller 61 arranged in the operation room is connected to the radio 64 arranged in the work place by the wired L1. The controller 61 is connected to the radio 65 arranged in the work place by a wired L2.

In the workplace, the wireless device 64 of the remote control device 40 and the wireless unit 52 of the forklift-mounted device 50 can perform wireless communication in both directions. Further, in the workplace, the radio 54 of the forklift-mounted device 50 can wirelessly communicate with the radio 65 of the remote control device 40.

In this way, the forklift 20 has a radio unit 52 and a radio 54, and the remote control device 40 has radios 64 and 65 that perform wireless communication with the radio unit 52 and the radio 54.

The controller 61 of the remote control device 40 is connected to the operation unit 62 and the display unit (monitor) 63. The operation unit 62 is for remotely controlling the forklift 20 by the operator, and the operation content of the forklift 20 by the operator (operation command values for lift, reach, tilt, and operation commands for speed, acceleration, and steering angle). Value etc.) is sent to the controller 61. The controller 61 wirelessly transmits vehicle control signals such as lift, reach, and tilt operation command values, speed, acceleration, and steering angle operation command values to the radio unit 52 of the forklift-mounted device 50 via the radio 64. To do.

In the forklift-mounted device 50, the controller 51, the wireless unit 52, and the image processing unit 53 are connected to each other so as to be able to communicate with each other (for example, CAN communication). The controller 51 can drive a traveling system actuator (traveling motor 26, steering motor (not shown), etc.) and a cargo handling system actuator (lift cylinder, reach cylinder, tilt cylinder, etc. (not shown)) according to an instruction from the remote control device 40 side.

The wireless unit 52 wirelessly transmits vehicle information such as the vehicle speed of the forklift 20 and abnormality information (obstacle detection information and the like) to the controller 61 via the radio 64.
In FIG. 1, the controller 61 can remotely control the traveling of the forklift 20 and the cargo handling by the cargo handling device 28 via the radio 64, the radio unit 52, and the controller 51. That is, instead of the operation unit (direction lever 34, cargo handling lever 35, handle 36, brake pedal 37, etc.) in FIG. 3, the operation unit 62 of the remote control device 40 can be used for remote control.

Then, in the remote control device 40, when the operator performs a desired operation using the operation unit 62, the operation content is sent to the forklift 20 side by the controller 61 via the radio 64. In the forklift 20, the wireless unit 52 receives the operation content from the remote control device 40, and the controller 51 drives the actuator unit to execute a desired operation.

As shown in FIGS. 2 and 4, a camera 71 is provided at the center of the lift bracket 31 in the forklift 20. The camera 71 is for taking an image of the front of the fork claw Nf as a cargo handling portion, and is attached so as to face forward and downward. The camera 71 takes an image of the lower part of the forklift 20 around the vehicle in the traveling direction while traveling. Further, a camera 72 is attached to the upper surface of the left reach leg 22b so as to face forward, and the camera 72 images the left front of the forklift 20. That is, the camera 72 is a camera for monitoring an obstacle at the leg destination.

As shown in FIG. 1, in the forklift 20, the images captured by the cameras 71 and 72 are sent by the controller 51 to the remote control device 40 side via the image processing unit 53 and the radio 54. In the remote control device 40, the radio 65 receives the camera image from the forklift 20. Then, the controller 61 displays the camera images captured by the cameras 71 and 72 on the display unit 63 provided in the remote control device 40. The display unit 63 is, for example, a desktop type display. The operator operates while looking at the camera image on the display unit 63.

In FIG. 5, reference numeral Cpf indicates the center of the front surface 101 of the pallet 100. The reference numerals Cfh indicate the centers of the left and right front wheels 23a and 23b. The reference numerals Axfh indicate the axles of the left and right front wheels 23a and 23b. Reference numeral Lr1 indicates an orthogonal line that passes through the center Cfh of the left and right front wheels 23a and 23b and is orthogonal to the axles Axfh of the left and right front wheels 23a and 23b. The reference numeral Lmi indicates the shortest distance line to a plane that passes through the centers Cfh of the left and right front wheels 23a and 23b and includes the front surface 101 of the pallet 100. As shown in FIG. 7, the center Cpf of the front surface 101 of the pallet 100 is aligned on the shortest distance line Lmi. This is an operation for preventing lateral slippage.

As shown in FIG. 5, the pallet 100 has a pallet hole 102 on the right side and a pallet hole 103 on the left side, and the pallet holes 102 and 103 have a rectangular cross section and are opened at the front surface 101 of the pallet 100.

As shown in FIG. 6, on the front surface 101 of the pallet 100, a mark 104 is attached to the right side and a mark 105 is attached to the left side. By reading the marks 104 and 105 with a camera, the position of the pallet 100 and the center of the pallet front surface 101 can be known.

The controller 61 measures the position of the pallet 100 as a cargo handling object by image recognition based on the camera image.
In in-situ turning, that is, turning at the maximum steering angle, the center Cfh of the left and right front wheels 23a and 23b shown in FIG. 7 is the turning center. By turning in place, as shown in FIG. 9, the above-mentioned orthogonal line Lr1 is aligned with the center Cpf of the front surface 101 of the pallet. This is an operation for preventing the angle shift.

The controller 61 as the superimposing unit can superimpose and display two marks Gm1 and Gm2 (see FIG. 6), which are information for supporting cargo handling work, on the camera image on the display unit 63. The marks Gm1 and Gm2 are guide marks for notifying that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi described above and that the orthogonal line Lr1 described above is aligned with the center Cpf of the pallet front surface 101. is there. Specifically, the mark Gm1 shown in FIG. 6 is a figure of ×, and the mark Gm2 is a diamond-shaped figure. The marks Gm1 and Gm2 can be displayed in different colors. The mark Gm2 is displayed superimposed on the center of the palette front surface 101 in the camera image. When facing each other, the mark Gm1 and the mark Gm2 overlap in the camera image.

Next, the action will be described.
Hereinafter, as the display content of the display unit 63, a camera image taken by the camera 71 among the cameras 71 and 72 will be described.

FIG. 5 shows a schematic plane of the pallet 100 and the forklift 20 in the workplace, and approaches the front surface 101 of the pallet 100 from an oblique right direction. The display content on the display unit 63 at that time is shown in FIG.

The situation shown in FIG. 5 is changed to the situation shown in FIG. 7 by an operation by the operator. FIG. 7 shows a schematic plane of the pallet 100 and the forklift 20 in the workplace, and FIG. 8 shows the display contents on the display unit 63 at that time.

The situation shown in FIG. 7 is changed to the situation shown in FIG. 9 by an operation by the operator. FIG. 9 shows a schematic plane of the pallet 100 and the forklift 20 in the workplace, and FIG. 10 shows the display contents on the display unit 63 at that time.

As shown in FIGS. 5 and 6, the controller 61 measures the position of the pallet 100 as a cargo handling object by image recognition based on the camera image. With respect to the lateral displacement amount ΔL and the angular deviation amount Δθ with respect to the face-to-face in FIG. 5, the lateral displacement amount ΔL and the angular deviation amount Δθ are eliminated in the subsequent operations. In FIG. 5, the lateral displacement amount ΔL is the distance between the vertical line extending from the center Cpf of the front surface 101 of the pallet 100 and the turning center. In FIG. 5, the angle deviation amount Δθ is an angle formed by the shortest distance line Lmi and the orthogonal line Lr1.

At this time, as shown in FIG. 6, in the camera image of the display unit 63, the mark Gm2 is superimposed and displayed on the center of the front surface of the pallet, and the mark Gm1 is superimposed and displayed on the left end of the front surface of the pallet. Do not overlap. Further, in the camera image of the display unit 63, the mark Gm1 is displayed in red and the mark Gm2 is also displayed in red.

From this state, as the first step, as shown in FIGS. 7 and 8, the operator measures the position of the pallet 100 as a cargo handling target, passes through the center Cfh of the left and right front wheels 23a and 23b, and passes through the center Cfh of the left and right front wheels 23a and 23b. The operation of aligning the center Cpf of the front surface 101 of the pallet 100 with the shortest distance line Lmi to the plane including the front surface 101 of the pallet 100 is performed. Specifically, from the state shown in FIG. 5, the forklift 20 is driven straight by a predetermined amount. This prevents lateral displacement. That is, the lateral displacement amount ΔL with respect to the face-to-face in FIG. 5 is eliminated in FIG. 7 (ΔL = 0). In FIG. 7, there is an angle deviation amount Δθ with respect to the face-to-face.

At this time, the color of the mark Gm2 is changed. Specifically, the color of the mark Gm2 is changed from the previous red color to green color. From this, it can be seen that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi. Further, as shown in FIG. 8, the mark Gm1 and the mark Gm2 do not overlap in the camera image of the display unit 63.

From this state, as the second step, as shown in FIGS. 9 and 10, the operator turns right at the maximum steering angle, passes through the center Cfh of the left and right front wheels 23a and 23b, and passes through the left and right front wheels 23a. , 23b, the orthogonal line Lr1 orthogonal to the axle Axfh is aligned with the center Cpf of the front surface 101 of the pallet 100. This prevents the angle shift. That is, the angle deviation amount Δθ with respect to the face-to-face in FIG. 7 is eliminated in FIG. 9 (Δθ = 0).

At this time, as shown in FIG. 10, the mark Gm1 and the mark Gm2 overlap each other, and the color of the mark Gm1 is changed. Specifically, the color of the mark Gm1 is changed from the red color up to that point to green. As a result, it can be seen that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi (see FIG. 7) and the orthogonal line Lr1 (see FIG. 9) is aligned with the center Cpf of the pallet front surface 101 and faces each other.

The operator makes the forklift 20 face the pallet 100 by turning it on the spot while looking at the display screen, then moves the forks 30a and 30b upward to adjust the heights of the forks 30a and 30b, and then moves the forks 30a and 30b. Move it forward and insert it into holes 102 and 103 of the pallet 100. When the insertion is completed, the operator lifts the pallet 100. Further, the operator moves the vehicle backward and moves the vehicle together with the pallet 100 to a desired place.

In this way, when the machine base 21 approaches the pallet 100 in order to face the pallet 100, the angular deviation remains together with the lateral displacement, and the fork claws Nf are placed in the pallet holes 102 and 103 unless the lateral displacement and the angular deviation are small with high accuracy. Difficult to plug in.

In the present embodiment, the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi, and then the orthogonal line Lr1 is aligned with the center Cpf of the pallet front surface 101 by turning at the maximum steering angle. As a result, the forklift 20 can be correctly faced with the pallet 100 with high accuracy and with little lateral deviation and angular deviation, and the fork claws Nf can be inserted into the pallet holes 102 and 103. At this time, it can be seen that the marks Gm1 and Gm2 drawn on the camera screen were used to face each other.

According to the above embodiment, the following effects can be obtained.
(1) As a method of facing the forklift 20 as a cargo handling vehicle, a plane that measures the position of the pallet 100 as a cargo handling target, passes through the center Cfh of the left and right front wheels 23a and 23b, and includes the front surface 101 of the pallet 100. After aligning the center Cpf of the front surface 101 of the pallet 100 on the shortest distance line Lmi to the first step for preventing lateral displacement and aligning the center Cpf of the front surface 101 of the pallet 100 on the shortest distance line Lmi in the first step. An angle at which the orthogonal line Lr1 that turns at the maximum steering angle, passes through the center Cff of the left and right front wheels 23a and 23b, and is orthogonal to the axle Axfh of the left and right front wheels 23a and 23b is aligned with the center Cpf of the front surface 101 of the pallet 100. It has a second step for preventing slippage. Therefore, it is possible to approach the front surface 101 of the pallet 100, which is the object of cargo handling at the time of loading, diagonally and face it.

(2) Since the cargo handling vehicle is a forklift 20, it is possible to approach the front surface 101 of the pallet 100, which is the object of cargo handling when the forklift 20 is used, and face it diagonally.

(3) Since the cargo handling target is the pallet 100, it is possible to approach the front surface 101 of the pallet 100 at an angle and face it.
(4) The method of facing the forklift 20 as a cargo handling vehicle is used for the forklift remote control system 10 as a cargo handling vehicle remote control system, and the forklift remote control system 10 is a forklift as a cargo handling vehicle. 20 and a remote control device 40 are provided. The forklift 20 as a cargo handling vehicle includes a cargo handling device 28 on the machine base 21 and a radio unit 52 and a radio 54 as a vehicle communication unit. Further, the remote control device 40 has radios 64 and 65 as operation device communication units that perform wireless communication with the radio unit 52 and the radio 54, and remotely controls the traveling of the forklift 20 and the cargo handling by the cargo handling device 28. Used for. Therefore, when the remote control is performed according to only the image of the camera, it is possible to approach the front surface of the palette diagonally and face it.

The embodiment is not limited to the above, and may be embodied as follows, for example.
○ Marks 104 and 105 were attached to the front surface 101 of the pallet, and the center Cpf of the front surface 101 of the pallet was detected based on the reading of the marks 104 and 105. The center Cpf of the pallet front surface 101 may be detected.

〇 The cargo handling target was the pallet 100 at the time of unloading, but the cargo itself may be used.
○ The case of performing loading work has been explained, but the same applies to the case of performing loading work, and in the case of loading work, the cargo handling target is the section of the shelf board on which the load is placed in the rack.

That is, the cargo handling target was the pallet 100, but the cargo handling target is the section of the rack shelf board, and when it is desired to place the load in the narrow space between the luggage on the rack shelf board, the mark is placed on the rack shelf board. Is attached.

In FIG. 4, the camera 71 is provided at the center of the lift bracket 31 in consideration of loading, but when the loading work is performed, if it becomes difficult to image the front of the vehicle, the lift bracket 31 is located in the left-right direction. A camera may be provided at the end of the.

The colors of the marks Gm1 and Gm2 indicate that the center Cpf of the pallet front surface 101 is aligned with the shortest distance line Lmi, and that the orthogonal line Lr1 is aligned with the center Cpf of the pallet front surface 101. Instead, for example, the lateral displacement amount ΔL (distance between the vertical line extending from the center Cpf of the front surface 101 of the pallet 100 and the turning center) and the angular deviation amount Δθ (angle formed by the shortest distance line Lmi and the orthogonal line Lr1) in FIG. ) May be expressed numerically on the camera screen.

○ The location and number of cameras can be installed.
○ The method of facing cargo handling vehicles was used for remote control systems for forklifts, but it is not limited to this. For example, it may be used for a manned forklift. That is, instead of having an unmanned forklift equipped with a camera and a remote control device having a display unit, the application may be applied to, for example, a manned forklift equipped with a camera and a display unit.

○ The forklift may be a counter type forklift.
○ The cargo handling vehicle was a forklift, but it may be applied to cargo handling vehicles other than forklifts.

10 ... Remote control system for forklift, 20 ... Forklift, 21 ... Machine stand, 23a ... Right front wheel, 23b ... Left front wheel, 28 ... Cargo handling device, 40 ... Remote control device, 52 ... Radio unit, 54 ... Radio, 64, 65 ... Radio, 100 ... Pallet, 101 ... Front, Axf ... Axle, Cfh ... Center, Cpf ... Center, Lmi ... Shortest distance line, Lr1 ... Orthogonal line.

Claims (4)

The first step for preventing lateral displacement by measuring the position of the cargo handling object, passing through the centers of the left and right front wheels, and aligning the center of the front surface of the cargo handling object on the shortest distance line to the plane including the front surface of the cargo handling object. When,
After aligning the center of the front surface of the cargo handling object on the shortest distance line in the first step, the vehicle turns at the maximum steering angle, passes through the centers of the left and right front wheels, and is orthogonal to the axles of the left and right front wheels. The second step to prevent the angle deviation of aligning the orthogonal line with the center of the front surface of the cargo handling object, and
A method of facing a cargo handling vehicle characterized by having. The method for facing a cargo handling vehicle according to claim 1, wherein the cargo handling vehicle is a forklift. The method for facing a cargo handling vehicle according to claim 2, wherein the cargo handling target is a pallet. The method of facing a cargo handling vehicle is used in a remote control system for a cargo handling vehicle.
The remote control system for a cargo handling vehicle includes the cargo handling vehicle and a remote control device.
The cargo handling vehicle is provided with a cargo handling device on the machine base and has a vehicle communication unit.
The remote control device has an operation device communication unit that wirelessly communicates with the vehicle communication unit, and is used for remotely controlling the traveling of the cargo handling vehicle and the cargo handling by the cargo handling device. The method for facing a cargo handling vehicle according to any one of 3 to 3.

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