WO2020085067A1 - Système de commande à distance pour chariot élévateur à fourche - Google Patents

Système de commande à distance pour chariot élévateur à fourche Download PDF

Info

Publication number
WO2020085067A1
WO2020085067A1 PCT/JP2019/039556 JP2019039556W WO2020085067A1 WO 2020085067 A1 WO2020085067 A1 WO 2020085067A1 JP 2019039556 W JP2019039556 W JP 2019039556W WO 2020085067 A1 WO2020085067 A1 WO 2020085067A1
Authority
WO
WIPO (PCT)
Prior art keywords
cargo handling
forklift
remote control
camera
reach
Prior art date
Application number
PCT/JP2019/039556
Other languages
English (en)
Japanese (ja)
Inventor
井上順治
小野琢磨
神谷知典
Original Assignee
株式会社豊田自動織機
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 株式会社豊田自動織機 filed Critical 株式会社豊田自動織機
Publication of WO2020085067A1 publication Critical patent/WO2020085067A1/fr

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
    • 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

Definitions

  • the present invention relates to a remote control system for a forklift.
  • Patent Document 1 discloses a wirelessly operated forklift including a cargo handling camera.
  • the cargo handling camera is arranged above the fork, and photographs the loaded object loaded on the fork.
  • the image captured by the cargo handling camera is displayed on the display monitor provided on the operating device for the forklift.
  • the forklift of Patent Document 1 includes a front camera that captures the front of the vehicle, a rear camera that captures the rear of the vehicle, and a floor camera that captures the floor.
  • the operator determines the distance between the reach leg and the load rack of the reach type forklift at the time of loading and unloading, and the fork to the pallet on which the load is loaded. It is necessary to grasp the amount of insertion.
  • the remote operation device for a forklift disclosed in Patent Document 1 since the cargo handling camera is simply provided above the fork, it is difficult to see the position required for the cargo handling work. That is, it is difficult to grasp the distance between the reach leg and the luggage rack and the insertion amount of the fork inserted into the pallet. Therefore, there is a problem that the efficiency of the cargo handling work by remote control is low.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a remote control system for a forklift truck that can improve the efficiency of cargo handling work by remote control.
  • the present invention includes a forklift including a cargo handling device on a vehicle body, and a remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device, wherein the forklift is the vehicle body.
  • a pair of reach legs that are provided in the front part of the vehicle and that extend forward from the vehicle body; a fork that is provided in the cargo handling device and that can move up and down; and a cargo handling camera provided in the cargo handling device.
  • the remote operation device is a remote control system for a forklift truck having a display unit for displaying a captured image taken by the cargo handling camera, wherein the cargo handling camera is at least one of the pair of reach legs in the cargo handling device. Between the tip of the reach leg and the rack, and the pallet slot where the fork is inserted, in the shooting area. Characterized in that it is installed in free position.
  • the cargo handling camera captures an image of a portion required for cargo handling work.
  • the area to be imaged includes a pallet insertion port between the tip of the reach leg and the luggage rack and a fork.
  • the display device displays a captured image captured by the cargo handling camera. Therefore, the operator can ascertain the distance between the tip of the reach leg and the cargo rack necessary for the cargo handling operation and the amount of the fork inserted into the pallet based on the image captured by the cargo handling camera. As a result, it becomes possible to improve the efficiency of the cargo handling work by remote control.
  • the cargo handling camera may be installed at a position including a rear surface of the pallet and a front surface of the cargo rack in an imaging target area.
  • the photographing target area of the cargo handling camera includes a space between the rear surface of the pallet and the front surface of the luggage rack. Therefore, the operator can grasp the distance between the rear surface of the pallet and the front surface of the luggage rack based on the image captured by the cargo handling camera.
  • the cargo handling camera may be installed at a position including a lower surface of the pallet and an upper surface of the cargo rack in an imaging target area.
  • the photographing target area of the cargo handling camera includes a space between the lower surface of the pallet and the upper surface of the luggage rack. Therefore, the operator can grasp the distance between the lower surface of the pallet and the upper surface of the luggage rack.
  • FIG. 1 is a perspective view of a reach type forklift according to an embodiment of the invention. It is a principal part front view which shows the principal part of the cargo handling apparatus of a reach type forklift. It is a side view explaining the imaging target area of the camera for cargo handling at the time of cargo handling.
  • a remote control system 10 for a forklift truck includes a reach type forklift 11 and a remote control device 12 used to remotely control the reach type forklift 11.
  • the reach-type forklift 11 is arranged in the workplace E.
  • the remote control device 12 is arranged in an operation room R provided separately from the work space E. Then, the operator can remotely operate the reach type forklift 11 in the workplace E from the operation room R by using the remote operation device 12.
  • a work rack E has a luggage rack 13 installed therein.
  • the luggage rack 13 includes a plurality of columns 14, horizontal members 15 and 16 that connect the columns 14, and a shelf board 17 provided at an intermediate portion of the columns 14 as a loading section.
  • a shelf 17 and a load W are placed below the shelf 17. All the loads W are placed on the pallet 18.
  • the pallet 18 is provided with an insertion port 19 into which a fork 29 is inserted. The operator remotely operates the reach-type forklift 11 to take out the load W from the load rack 13 or place the load W on the empty shelf plate 17.
  • the vehicle body 20 of the reach type forklift 11 is provided with a pair of left and right reach legs 21.
  • the pair of left and right reach legs 21 extends forward from the front portion of the vehicle body 20.
  • Front wheels 22 are provided on the front portions of the pair of left and right reach legs 21, respectively.
  • Rear wheels 23 and caster wheels (not shown) are provided at the rear of the vehicle body 20.
  • the rear wheels 23 are steerable drive wheels.
  • the reach type forklift 11 is equipped with a cargo handling device 24.
  • the cargo handling device 24 is located between the pair of left and right reach legs 21 in the front portion of the vehicle body 20.
  • the cargo handling device 24 includes a pair of left and right outer masts 25 and an inner mast 26 that moves up and down with respect to the outer masts 25.
  • the cargo handling device 24 includes a lift cylinder 27 connected to the inner mast 26.
  • the inner mast 26 moves up and down as the hydraulic oil is supplied to and discharged from the lift cylinder 27.
  • a lift bracket 28 that can move up and down with respect to the inner mast 26 is provided.
  • the lift bracket 28 is provided with a pair of left and right forks 29.
  • the pair of left and right forks 29 can be tilted back and forth by a tilt cylinder (not shown).
  • a backrest 30 is attached to the lift bracket 28 so as to be located above the fork 29.
  • the backrest 30 supports the rear surface of the load W when the load W is placed on the fork 29.
  • the backrest 30 includes a rectangular frame body 31 and a plurality of reinforcing members 32A and 32B that are arranged between the frame bodies 31 and reinforce the frame body 31.
  • the backrest 30 is attached to the lift bracket 28 such that the longitudinal direction of the frame body 31 is the horizontal direction and the lateral direction of the frame body 31 is the vertical direction.
  • the frame 31 has a long side portion 33 extending in the left-right direction, a short side portion 34 extending in the vertical direction, and a curved corner portion 35 connecting the long side portion 33 and the short side portion 34.
  • the length of the backrest 30 in the left-right direction is set to a length smaller than the width of the vehicle body 20 but protruding to the outside of the outer mast 25.
  • the vehicle body 20 is equipped with a reach cylinder 36 connected to the cargo handling device 24 (see FIG. 3).
  • the rod of the reach cylinder 36 advances and retracts in the front-rear direction by supplying and discharging hydraulic oil. Due to the operation of the reach cylinder 36, the cargo handling device 24 moves back and forth along the reach leg 21.
  • the reach type forklift 11 includes a traveling motor 37 that drives the rear wheels 23 and a steering motor (not shown) that steers the rear wheels 23.
  • the reach-type forklift 11 includes a wireless unit 40 as a vehicle communication unit, a vehicle control unit 41, an image signal processing unit 42, and a cargo handling camera 43.
  • the wireless unit 40 is for performing wireless communication with the remote control device 12 described below.
  • the vehicle control unit 41 is connected to each unit of the reach type forklift 11, controls each unit connected to the vehicle control unit 41, and is also connected to the wireless unit 40.
  • the image signal processing unit 42 performs signal processing of a captured image captured by the cargo handling camera 43 so as to be communicable.
  • the cargo handling camera 43 captures an image of a place required for cargo handling work.
  • the reach-type forklift 11 is provided with a plurality of traveling cameras for photographing the front and the rear for traveling and a plurality of sensors for detecting obstacles.
  • the remote operation device 12 includes a wireless unit 45 as an operation device communication unit, a control unit 46, an operation unit 47, a display unit 48, and an image signal processing unit 49.
  • the wireless unit 45 can wirelessly communicate with the wireless unit 40 of the reach type forklift 11.
  • the control unit 46 is connected to the wireless unit 45, the operation unit 47, the display unit 48, and the image signal processing unit 49.
  • a touch panel method, a mouse method, a joystick method, or the like is used as an operation method in the operation unit 47.
  • the display unit 48 is an image monitor, and displays, for example, a captured image received through the wireless unit 45 and various information necessary for remote operation.
  • the image signal processing unit 49 performs editing and processing such as rearrangement of captured images displayed on the display unit 48.
  • the control unit 46 sends the operation content to the reach type forklift 11 side via the wireless unit 45.
  • the operation content from the remote operation device is received by the wireless unit 40, and the vehicle control unit 41 controls each part of the reach type forklift 11 based on an instruction from the remote operation device 12 side.
  • the traveling drive system devices the traveling motor 37, the steering motor, etc.
  • the cargo handling system devices the lift cylinder 27, the reach cylinder 36, the tilt cylinder, etc.
  • the remote control device 12 can remotely control the travel of the reach type forklift 11 and the cargo handling by the cargo handling device 24.
  • the cargo handling camera 43 of the present embodiment is a camera for carrying out cargo handling work, but as shown in FIGS. 4 to 6, it is mounted so that the lens faces downward at the lower right portion of the backrest 30.
  • the cargo handling camera 43 is attached to the lower right portion of the backrest 30, it is possible to photograph the position necessary for performing the cargo handling work by remote control.
  • the positions required to perform the cargo handling work by remote control are specifically the first position T1 to the fourth position T4 shown in FIG. In FIG. 5 and FIG. 6, the imaging target area of the cargo handling camera 43 is indicated by a dashed line.
  • the cargo handling camera 43 is attached to the lower right portion of the backrest 30 in this embodiment, it may be attached to the lower left portion of the backrest 30.
  • the first position T1 is a position where the clearance (separation distance A) between the one (right) reach leg 21 and the front surface of the luggage rack 13 can be grasped by photographing.
  • the second position T2 allows the separation distance B between the rear surface of the pallet 18 and the fork 29 to be grasped by photographing when the load W is placed on the fork 29, and the fork 29 relative to the pallet 18 based on the separation distance B. This is the position where the insertion amount of can be grasped.
  • the third position T3 is a position where the clearance (separation distance C) between the rear surface of the pallet 18 and the front surface of the luggage rack 13 can be grasped by photographing when the cargo W is placed on the fork 29.
  • the fourth position T4 is a position where the clearance (separation distance D) between the lower surface of the pallet 18 and the upper surface of the shelf plate 17 can be grasped by photographing when the load W is placed on the fork 29.
  • the lens included in the cargo handling camera 43 is a wide-angle lens that can include the first position T1 to the fourth position T4 as a shooting target area that can be simultaneously shot.
  • the image captured by the cargo handling camera 43 is transmitted to the remote control device 12 by the vehicle control unit 41 via the image signal processing unit 42 and the wireless unit 40.
  • the wireless unit 45 receives the captured image from the reach type forklift 11, and the control unit 46 displays the captured image on the display unit 48 via the image signal processing unit 49. The operator operates while looking at the captured image on the display unit 48.
  • the control unit 46 calculates the separation distances A, B, C, D from the captured images of the first position T1 to the fourth position T4.
  • the separation distance A is a clearance between the tip of the reach leg 21 and the front surface of the luggage rack 13.
  • the separation distance B is the distance between the rear surface of the pallet 18 and the fork 29.
  • the dimensional condition of the pallet 18 and the dimensional condition of the fork 29 are preset in the control unit 46, and the control unit 46 can calculate the insertion amount of the fork 29 into the pallet 18 based on the separation distance B.
  • the separation distance C is a clearance between the rear end surface of the pallet 18 and the front surface of the luggage rack 13.
  • the separation distance D is a clearance between the lower surface of the pallet 18 and the upper surface of the shelf board 17.
  • the control unit 46 calculates the separation distances A, B, C, and D from the captured images captured by the cargo handling camera 43 at the time of unloading, and the operator calculates the separation distances A, B, C, and D obtained by the calculation. It is displayed on the viewing display unit 48.
  • the control unit 46 determines whether or not the values of the separation distances A, B, C, and D are within the reference value, and displays “Matching OK” when the values of the separation distances A, B, C, and D are within the reference value. Displayed in each of the sections 48. When the values of the separation distances A, B, C, and D reach within the reference value, the control unit 46 may notify the display unit 48 by numerically displaying them on the screen.
  • the cargo handling camera 43 can simultaneously photograph the first position T1 to the fourth position T4 as one image. . Then, the captured images of the first position T1 to the fourth position T4 captured by the cargo handling camera 43 are displayed as one image on the display unit 48, but have an appropriate size that facilitates the cargo handling work by the operator's remote operation. Is. Therefore, the captured image captured by the cargo handling camera 43 is not a captured image captured by being excessively enlarged or reduced. As a result, the operability and work efficiency of the cargo handling work that is remotely controlled by viewing the captured image are improved.
  • the load handling camera 43 also detects the load W placed on the load rack 13 by the reach-type forklift 11 from the first position T1 to the first position T1. 4 Position T4 is photographed.
  • the control unit 46 calculates the separation distance A of the first position T1 until the fork 29 is inserted into the pallet 18, and after the fork 29 is inserted into the pallet 18, the first position T1 to the fourth position T4 are photographed.
  • the separation distances A, B, C, and D are calculated from the captured image.
  • the cargo-handling camera 43 photographs the first position T1 and the second position T2, which are locations required for cargo-handling work.
  • the photographing target area includes the insertion opening 19 of the pallet 18 into which the fork 29 is inserted between the tip of the reach leg 21 and the luggage rack 13.
  • the display unit 48 displays a captured image captured by the cargo handling camera 43. Therefore, the operator can grasp the separation distance A and the separation distance B between the tip end portion of the reach leg 21 and the cargo rack 13 necessary for the cargo handling operation based on the image captured by the cargo handling camera 43. By grasping the separation distance B, the insertion amount of the fork 29 with respect to the pallet 18 can be grasped. As a result, it becomes possible to improve the efficiency of the cargo handling work by remote control.
  • the imaging target area of the cargo handling camera 43 includes the third position T3 between the rear surface of the pallet 18 and the front surface of the cargo rack 13. Therefore, the operator can grasp the separation distance C between the rear surface of the pallet 18 and the front surface of the luggage rack 13 based on the image captured by the cargo handling camera 43.
  • the shooting target area of the cargo handling camera 43 includes the fourth position T4 between the lower surface of the pallet 18 and the upper surface of the shelf board 17. Therefore, the operator can grasp the separation distance D between the lower surface of the pallet 18 and the upper surface of the shelf plate 17.
  • the first position T1 to the fourth position T4 can be included in the shooting target area only by providing the single cargo handling camera 43 on the lower right portion of the backrest 30.
  • the captured images of the first position T1 to the fourth position T4 taken by the cargo handling camera 43 during the cargo handling work by the operator's remote operation have an appropriate size that facilitates the cargo handling work by the operator. Therefore, it is not a photographed image which is photographed by being enlarged or reduced excessively. As a result, the operability and work efficiency of the cargo handling work that is remotely controlled by viewing the captured image are improved.
  • the first position to the fourth position are included in the photographing target area of the cargo handling camera, but the present invention is not limited to this.
  • the cargo handling camera is installed so that the photographing target area of the cargo handling camera includes only the first position and the second position, and the third and fourth positions are photographed by cameras different from the cargo handling camera.
  • a mounting member may be provided on the lift bracket, and the cargo handling camera may be mounted on the mounting member so that the cargo handling camera is located at the lower right portion or the lower left portion of the backrest.
  • the cargo handling camera shoots with the clearance between the left reach leg and the luggage rack as the first position.
  • the two-stage type rack that can store loads vertically is illustrated as the rack, but the rack is not limited to this. It may be a cargo rack having three or more shelves, or may be a cargo rack of a vehicle such as a large truck.
  • the reach type forklift is explained as the forklift, but the forklift is not limited to the reach type forklift.
  • the forklift may be, for example, a counterweight type forklift.
  • Forklift Remote Control System 11 Forklift 12 Remote Control Device 13 Luggage Rack 17 Shelf Board 18 Pallet 19 Slot 20 Car Body 21 Reach Leg 24 Cargo Handling Device 29 Fork 30 Backrest 40 Radio Section (Vehicle Communication Section) 41 vehicle control unit 42, 49 image signal processing unit 43 cargo handling camera 45 wireless unit (operating device communication unit) 46 control section 47 operation section 48 display section A, B, C, D separation distance E work area R operation room W load T1 first position T2 second position T3 third position T4 fourth position

Landscapes

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

Abstract

L'invention concerne un système de commande à distance de chariot élévateur à fourche (10) dans lequel : un chariot élévateur à fourche de type à portée (11) a une paire de pieds de portée (21) qui sont disposés sur une partie avant d'un corps de véhicule (20) et s'étendent vers l'avant à partir du corps de véhicule (20), une fourche (29) qui est disposée sur un dispositif de manipulation de cargaison (24) et peut se déplacer vers le haut et vers le bas et une caméra de manipulation de cargaison (43) qui est disposée sur le dispositif de manipulation de cargaison (24) ; et un dispositif de commande à distance (12) a une partie d'affichage (48) qui affiche une image photographiée qui a été capturée par la caméra de manipulation de cargaison (43). La caméra de manipulation de cargaison (43) est positionnée sur le dispositif de manipulation de cargaison (24) entre une étagère de cargaison (13) et une partie extrémité de pointe d'au moins une jambe de portée (21) de la paire de pattes de portée (21), de telle sorte qu'une ouverture d'insertion (19) dans une palette (18) dans laquelle la fourche (29) doit être insérée soit incluse dans une zone photographiée.
PCT/JP2019/039556 2018-10-24 2019-10-08 Système de commande à distance pour chariot élévateur à fourche WO2020085067A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018199773A JP7095553B2 (ja) 2018-10-24 2018-10-24 フォークリフトの遠隔操作システム
JP2018-199773 2018-10-24

Publications (1)

Publication Number Publication Date
WO2020085067A1 true WO2020085067A1 (fr) 2020-04-30

Family

ID=70331094

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/039556 WO2020085067A1 (fr) 2018-10-24 2019-10-08 Système de commande à distance pour chariot élévateur à fourche

Country Status (2)

Country Link
JP (1) JP7095553B2 (fr)
WO (1) WO2020085067A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54144658A (en) * 1978-04-28 1979-11-12 Volvo Ab Device that direct lift means in specified direction in relation to load
JPH03252707A (ja) * 1990-03-02 1991-11-12 Toyota Motor Corp 視覚付無人車
JPH0554496U (ja) * 1991-12-27 1993-07-20 株式会社日立物流 フォークリフトの前方視認性改善装置
JP2003312995A (ja) * 2002-04-22 2003-11-06 Nippon Yusoki Co Ltd フォークリフト
JP2011037536A (ja) * 2009-08-07 2011-02-24 Nippon Yusoki Co Ltd フォークリフト
CN103601109A (zh) * 2013-10-25 2014-02-26 青岛现代海麟重工有限公司 一种带摄像头的叉车的制造方法
JP2015058985A (ja) * 2013-09-17 2015-03-30 ニチユ三菱フォークリフト株式会社 フォークリフト
US20160090283A1 (en) * 2014-09-25 2016-03-31 Bt Products Ab Fork-Lift Truck
JP2018062426A (ja) * 2018-01-18 2018-04-19 株式会社豊田自動織機 産業車両用遠隔操作システム、通信装置、産業車両及び産業車両用遠隔操作プログラム
JP6399669B1 (ja) * 2017-07-28 2018-10-03 三菱ロジスネクスト株式会社 運転支援システムおよび運転支援方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54144658A (en) * 1978-04-28 1979-11-12 Volvo Ab Device that direct lift means in specified direction in relation to load
JPH03252707A (ja) * 1990-03-02 1991-11-12 Toyota Motor Corp 視覚付無人車
JPH0554496U (ja) * 1991-12-27 1993-07-20 株式会社日立物流 フォークリフトの前方視認性改善装置
JP2003312995A (ja) * 2002-04-22 2003-11-06 Nippon Yusoki Co Ltd フォークリフト
JP2011037536A (ja) * 2009-08-07 2011-02-24 Nippon Yusoki Co Ltd フォークリフト
JP2015058985A (ja) * 2013-09-17 2015-03-30 ニチユ三菱フォークリフト株式会社 フォークリフト
CN103601109A (zh) * 2013-10-25 2014-02-26 青岛现代海麟重工有限公司 一种带摄像头的叉车的制造方法
US20160090283A1 (en) * 2014-09-25 2016-03-31 Bt Products Ab Fork-Lift Truck
JP6399669B1 (ja) * 2017-07-28 2018-10-03 三菱ロジスネクスト株式会社 運転支援システムおよび運転支援方法
JP2018062426A (ja) * 2018-01-18 2018-04-19 株式会社豊田自動織機 産業車両用遠隔操作システム、通信装置、産業車両及び産業車両用遠隔操作プログラム

Also Published As

Publication number Publication date
JP2020066504A (ja) 2020-04-30
JP7095553B2 (ja) 2022-07-05

Similar Documents

Publication Publication Date Title
WO2003062127A1 (fr) Dispositif et procede de commande de la position d'un appareil de manutention dans un vehicule industriel
JP3900941B2 (ja) フォークリフトトラックの作業視野支援装置及びフォークリフトトラック、産業車両の作業視野支援装置及び産業車両
JP7247812B2 (ja) 荷役車両の操作支援装置
JP2021022802A (ja) 産業車両の遠隔操作システム
JP5137209B2 (ja) フォークリフト
WO2021066138A1 (fr) Dispositif d'assistance à l'utilisation pour véhicule de manutention de marchandises
JP6040576B2 (ja) スタッカクレーン
JP7063283B2 (ja) リーチ式フォークリフト用荷役作業支援装置
JP3932811B2 (ja) 産業車両におけるカメラ昇降装置
WO2020085067A1 (fr) Système de commande à distance pour chariot élévateur à fourche
WO2020095602A1 (fr) Système de commande à distance destiné à un chariot élévateur
JP3900942B2 (ja) 産業車両における荷役機器の自動位置制御装置、産業車両及び荷役機器の自動位置制御方法
JP7107078B2 (ja) リーチ式フォークリフト用荷役作業支援装置
JP3855728B2 (ja) 産業車両における荷役作業支援装置及び産業車両
JP7099399B2 (ja) 荷役支援システム
WO2020085068A1 (fr) Système de commande à distance pour chariot élévateur à fourche
JP7070456B2 (ja) 荷役支援システム
JP2021066539A (ja) 荷役車両の荷役作業支援装置
JP7087737B2 (ja) フォークリフト用遠隔操作システム
JP3858703B2 (ja) 産業車両における荷役作業支援装置及び産業車両
JP2003312995A (ja) フォークリフト
JP2021020793A (ja) 荷役車両の操作支援装置
JP2017088317A (ja) 産業車両の管理システム
JP2021187672A (ja) 自動運転フォークリフト監視システムおよび自動運転フォークリフト監視方法
JP2006069778A (ja) フォークリフトの荷役確認装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19876437

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19876437

Country of ref document: EP

Kind code of ref document: A1