KR20100048215A - System, circuit and method for controling mast angle of forklift - Google Patents

System, circuit and method for controling mast angle of forklift Download PDF

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Publication number
KR20100048215A
KR20100048215A KR1020080107263A KR20080107263A KR20100048215A KR 20100048215 A KR20100048215 A KR 20100048215A KR 1020080107263 A KR1020080107263 A KR 1020080107263A KR 20080107263 A KR20080107263 A KR 20080107263A KR 20100048215 A KR20100048215 A KR 20100048215A
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KR
South Korea
Prior art keywords
mast
signal
inclination
tilt
height
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KR1020080107263A
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Korean (ko)
Inventor
강성옥
Original Assignee
화남전자 주식회사
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Priority to KR1020080107263A priority Critical patent/KR20100048215A/en
Publication of KR20100048215A publication Critical patent/KR20100048215A/en

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    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • 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

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

Abstract

The present invention relates to a mast tilt control system, a circuit and a method of a forklift, and more particularly, a mast tilt of a forklift having a means for measuring the tilt of a mast and controlling the tilt of the mast according to the measured mast tilt. Control systems, circuits, and methods.

Description

Mast tilt control system, circuit and method for forklifts {System, Circuit and Method for Controling Mast Angle of Forklift}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to mast tilt control systems, circuits and methods of forklifts, and more particularly, comprising a means for measuring the inclination of the mast, the inclination of the mast in accordance with the inclination of the mast measured by said means. It relates to a mast tilt control system, a circuit and a method of a forklift to adjust.

In general, forklifts are widely used to transport cargo at various industrial sites. The forklift is configured with a fork for picking up a cargo to be transported and installed in front of the vehicle body portion and the vehicle body for movement, and a mast for lifting the fork provided between the vehicle body portion and the fork.

As described above, the conventional forklift is a large load is applied to the front of the vehicle when lifting the goods because the lifting portion is formed in the front of the vehicle. Therefore, when the forklift lifts the cargo, the forklift may be tilted forward by the weight of the cargo. Conventional forklifts carry loaded cargo safely by tilting the upper part of the mast perpendicular to the ground to prevent this.

The process is performed through a mast tilt control lever provided in the driver's seat of a conventional forklift. That is, the driver of the forklift driving the conventional forklift tilts the mast by moving the mast tilt control lever to determine the volume and weight of the object when lifting the object through the fork. Therefore, the loaded object can be stably transported without being released from the fork due to the inclination of the mast.

However, when the inclination of the mast is inclined as described above, the loaded object may be poured in the inclined direction of the mast by the shaking during transportation. In particular, since the load-carrying portion is in front of the vehicle as described above, the conventional forklift is controlled so that the top of the mast is inclined toward the driver's seat of the forklift in consideration of the center of gravity. There was a danger that this forklift driver could fall off and lead to an accident.

In addition, since the inclination adjustment of the mast as described above is made by the judgment of the driver driving the forklift, there is a fear of malfunction.

The present invention has been made to solve the above problems, and includes a means for measuring the inclination of the mast, and the inclination of the mast according to comparing the inclination of the mast and the preset inclination of the mast measured through the means Its purpose is to provide a mast tilt control system, a circuit and a method of a forklift to adjust the pressure.

According to an aspect of the present invention,

A mast tilt control system of a forklift, comprising: a tilt sensor for measuring a tilt of the mast and outputting a tilt signal and a control circuit for outputting a control signal for controlling the tilt of the mast based on the tilt signal, wherein the control circuit The control signal outputs a control signal such that the inclination of the mast is within a preset range based on the inclination signal.

The apparatus may further include a height sensor coupled to the mast and outputting a height signal indicating a measured height by measuring a height of a fork for loading a cargo, wherein the control circuit is configured to preset the height of the fork based on the height signal. And outputting a control signal to be within a set range.

In addition, in the forklift mast control circuit having a tilt sensor for measuring the tilt of the mast of the forklift, a tilt signal receiving module for receiving a tilt signal measured from the tilt sensor, and outputs a control signal based on the tilt signal A central control module, a memory module for exchanging and storing information in association with the central control module, a lever control module for interlocking with a lever for adjusting the inclination of the mast, and outputting a mast control signal based on the control signal and the lever signal. And a mast tilt control module for adjusting a tilt of the mast based on the mast control signal, wherein the control signal is a signal for controlling the tilt of the mast to be within a preset range based on the tilt signal.

In addition, the mast control circuit of the forklift having a tilt sensor for measuring the inclination of the mast of the forklift and a height sensor for measuring the height of the fork, the height signal receiving module for receiving the height signal measured from the height sensor, the inclination A tilt signal receiving module for receiving a tilt signal measured from a sensor, a central control module for outputting a control signal based on the height signal and the tilt signal, a memory module for exchanging and storing information in association with the central control module; It is interlocked with the lever for adjusting the inclination of the mast, and includes a lever control module for outputting a mast control signal based on the control signal and the input of the lever and a mast tilt control module for adjusting the inclination of the mast based on the mast control signal, The control signal is based on the slope signal The slope of a host signal for controlling so as to fall within a predetermined range, characterized in that on the basis of the height signal, the height of the fork a signal for controlling to within a predetermined range.

In the mast control method of a forklift, (a) measuring the slope of the mast; (b) controlling the slope of the mast to be within a preset range based on the slope if the slope is in a forward state; and c) if the slope is in a reverse state, controlling the slope of the mast to be within a preset range based on the slope.

In addition, in the step (b), when the lever control module for adjusting the inclination of the mast of the forklift outputs a forward signal, the forward signal is output according to whether the inclination of the mast is within a preset range. It is done.

In addition, in the step (c), when the lever control module for adjusting the inclination of the mast of the forklift outputs a reverse signal, the reverse signal is output according to whether the inclination of the mast is within a preset range. It is done.

The method may further include (d) measuring a height of the fork of the forklift and determining whether the height of the fork is within a preset range, and when the height of the fork is within a preset range, the steps (b) and Characterized in that step (c).

The present invention having the configuration as described above,

By measuring the inclination of the mast of the forklift and allowing the mast to be adjusted only when the mast is within the preset range, the tilt of the mast can be prevented from falling out of the preset inclination range to prevent the loaded cargo from falling. It works.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1a shows the state of the forklift before lifting the cargo to which the mast inclination control system according to the preferred embodiment of the present invention, Figure 1b shows a state to lift the cargo to which the mast tilt control system according to the preferred embodiment of the present invention is applied Indicates a forklift truck.

Referring to the drawings, the mast tilt control system of the present invention includes a tilt sensor 10, a height sensor 20 and a control circuit 30.

The inclination sensor 10 is a sensor for measuring the inclination of the mast 100 of the forklift, and when the cargo is lifted through the fork 200 of the forklift, the mast 100 is inclined by the weight of the cargo or the forklift When the inclination of the mast 100 is adjusted by the operation of the lever 40 according to the driver's decision to drive the sensor, the inclination of the mast 100 is measured.

The tilt sensor 10 may be configured to include a known sensor including a potentiometer. The tilt sensor 10 includes, for example, a movement including a potentiometer at the other end of the bar 11 having one end coupled to an arbitrary portion of the mast 100, as shown in FIGS. 2A to 2C. The sensor 12 may be coupled to detect a movement of the bar 11 according to the change of the tilt of the mast 100 to measure the tilt of the mast 100. That is, the inclination sensor 10 is connected to one end of the bar 11 to any portion of the mast 100, and the other end of the bar 11 and the motion detection sensor 12 made of a potentiometer And connect the movement of the bar 11 through the motion detection sensor 12. Therefore, as shown in FIG. 2A, when the mast 100 is perpendicular to the ground, when the bar 11 moves according to the movement of the mast 100 as shown in FIGS. 2B and 2C, the bar 11 is moved. The tilt of the mast can be measured by measuring the degree of movement through the potentiometer coupled to the other end. In addition, other well-known sensors which can measure an angle can be used.

The height sensor 20 is a sensor for measuring the height of the fork attached to the mast 100. As described above, the mast inclination control circuit of the present invention functions to control the inclination of the mast 100 to prevent the object from falling when the object is lifted by a forklift. It prevents falling to the side. However, the fall of the object occurs when the fork 200 is raised more than a certain height, when the height of the fork 200 is low, there is little risk of falling. Therefore, the height sensor 20 of the present invention measures the height of the fork 200, and only when the height of the fork 200 is higher than the preset height of the mast 100 by the mast tilt control system of the present invention. It is desirable to allow the control to operate so that the mast tilt control system of the present invention can be used efficiently.

The height sensor 20 may be installed on any part of the mast 100 to measure the height of the fork 200, it may be configured using a known sensor. The height sensor 20 is a fork By periodically measuring the height of the 200, it is possible to determine whether the height of the fork 200 has risen above a predetermined height.

The control circuit 30 is a kind of electronic circuit that functions to control the inclination of the mast 100 by receiving signals from the inclination sensor 10 and the height sensor 20, and is embedded in the vehicle body of the forklift. The control circuit 30 adjusts the inclination of the mast 100 based on the inclination signal of the mast 100 and the height signal of the fork 200 measured by the inclination sensor 10 and the height sensor 20. This will be described in detail with reference to the following FIG. 3.

3 is a block diagram showing a control circuit of the mast tilt control system according to a preferred embodiment of the present invention.

Referring to the drawings, the mast control circuit of the present invention includes a height signal receiving module 31, a tilt signal receiving module 32, a central control module 33, a memory module 34, a lever control module 35, and a mast tilt control. Module 36.

The height signal receiving module 31 receives a signal input through the height sensor for measuring the height of the fork of the forklift. The height sensor may preset, for example, an arbitrary point A to be reached by reaching the fork of the forklift, periodically measuring the height of the fork, and outputting a signal when the height of the fork rises above the point A, and the point A When it goes down below, it is desirable not to output a signal. Therefore, it is preferable that the height signal receiving module 31 receives a signal from the sensor indicating whether the fork has reached point A or not. The height signal receiving module 31 is connected to the central control module to be described later transmits the input signal to the central control module 33.

The inclination signal receiving module 32 receives a signal input through an inclination measuring sensor for measuring the inclination of the mast of the forklift. The signal received from the inclination signal receiving module 32 is, for example, based on the mast of the forklift standing vertically from the ground, the mast of the forklift in the traveling direction of the forklift (hereinafter referred to as 'forward direction') It is a signal indicating the degree of tilt of the tilted state and the tilted state in the opposite direction (hereinafter referred to as 'reverse direction'). The tilt signal receiving module 32 is connected to the central control module 33 to be described later and transmits the received signal to the central control module 33.

The central control module 33 is a lever transmitted from a lever operated by a driver of the forklift to control the inclination of the mast based on signals input from the height signal receiving module 31 and the inclination signal receiving module 32. A control signal for controlling the signal is generated and transmitted to the lever control module 35 to be described later. The central control module 33 may include a conventional microprocessor.

The memory module 34 is connected to the central control module 33 to store data used by the central control module 33 and exchange information with the central control module 33. Function The memory module 34 may store, for example, a value set in advance with respect to a reference at which the central control module 33 receives an input signal and calculates an output value. In addition, the memory module 34 may store the input signal value. The memory module 34 may be configured using a conventional memory.

The lever control module 35 is interlocked with the lever installed in the driver's seat of the forklift to which the present invention is applied. The lever control module 35 receives the lever signal transmitted from the lever by the operator of the forklift and receives the control signal transmitted from the central control module 33 in connection with the central control module 33. . The control signal is a signal for controlling the lever signal input by the operation of the lever installed in the driver's seat of the forklift as described above. The lever control module 35 to the mast tilt control module 36 to be described later to the mast control signal for adjusting the inclination of the mast in accordance with the control signal received from the central control module 33 based on the lever signal input from the lever. Send.

The mast tilt control module 36 is connected to the lever control module 35 to receive a mast control signal. The mast tilt control module 36 adjusts the tilt of the mast according to the received mast control signal. As described above, the mast control signal is a signal received from the lever control module 35 and is a signal output by a control signal output from the central control module based on the lever signal.

4 is a flowchart illustrating control steps of a control circuit according to a preferred embodiment of the present invention.

First, the central control module of the present invention receives an input signal (S101). The input signal includes a height measurement signal measured from the height sensor of the forklift to which the mast tilt control system of the present invention is applied as described above, and a tilt measurement signal measured from the tilt sensor. It is preferable that the input of the height signal and the slope signal as described above is continuously input at a constant period, for example, a period of 10 ms.

When the input signal is input, the height signal is checked among them to determine the height of the measured fork (S102). In this case, the height may be determined by comparing the height of the preset fork, and compares whether the height of the currently measured fork rises above the preset height.

As a result of the determination of the height signal, if it is determined that the height of the currently measured fork is higher than the preset height, it is determined whether the inclination of the currently measured mast is inclined forward (S103). This step is performed through the input tilt measurement signal, and determines how inclined toward the front, that is, the direction of the driver of the forklift, based on the case where the mast is perpendicular to the ground.

If it is determined that the inclination of the mast is inclined forward, it is determined whether the state of the inclination control lever of the forklift is controlled to incline the mast forward (S104). This step is preferably to be determined by interlocking with the lever control module. In other words, it checks the lever control module to determine whether it is currently outputting a lever signal (hereinafter referred to as a 'forward signal') to tilt the mast of the forklift forward.

If it is determined that the lever control module outputs a forward signal through the S104, the slope of the mast through the inclination measurement signal in the forward direction based on a reference value of a predetermined slope, for example, as shown in FIG. It is determined whether the device is inclined (S105).

If it is determined through the step S105 that the inclination of the mast is inclined in the forward direction exceeding a predetermined reference value, the forward signal output of the lever control module is blocked (S106). That is, when it is determined that the inclination of the mast is inclined more than a preset value, in order not to be inclined any more, by blocking the output of the forward signal of the lever control module of the mast, Do not tilt the tilt. In this case, as opposed to blocking the output of the forward signal, a lever signal (hereinafter referred to as a 'reverse signal') for controlling the inclination of the mast in the rearward direction of the vehicle so that the inclination of the mast returns to its original state may be output as it is. It is desirable to. Therefore, when the mast of the forklift is inclined more than the preset angle in the forward direction of the vehicle, the forward signal is controlled so that it can no longer be output, and the reverse signal is output as it is, thereby inclining the mast's slope more than the preset angle. It is desirable not only to avoid tilting but also to be able to return the tilt to its original state.

If it is determined in step S105 that the inclination of the mast is not inclined in the forward direction than the preset reference value through the mast inclination measurement signal, the lever control module controls to output a forward signal (S107). That is, when it is determined that the inclination of the mast is inclined in the reverse direction based on a preset reference value, in order to adjust the inclination of the mast, the forward signal of the lever control module is output, thereby adjusting the inclination of the mast. It is desirable to be able to.

If it is determined in S104 that the forward signal is not output by the operation of the mast tilt adjustment lever, the tilt measurement sensor of the mast is checked to determine whether the mast is inclined in the forward direction (S108).

If it is determined by the determination that the inclination of the mast is not inclined in the forward direction with respect to 0 degree, it is preferable that the forward signal of the lever control module is output so that the inclination of the mast can be adjusted (S109).

On the other hand, if it is determined that the slope of the mast is not inclined forward, as a result of the determination in S103, it is determined whether the slope of the currently measured mast is inclined backward (S110). S110 is made through the input tilt measurement signal, as in S103, and determines how inclined backward to the case where the mast is perpendicular to the ground.

When it is determined that the inclination of the mast is inclined backward, it is determined whether the state of the inclination control lever of the forklift is controlled to incline the mast backward (S111). S111 may also be determined by interlocking the lever control module. That is, the lever control module is checked to determine whether the reverse signal is currently output. Here, the reverse signal is a lever signal for the lever control module to control the mast to be inclined in the rear direction of the forklift, that is, the direction opposite to the traveling direction of the vehicle.

If it is determined through the above step that the lever control module outputs a reverse signal, the inclination of the mast is inclined by at least three degrees in a reverse direction as shown in FIG. It is determined whether the state (S112).

If it is determined through the step that the inclination of the mast is inclined in the reverse direction exceeds a preset reference value (3 degrees reverse direction), the reverse signal output of the lever control module is blocked (S113). That is, when it is determined that the inclination of the mast is inclined more than a preset value, in order not to be inclined any more, by turning off the output of the reverse signal of the lever control module, the inclination of the mast is not inclined more than the preset inclination. Do not At this time, it is preferable that the forward signal for controlling the inclination of the mast in the forward direction of the vehicle can be output as it is so that the inclination of the mast can be restored to its original state, as opposed to blocking the reverse signal. Therefore, when the mast of the forklift is inclined more than the preset reference value in the reverse direction, the reverse signal is controlled so that it cannot be output any more, and the forward control signal that can tilt the mast in the forward direction is output as it is, thereby reducing the slope of the mast. Not only can it be tilted over a preset angle, but it can also be used to return the tilt to its original state.

If it is determined in step S112 that the inclination of the mast is not inclined more than 3 degrees in the reverse direction through the mast inclination measurement signal, the signal of the lever control module is controlled to be output (S114). That is, when it is determined that the inclination of the mast is less than a predetermined reference value, in order to adjust the inclination of the mast in the reverse direction, by outputting a reverse signal of the lever control module for adjusting the inclination of the mast, The inclination of the mast can be adjusted.

On the other hand, if it is determined in step S111 that the operation of the mast tilt adjustment lever is not in the reverse state, the tilt measuring sensor of the mast is checked to determine whether the inclination of the mast is inclined in the reverse direction more than a predetermined slope (S115).

If it is determined by the determination that the inclination of the mast is less inclined in the reverse direction than the preset inclination, it is preferable to output the reverse signal of the lever control module to adjust the inclination of the mast (S116).

Although the preferred embodiments of the mast tilt control system, the circuit and the method of the present invention have been described in detail, this is merely a specific example for better understanding of the present invention, and it is intended to limit the scope of the present invention. no. In addition to the embodiments disclosed herein, it is apparent to those skilled in the art that other modifications based on the technical idea of the present invention may be implemented.

1 shows a schematic view of a forklift to which a mast tilt control circuit according to a preferred embodiment of the present invention is applied.

2 shows a mast tilt measurement sensor of a forklift to which the mast tilt control circuit of the present invention is applied.

3 is a block diagram illustrating a mast tilt control circuit according to a preferred embodiment of the present invention.

4 is a flowchart illustrating a control method of a mast tilt control circuit according to a preferred embodiment of the present invention.

* Explanation of Signs of Major Parts of Drawings *

10: tilt sensor 11: bar

12: motion detection sensor 20: height sensor

30: mast control circuit 31: height signal receiving module

32: tilt signal receiving module 33: central control module

34: memory module 35: lever interlock module

36: mast tilt control module 40: tilt adjustment lever

100: mast 200: fork

Claims (8)

In the mast tilt control system of a forklift, A tilt sensor for measuring a tilt of the mast and outputting a tilt signal; And A control circuit for outputting a control signal for controlling the inclination of the mast based on the inclination signal, And the control circuit outputs a control signal such that the inclination of the mast is within a preset range based on the inclination signal. The method of claim 1, It further includes a height sensor coupled to the mast for outputting a height signal indicating the height measured by measuring the height of the fork to load the cargo, And the control circuit outputs a control signal such that the height of the fork is within a preset range based on the height signal. In the mast control circuit of a forklift having an inclination sensor for measuring the inclination of the mast of the forklift, A tilt signal receiving module configured to receive a tilt signal measured from the tilt sensor; A central control module outputting a control signal based on the slope signal; A memory module for exchanging and storing information in association with the central control module; A lever control module interlocked with a lever for adjusting the inclination of the mast and outputting a mast control signal based on the control signal and the lever signal; And It includes a mast tilt control module for adjusting the inclination of the mast based on the mast control signal, And the control signal is a signal for controlling the inclination of the mast to be within a preset range based on the inclination signal. In the mast control circuit of a forklift having a tilt sensor for measuring the tilt of the mast of the forklift and a height sensor for measuring the height of the fork, A height signal receiving module receiving a height signal measured from the height sensor; A tilt signal receiving module configured to receive a tilt signal measured from the tilt sensor; A central control module outputting a control signal based on the height signal and the slope signal; A memory module for exchanging and storing information in association with the central control module; A lever control module interlocked with a lever that adjusts an inclination of the mast and outputs a mast control signal based on an input of the control signal and the lever; And It includes a mast tilt control module for adjusting the inclination of the mast based on the mast control signal, The control signal is a signal for controlling the inclination of the mast to be within a preset range based on the inclination signal, and the forklift is a signal for controlling the height of the fork to be within a preset range based on the height signal. Mast control circuit. In the mast control method of a forklift truck, (a) measuring the slope of the mast; (b) if the slope is in a forward state, controlling the slope of the mast to be within a preset range based on the slope; And and (c) if the slope is in a reverse state, controlling the slope of the mast to be within a preset range based on the slope. The method of claim 5, In step (b), And when the lever control module for adjusting the inclination of the mast of the forklift outputs a forward signal, outputting the forward signal according to whether the inclination of the mast is within a preset range. The method of claim 5, In step (c), And when the lever control module for adjusting the inclination of the mast of the forklift outputs the reverse signal, outputting the reverse signal according to whether the inclination of the mast is within a preset range. The method of claim 5, (d) measuring the height of the fork of the forklift, and determining whether the height of the fork is within a preset range, And if the height of the fork is within a preset range, performing steps (b) and (c).
KR1020080107263A 2008-10-30 2008-10-30 System, circuit and method for controling mast angle of forklift KR20100048215A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015083935A1 (en) * 2013-12-03 2015-06-11 주식회사 두산 Forklift and forklift control method
KR20160063640A (en) * 2014-11-27 2016-06-07 주식회사 두산 Control Method for Forklift

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015083935A1 (en) * 2013-12-03 2015-06-11 주식회사 두산 Forklift and forklift control method
CN105793188A (en) * 2013-12-03 2016-07-20 株式会社斗山 Forklift and forklift control method
CN105793188B (en) * 2013-12-03 2018-03-02 株式会社斗山 The control method of fork truck and fork truck
US9981835B2 (en) 2013-12-03 2018-05-29 Doosan Corporation Forklift and forklift control method
KR20160063640A (en) * 2014-11-27 2016-06-07 주식회사 두산 Control Method for Forklift

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