KR101869480B1 - Safety Control System Using an Electronic Controller for Forklift - Google Patents

Safety Control System Using an Electronic Controller for Forklift Download PDF

Info

Publication number
KR101869480B1
KR101869480B1 KR1020170155427A KR20170155427A KR101869480B1 KR 101869480 B1 KR101869480 B1 KR 101869480B1 KR 1020170155427 A KR1020170155427 A KR 1020170155427A KR 20170155427 A KR20170155427 A KR 20170155427A KR 101869480 B1 KR101869480 B1 KR 101869480B1
Authority
KR
South Korea
Prior art keywords
forklift
signal
control unit
main control
unit
Prior art date
Application number
KR1020170155427A
Other languages
Korean (ko)
Inventor
강일형
최평호
김정배
김도근
허지민
나웅희
김길연
Original Assignee
주식회사 영신
강일형
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 영신, 강일형 filed Critical 주식회사 영신
Priority to KR1020170155427A priority Critical patent/KR101869480B1/en
Application granted granted Critical
Publication of KR101869480B1 publication Critical patent/KR101869480B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07509—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The present invention provides a forklift which is provided with a forklift so as to provide an automatic stop control of the operation of a forklift when a person or an object approaching within a predetermined radius of the forklift is being operated, An access recognition unit for recognizing a sensing signal with a person or an object approaching to the surroundings in real time; A main control unit provided to be able to input and output a running signal and an operating operation signal of the forklift, and receiving an acknowledgment signal of the access recognizing unit and supplying an electrical control signal for stopping the emergency running; An electronic control unit for inputting an electronic signal according to a buzzer and a switch operation of the forklift and receiving an input signal of the main control unit according to whether the recognition signal is transmitted by the access recognition unit and supplying an electronic control signal for stopping the forklift forklift, The main control unit provides an electronic control system for controlling the rotation or the engine power of the running motor, which is a driving force differentiating operation driving force, in an integrated manner.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety control system for a forklift,

The present invention relates to a safety control system for a forklift truck using an electronic control system, and more particularly, to a safety control system for a forklift truck which automatically controls the operation of a forklift when a person or an object approaching within a predetermined radius is recognized, And more particularly, to a safety control system for a forklift using an electronic control system capable of effectively preventing peripheral safety accidents during a forklift operation.

Generally, forklift is a kind of industrial vehicle widely used in civil engineering and construction industry. It is a mechanical structure that lifts cargo by generating hydraulic pressure by power generated from engine or battery. It is used to move to near-site or to load or unload the cargo in various transportation vehicles.

Such a forklift can be configured to be capable of being lifted to an arbitrary height while being loaded with a pair of forks protruded forward, and in the case of a forklift, divided into an engine type using an electric diesel or a battery and an electric type Depending on the type, it may be divided into a counter balance type and a leach type.

The forklift is also affected by the stability of the cargo according to the unloading status of the cargo because of its special use. In particular, when the cargo is moved, the stability of driving depends on the weight of the cargo, the height of the fork loaded with the cargo, and so the driver of the forklift should operate the forklift truck in accordance with the operation status of the forklift truck.

However, since the forklift has a high garage, it is difficult for the forklift driver to identify obstacles in the front and rear, when a nearby worker is sitting or leaning or when the height of the obstacle is low.

As a conventional technique disclosed for solving the above problems, Korean Utility Model Registration No. 1459760 (Apr. 31, 2014) discloses a buzzer for generating a warning sound; A controller for receiving various information signals from outside and generating a warning sound through the buzzer according to an operation program stored in advance; A selection switch for interrupting power supplied to the control unit and making the control unit operable in an enabled state or a disabled state; A backward movement sensing switch for sensing a backward movement of the forward / backward lever and generating a movement information signal to the control unit; A brake pedal sensing switch for detecting the unlocking of the brake pedal and generating an information signal to the control unit; A parking lever sensing switch for detecting the unlocking of the parking lever and generating a corresponding information signal to the control unit; And a vehicle reverse detection sensor for detecting a reverse output of the vehicle drive unit and generating a reverse information signal to the control unit. Accordingly, even if a person in front of the vehicle is alerted to the operation of the forklift in advance, A peripheral warning device for a forklift is known.

Also, in Japanese Patent Laid-Open Publication No. 49649 (Aug. 5, 2015), an obstacle detection unit detects an obstacle close to a plurality of forklifts in a workplace and outputs an obstacle detection signal; An operation signal sensing unit for sensing an operation signal of the forklift; An arithmetic processing unit for detecting an operation signal output from the forklift and determining whether the obstacle detection signal is inputted; And an integration server for wirelessly controlling an alarm output or an operation stop of each of the plurality of forklifts by receiving the determination result of the operation processing unit through the wireless network. Accordingly, the plurality of forklifts can be detected, And the like can be integrally operated through a remote server or a mobile terminal.

However, in the case of the above-mentioned prior art registration No. 1459760, only the warning function of notifying the operation of the forklift to the vicinity of the front and rear sides is performed, so that it is totally independent of the operation control for safe operation of the forklift driver. There was a problem that it was difficult to do.

In addition, in the case of the above-mentioned prior arts, in the case of the Japanese Patent Laid-Open Publication No. 49649, the driving and stopping of the forklift is directly and remotely controlled, but since the forklift is structured as a driving circuit separated from each other according to different driving methods (engine type and electric type) There is a problem in that it is difficult to integrate them into a drive control system.

KR Patent Registration No. 10-1459760 (Apr. 31, 2014) KR Patent Publication No. 10-2015-0049649 (Aug.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a forklift truck which automatically controls an emergency stop of a forklift while recognizing an approach of a person or an object around the forklift, And an object of the present invention is to provide a safety control system for a forklift using an electronic control system capable of minimizing the incidence of accidents.

In addition, since the present invention is configured to be compatible with both the electric forklift or the engine-type forklift, it is possible to integrally control the stoppage of the forklift, and thus the forklift operation safety control system using an electronic control system .

The present invention provides a safety control system for a forklift using an electronic control system. The safety control system includes an access recognition unit for recognizing a detection signal of a person or an object approaching the forklift in real time; A main control unit provided to be able to input and output a running signal and an operating operation signal of the forklift, and receiving an acknowledgment signal of the access recognizing unit and supplying an electrical control signal for stopping the emergency running; An electronic control unit for inputting an electronic signal according to a buzzer and a switch operation of the forklift and receiving an input signal of the main control unit according to whether the recognition signal is transmitted by the access recognition unit and supplying an electronic control signal for stopping the forklift forklift, And the main control unit is configured to integrally stop and control the rotation of the traveling motor or the engine power, which is the driving force of the differential driving force.

And a connection kit provided between the main control unit and the electronic control unit to receive the signal recognized by the main control unit and relay the signal to the electronic control unit to transmit the signal.

The access recognition unit includes an RFID antenna having a RFID tag on a person or an object and recognizing the RFID tag through a radio frequency with the RFID tag within a set access distance using short-range wireless communication.

The access recognition unit may be a UWB impulse radar for receiving and recognizing electromagnetic waves transmitted from a person or an object. The access recognition unit detects a laser signal reflected by contact with a person or an object while emitting a laser light source Or LiDAR for collecting peripheral image information.

The main control unit is mounted on the electric forklift. When the recognition signal is transmitted from the access recognition unit, a control signal for notifying a power cut-off to the running motor is applied to stop the emergency running.

In addition, the main control unit is mounted on the engine forklift, and when a recognition signal is transmitted from the access recognition unit, a control signal for switching the engine power, which is an operation drive force, from the drive state to the neutral state is applied for stopping the emergency running.

According to the forklift work safety control system using the electronic control system according to the present invention, the person or object approaching the periphery of the forklift is recognized and the automatic stopping of the emergency stop of the forklift and the operation of the forklift are automatically controlled. And to improve the efficiency of prevention of substantial safety accidents in the field, and to control the stoppage of the electric forklifts or the engine-type forklifts without any distinction, thereby achieving the universal commercialization while making the control system universal. .

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a configuration diagram schematically showing an embodiment according to the present invention. Fig.
2 is a block diagram schematically illustrating an embodiment according to the present invention.
3 is a circuit diagram schematically showing an embodiment according to the present invention;

The present invention relates to an approach recognition unit for recognizing a sensing signal of a person or an object approaching a forklift around the forklift in real time; A main control unit provided to be able to input and output a running signal and an operating operation signal of the forklift, and receiving an acknowledgment signal of the access recognizing unit and supplying an electrical control signal for stopping the emergency running; An electronic control unit for inputting an electronic signal according to a buzzer and a switch operation of the forklift and receiving an input signal of the main control unit according to whether the recognition signal is transmitted by the access recognition unit and supplying an electronic control signal for stopping the forklift forklift, And a main control unit for controlling the rotation or engine power of the running motor, which is a driving force of the differential driving force, in an integrated manner.

Next, a preferred embodiment of a safety control system for a forklift using an electronic control system according to the present invention will be described in detail with reference to the drawings.

1 to 3, an approach recognition unit 10, a main control unit 20, an electronic control unit 30, and an electronic control unit 30, .

The access recognition unit 10 performs a function of recognizing a sensing signal with a person or an object approaching the vicinity of the forklift in real time.

The access recognition unit 10 is provided on the forklift 5 and mounted on the front and rear sides and the left and right sides with respect to the body of the forklift 5 so as to provide a plurality of access recognition units, .

The access recognition unit 10 may be constituted by an RFID antenna capable of recognizing through a radio frequency or a UWB impulse radar capable of receiving and recognizing an electromagnetic wave. Or LiDAR capable of recognizing an object.

The access recognition unit 10 may be configured to include an RFID tag (not shown) in an access target, that is, a person or an object, and the access recognition unit 10 may include a short- The access recognition unit 10 recognizes the RFID tag as a radio frequency when a person or an object approaches the set access distance using communication. That is, the access recognition unit 10 receives the transmission signal of the RFID tag and recognizes whether a person or an object is approaching.

In the above, the RFID tag is attached to a safety monitor or work clothes worn by workers at a work site.

The UWB impulse radar is a UWB impulse radar that can transmit a wide range of frequencies over a very wide band to a person or an object. It is possible to determine distance and size.

In addition, when the access recognition unit 10 is configured by LiDAR, the laser light source is emitted to the periphery, and the laser signal reflected by the contact with a person or an object is detected Therefore, it is possible to collect characteristic information such as the distance and the direction including the peripheral image information being accessed.

The main control unit 20 is provided to be able to input and control basic traveling signals and operating operation signals of the forklift 5. That is, a basic start signal for driving by the operation of the external power switch, and a control signal can be supplied as the operation operation signal is inputted from the connection with the external controller.

In the main control unit 20, when the recognition unit 10 detects a person or an object, the recognition unit 10 is connected to the recognition unit 10 so as to transmit the recognition signal.

The main control unit 20 has a plurality of access recognition units 10, so that the connection path to the access recognition unit 10 is divided to form a multiple connection structure. For example, when the access recognition unit 10 is configured to include four access recognition units 10, the access recognition units 10 are connected to the main control unit 20 through four connection paths separated from each other, In accordance with the control signal.

The main control unit 20 can supply an electric control signal for stopping the emergency running of the forklift 5 when the recognition signal is input from the access recognition unit 10. [

The main control unit 20 stops the running forklift 5 urgently and stops the rotation of the driving motor for the forklift 5 or the electric forklift for each forklift 5 or stops the engine power for the engine forklift Control.

The main control unit 20 is connected to the divided converter 23 of the forklift 5 to convert a voltage of 48V to a voltage of 12V and controls the forklift traveling motor or the engine power from the converted electric signal.

The main control unit 20 is mounted on the electric forklift and receives a recognition signal from the approach recognition unit 10 to apply a control signal to the running motor to notify the power of the driving motor to stop the emergency running.

When the recognition signal is transmitted from the access recognition unit 10 to the engine type forklift, the main control unit 20 applies a control signal for switching the engine power from the drive state to the neutral state .

In addition, the main controller 20 may be configured with a remote controller 27 capable of applying an input signal directly from the outside.

The remote controller 27 transmits an optical signal for stopping the operation to the main control unit 20 and the main control unit 20 stops the forcible operation of the forklift 5 when the optical signal is received from the remote controller 27 Lt; / RTI >

Since the remote controller 27 is configured to be able to apply a transmission signal for stopping the emergency running to the main control unit 20 regardless of the recognition signal according to the access recognition unit 10, It is possible to configure to control the travel stop.

And a connection kit 25 for communicating a control signal between the main control unit 20 and the electronic control unit 30 so as to be mutually connected.

The connection kit 25 receives the signal recognized by the main control unit 20 and relays the signal to the electronic control unit 30 so that a control signal indicating the termination of the operation is transmitted to the electronic control unit 30 .

The electronic control unit 30 is configured to control the input of electronic signals according to the operation of the overall electronic functional components of the forklift 5 (for example, a buzzer, a switch, a forklift, etc.).

The electronic control unit 30 is configured so that a recognition signal of the access recognition unit 10 can be transmitted through the connection kit 25.

The electronic control unit 30 receives the supply signal of the main control unit 20 and supplies an electronic control signal for stopping the operation of the forklift 5 forklift 7. That is, when the supply signal is received from the main control unit 20 from the recognition signal of the access recognition unit 10, the forklift 5 is controlled to automatically stop the operation of the forklift 7 during operation.

The electronic control unit 30 inputs and sets a basic position of the forklift 7 for the forklift 5 and when the supply signal according to recognition of a person and an object is transmitted from the main control unit 20, It is also possible to arrange to stop operation after returning to the position.

That is, according to the safety control system for a forklift using the electronic control system according to the present invention configured as described above, it is possible to recognize a person or an object approaching to the vicinity of the forklift and to stop the emergency stop of the forklift and the operation of the forklift Therefore, it is possible to secure the safety of the forklift truck while improving the efficiency of prevention of substantial safety accidents in the field, and also to control the stoppage of the electric forklift or the engine type forklift without discrimination, It is possible to demonstrate commercialization.

Although the preferred embodiments of the forklift work safety control system using the electronic control system according to the present invention have been described above, the present invention is not limited to the embodiments, but may be modified in various ways within the scope of the claims, And this is also within the scope of the present invention.

10: access recognition unit 20: main control unit
23: converter 25: connection kit
30:

Claims (7)

An access recognition unit for recognizing a sensing signal of a person or an object approaching the forklift around the forklift in real time; A main control unit provided to be able to input and output a running signal and an operating operation signal of the forklift, and receiving an acknowledgment signal of the access recognizing unit and supplying an electrical control signal for stopping the emergency running; An electronic control unit for inputting an electronic signal according to a buzzer and a switch operation of a forklift and receiving an input signal of the main control unit in accordance with whether the recognition signal is transmitted by the access recognition unit and supplying an electronic control signal for stopping the forklift forklift, The main control unit integrally controls the rotation of the traveling motor or the engine power, which is a drive source of the differential driving force, and the main control unit is connected to the divided converter of the forklift to convert a voltage of 48V to a voltage of 12V The control unit can control the forklift traveling motor or the engine power from the electric signal thus converted,
And a connection kit provided between the main control unit and the electronic control unit and relaying the signal received by the main control unit to transmit the signal to the electronic control unit,
The main control unit is adapted to apply a control signal to the electric forklift to notify the electric power cut-off motor to stop the emergency running when the recognition signal is transmitted from the access recognition unit. In the main control unit, And when a recognition signal is received from the access recognition unit, a control signal for switching an engine power, which is an operation drive force, from a drive state to a neutral state is applied for stopping an emergency running,
The main controller is configured to form a remote controller capable of applying a direct input signal for forcibly stopping the forklift from the outside,
The electronic control unit inputs and sets a basic position of the forklift forklift, and when the supply signal according to recognition of a person and an object is transmitted from the main control unit, the forklift returns to the basic position and then stops operating. Safety control system for forklift work.
delete The method according to claim 1,
Wherein the access recognition unit is an RFID antenna having an RFID tag attached to a person or an object and recognizing the RFID tag through a radio frequency with the RFID tag within a set access distance using short range wireless communication. .
The method according to claim 1,
Wherein the access recognition unit is a UWB impulse radar that receives and recognizes electromagnetic waves conveyed from a person or an object.
The method according to claim 1,
Wherein the access recognition unit is a LiDAR (LiDAR) for collecting peripheral image information by detecting a laser signal reflected by contact with a person or an object while emitting a laser light source.
delete delete
KR1020170155427A 2017-11-21 2017-11-21 Safety Control System Using an Electronic Controller for Forklift KR101869480B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020170155427A KR101869480B1 (en) 2017-11-21 2017-11-21 Safety Control System Using an Electronic Controller for Forklift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020170155427A KR101869480B1 (en) 2017-11-21 2017-11-21 Safety Control System Using an Electronic Controller for Forklift

Publications (1)

Publication Number Publication Date
KR101869480B1 true KR101869480B1 (en) 2018-06-20

Family

ID=62769658

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020170155427A KR101869480B1 (en) 2017-11-21 2017-11-21 Safety Control System Using an Electronic Controller for Forklift

Country Status (1)

Country Link
KR (1) KR101869480B1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102471947B1 (en) * 2022-08-11 2022-11-28 김진호 A forklift equipped with a mirror for clearing blind spots
KR102471950B1 (en) * 2022-08-11 2022-11-28 김진호 A forklift equipped with a collision-preventing sensor for a personally
KR20220169506A (en) 2021-06-18 2022-12-28 주식회사 나인티시스템 Saafety driving system and method for forklift truck
JP2023054935A (en) * 2021-10-05 2023-04-17 三菱ロジスネクスト株式会社 Remote operation system
KR20230087868A (en) 2021-12-10 2023-06-19 (주)텔레필드 Method and system for predicting real time dangerous situation based on rader sensor
KR102575437B1 (en) 2023-03-27 2023-09-08 주식회사 에이로보틱스 Forklift safety operation support apparatus
KR20230136840A (en) 2022-03-18 2023-09-27 주식회사 인플릿 Forklift management system and method therefor

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05166089A (en) * 1991-12-17 1993-07-02 Hitachi Constr Mach Co Ltd Warning system for operating machine
JP2007269452A (en) * 2006-03-31 2007-10-18 Toyota Industries Corp Safety device for unmanned fork lift
KR101459760B1 (en) 2007-12-26 2014-11-07 주식회사 두산 Alarm device for around forklift truck
KR20150048064A (en) * 2013-10-24 2015-05-06 현대중공업 주식회사 Forklift management system
KR20150049649A (en) 2013-10-30 2015-05-08 현대중공업 주식회사 Forklift truck control system using wireless network
JP2016194481A (en) * 2015-04-01 2016-11-17 新日鐵住金株式会社 Safety device, and monitoring method, for work vehicles
KR20170115372A (en) * 2016-04-07 2017-10-17 엘지전자 주식회사 Driver assistance apparatus and Vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05166089A (en) * 1991-12-17 1993-07-02 Hitachi Constr Mach Co Ltd Warning system for operating machine
JP2007269452A (en) * 2006-03-31 2007-10-18 Toyota Industries Corp Safety device for unmanned fork lift
KR101459760B1 (en) 2007-12-26 2014-11-07 주식회사 두산 Alarm device for around forklift truck
KR20150048064A (en) * 2013-10-24 2015-05-06 현대중공업 주식회사 Forklift management system
KR20150049649A (en) 2013-10-30 2015-05-08 현대중공업 주식회사 Forklift truck control system using wireless network
JP2016194481A (en) * 2015-04-01 2016-11-17 新日鐵住金株式会社 Safety device, and monitoring method, for work vehicles
KR20170115372A (en) * 2016-04-07 2017-10-17 엘지전자 주식회사 Driver assistance apparatus and Vehicle

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220169506A (en) 2021-06-18 2022-12-28 주식회사 나인티시스템 Saafety driving system and method for forklift truck
JP2023054935A (en) * 2021-10-05 2023-04-17 三菱ロジスネクスト株式会社 Remote operation system
KR20230087868A (en) 2021-12-10 2023-06-19 (주)텔레필드 Method and system for predicting real time dangerous situation based on rader sensor
KR20230136840A (en) 2022-03-18 2023-09-27 주식회사 인플릿 Forklift management system and method therefor
KR102471947B1 (en) * 2022-08-11 2022-11-28 김진호 A forklift equipped with a mirror for clearing blind spots
KR102471950B1 (en) * 2022-08-11 2022-11-28 김진호 A forklift equipped with a collision-preventing sensor for a personally
KR102575437B1 (en) 2023-03-27 2023-09-08 주식회사 에이로보틱스 Forklift safety operation support apparatus

Similar Documents

Publication Publication Date Title
KR101869480B1 (en) Safety Control System Using an Electronic Controller for Forklift
KR101774200B1 (en) Device for warning forklift truck proximity and preventing collision using wireless communication
US9637123B2 (en) Method for operating a self-propelled mobile platform
KR101812088B1 (en) Remote control based Stereo Vision guided vehicle system for the next generation smart factory
EP3061719A1 (en) Forklift managing device
KR20150049649A (en) Forklift truck control system using wireless network
CN109081272A (en) It is a kind of to mix the unmanned transhipment fork truck guided and method with vision based on laser
KR20120084868A (en) Forklift having sensor
KR20150049650A (en) Forklift truck alram and stop control system by measuring distance of obstacle
JP2019087210A (en) Autonomous mobile device
KR101308868B1 (en) Automated moving object and wireless infrared communicating method for the same
CN110979181B (en) Safety protection control system of electric forklift
JP2009001388A (en) Travel safety device of industrial vehicle
KR20150061822A (en) Accident Prevention System
JP7336935B2 (en) Vehicle control system and vehicle control method
KR102408114B1 (en) Safe stop control system for forklift to prevent collision and sudden stop
EP4098600A1 (en) Vehicle-to-vehicle communication for trajectory awareness of a material handling vehicle
CN116573023A (en) Automatic following camping carrying vehicle based on UWB positioning
CN108076434B (en) Industrial truck and method for automatically linking a radio remote control to an industrial truck
KR20090069431A (en) Alarm device for around forklift truck
KR20130088970A (en) Collision avoidance apparatus and method of crane
KR20150014802A (en) Alarm device for around forklift truck
CN203819171U (en) Anti-collision safety system device of battery forklift truck
CN110502002B (en) Vehicle guidance system, loading and unloading equipment control system and vehicle control system
KR102484297B1 (en) Saafety driving system and method for forklift truck

Legal Events

Date Code Title Description
GRNT Written decision to grant