CN109250656A - Collision avoidance system, control method and the fork truck of fork truck - Google Patents
Collision avoidance system, control method and the fork truck of fork truck Download PDFInfo
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- CN109250656A CN109250656A CN201811185071.8A CN201811185071A CN109250656A CN 109250656 A CN109250656 A CN 109250656A CN 201811185071 A CN201811185071 A CN 201811185071A CN 109250656 A CN109250656 A CN 109250656A
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- fork truck
- distance
- module
- collision avoidance
- avoidance system
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Classifications
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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
-
- 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
- B66F9/0755—Position control; Position detectors
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to a kind of collision avoidance system of fork truck, control method and fork trucks.Wherein, the collision avoidance system of the fork truck includes range finder module and deceleration control module, the range finder module is for detecting the distance between fork truck and barrier, the deceleration control module is connected with the accelerator pedal of the range finder module and the fork truck respectively, when the range finder module detects that the distance between the fork truck and the barrier are within the scope of risk distance, the deceleration control module controls the accelerator pedal rebound to carry out deceleration avoidance.The collision avoidance system of fork truck of the present invention can effectively reduce security risk of the fork truck in operation process, reduce the labor intensity of driver, promote operating efficiency.
Description
Technical field
The present invention relates to storage technical field of transportation, more particularly to a kind of collision avoidance system of fork truck, control method and
Fork truck.
Background technique
With the rapid development of logistics, the artificial fork truck in middle swivel link has the function of forming a connecting link.But by
In the complexity of storage environment, conventional forklift in operation, easily causes driver's driving fatigue, simultaneously because driver regards
Line is obstructed, and easily crashes, and leading to hauling operation, there are security risk, hauling operation inefficiency.It is asked for above-mentioned
Topic, the country propose the solution for developing full intelligent forklift, improve the automatization level in warehouse, and the intelligence for developing warehouse is handed over
It is logical.But this needs the support of comprehensive development and hardware, and at high price, medium-sized and small enterprises are difficult to bear, and mature system is comprehensive
Popularization still needs to time.
Summary of the invention
Based on this, it is necessary to for traditional higher problem of forklift workability security risk, provide a kind of anti-collision of fork truck
Hit system, control method and fork truck.
A kind of collision avoidance system of fork truck includes range finder module and deceleration control module, and the range finder module is for detecting fork
The distance between vehicle and barrier, the deceleration control module accelerator pedal phase with the range finder module and the fork truck respectively
Connection, within the scope of the range finder module detects that the distance between the fork truck and the barrier are in risk distance
When, the deceleration control module controls the accelerator pedal rebound to carry out deceleration avoidance.
The collision avoidance system of above-mentioned fork truck detects the distance between fork truck and barrier by range finder module, and will test
As a result deceleration control module is fed back to, deceleration control module judges whether fork truck has risk of collision and take phase according to testing result
Answer measure.Specifically, when range finder module detects that the distance between fork truck and barrier are within the scope of risk distance, subtract
Fast control module can control the accelerator pedal rebound of fork truck, and then can rotate to reduce aperture, so with the air throttle of electrical forklift
The speed of fork truck can be made to reduce, and realize the active deceleration barrier avoiding function of the collision avoidance system of fork truck.Meanwhile driver is driving
The pressure change of accelerator pedal can be perceived according to sole tactile in the process, and can find dangerous situation in time, and then can be taken corresponding
Avoidance measure, and realize passive barrier avoiding function.In this way, can effectively reduce security risk of the fork truck in operation process, reduction is driven
The labor intensity for the person of sailing promotes operating efficiency.
The deceleration control module includes controller and is electrically connected with the controller anti-in one of the embodiments,
To adjuster, when the range finder module detect the distance between the fork truck and the barrier be in risk distance range it
When interior, the controller controls the reversed controller action in the reset spring of the accelerator pedal bottom surface, so that described multiple
Position springback and drive the accelerator pedal to rebound.
The strength of adjustment of the reversed adjuster can be adjusted in the controller in one of the embodiments, with
Make the strength of adjustment of the reversed adjuster enhances with the reduction of risk distance.
The range finder module includes the first distance measuring sensor and the second distance measuring sensor, institute in one of the embodiments,
It states the first distance measuring sensor and is set to the fork truck front end, it is described for detecting the fork truck front end at a distance from front obstacle
Second distance measuring sensor is set to the fork truck rear end, for detecting the fork truck rear end at a distance from rear obstacle.
The collision avoidance system of the fork truck further includes alarm modules in one of the embodiments, the alarm modules with
The range finder module electrical connection, reaches risk distance between the fork truck and the barrier when the range finder module detects
When, the alarm modules signal an alert.
The collision avoidance system of the fork truck further includes dangerous releasing module, the dangerous solution in one of the embodiments,
Except module is electrically connected with the deceleration control module, the dangerous releasing module subtracts for controlling the deceleration control module stopping
Fast avoidance obstacle；
And/or the dangerous module that releases is electrically connected with the alarm modules, the dangerous module that releases is for controlling institute
Alarm modules are stated to stop working to sound all clear.
The collision avoidance system of the fork truck further includes power conversion module in one of the embodiments, and the power supply turns
Mold changing block is connected with the power supply of the fork truck, and the supply voltage of the fork truck, which is converted to, to be the anticollision of the fork truck
The voltage of system power supply.
A kind of control method of the collision avoidance system of fork truck, comprising the following steps:
Detect the distance between fork truck and barrier；
Judge whether above-mentioned detecting distance is within the scope of default risk distance；
When above-mentioned detecting distance is within the scope of default risk distance, control the accelerator pedal rebound of the fork truck with
Carry out deceleration avoidance.
Detection the distance between fork truck and barrier includes that detection fork truck front end and front hinder in one of the embodiments,
Hinder the second distance between the first distance between object, and detection fork truck rear end and rear obstacle；
The first distance and the second distance are compared, the smaller value in the two is taken to carry out operation to judge
State whether fork truck is within the scope of the default risk distance；
The specific location of the relatively described fork truck of the barrier is judged according to the operating status of the fork truck；
It is adjusted according to accelerator pedal of the above-mentioned judging result to the fork truck to realize deceleration avoidance.
A kind of fork truck includes the collision avoidance system of fork truck, and the collision avoidance system of the fork truck includes range finder module and control of slowing down
Molding block, the range finder module for detecting the distance between fork truck and barrier, the deceleration control module respectively with it is described
The accelerator pedal of range finder module and the fork truck is connected, when the range finder module detect the fork truck and the barrier it
Between distance when being within the scope of risk distance, the deceleration control module controls the accelerator pedal rebound to slow down
Avoidance.
Detailed description of the invention
Fig. 1 is the module diagram of the collision avoidance system of fork truck described in one embodiment of the invention；
Fig. 2 is the control method flow chart of the collision avoidance system of fork truck described in one embodiment of the invention；
Fig. 3 is the structural schematic diagram of fork truck described in one embodiment of the invention.
100, accelerator pedal, 101, reset spring, 110, range finder module, the 111, first distance measuring sensor, 112, second surveys
Away from sensor, 120, deceleration control module, 130, alarm modules, 131, loudspeaker, 132, dangerous tip lamp, 140, dangerous releasing mould
Block, 150, power conversion module.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Heretofore described " first ", " second " do not represent specific quantity and sequence, are only used for title
Differentiation.
Please referring to Fig. 1 and Fig. 3, a kind of collision avoidance system of fork truck includes range finder module 110 and deceleration control module 120,
Range finder module 110 for detecting the distance between fork truck and barrier, deceleration control module 120 respectively with range finder module 110 and
The accelerator pedal 100 of fork truck is connected, when range finder module 110 detects that the distance between fork truck and barrier are in risk distance
Within the scope of when, deceleration control module 120 control accelerator pedal 100 rebound to carry out deceleration avoidance.
Specifically, the collision avoidance system of the fork truck is installed on fork truck ontology, carries out the mistake of hauling operation in fork truck ontology
Cheng Zhong, range finder module 110 can the distance between barriers on real-time detection fork truck and traffic direction, wherein range finder module 110
The modes such as laser ranging, ultrasonic distance measurement or radar range finding can be used to carry out apart from detection.Deceleration control module 120 is used for basis
The position of accelerator pedal 100 is adjusted in the testing result of range finder module 110, to realize deceleration avoidance obstacle, wherein slowing down
Control module 120 can be single-chip microcontroller.In general, the accelerator pedal 100 of fork truck is connected with air throttle, by changing accelerator pedal 100
Position can realize the adjusting of throttle opening, and then can realize and the output torque of engine is adjusted, to reach vehicle
The purpose of velocity modulation section.
The collision avoidance system of above-mentioned fork truck detects the distance between fork truck and barrier by range finder module 110, and will
Testing result feeds back to deceleration control module 120, and deceleration control module 120 judges whether fork truck has collision to endanger according to testing result
Simultaneously take corresponding measure in danger.Specifically, when range finder module 110 detects that the distance between fork truck and barrier are in risk distance
Within the scope of when, deceleration control module 120 can control the accelerator pedal 100 of fork truck to rebound, and then can be with the air throttle of electrical forklift
Rotation can so be such that the speed of fork truck reduces to reduce aperture, and realize the active deceleration avoidance function of the collision avoidance system of fork truck
Energy.Meanwhile driver can perceive the pressure change of accelerator pedal 100 in driving procedure according to sole tactile, and can send out in time
Existing dangerous situation, and then corresponding avoidance measure can be taken, and realize passive barrier avoiding function.In this way, can effectively reduce fork truck in operation
Security risk in the process reduces the labor intensity of driver, promotes operating efficiency.
Deceleration control module 120 includes controller and the reversed tune being electrically connected with the controller in one of the embodiments,
Save device, when range finder module 110 detects that the distance between fork truck and barrier are within the scope of risk distance, controller control
Reversed controller action is made in the reset spring 101 of 100 bottom surface of accelerator pedal, so that reset spring 101 rebounds and drives and accelerate
Pedal 100 rebounds.Specifically, controller can be PID controller, and reversed adjuster can be reversed force applicator, work as range finder module
110 when detecting within the scope of fork truck is in risk distance, and controller can control reversed adjuster to work, and reversed adjuster is used for
Applying opposition to the reset spring 101 of accelerator pedal 100 makes its certain distance that rebounds, to reach the mesh of deceleration avoidance
's.
Further, the strength of adjustment of reversed adjuster can be adjusted in controller, so that the adjusting of reversed adjuster
Dynamics enhances with the reduction of risk distance.Specifically, reversed adjuster can adjust the size of opposite force by magnetic force, control
Device processed can adjust the magnetic force size of reversed adjuster by voltage change, to realize the tune of reversed adjuster strength of adjustment
Section.In this way, with the reduction of risk distance, adding when the distance between fork truck and barrier are fallen within the scope of risk distance
The rebound of reset spring 101 dynamics of speed pedal 100 is bigger, so as to promote rate of deceleration, promotes safety guarantee performance.
Further, range finder module 110 includes the first distance measuring sensor 111 and the second distance measuring sensor 112, the first ranging
Sensor 111 is set to fork truck front end, and for detecting fork truck front end at a distance from front obstacle, the second distance measuring sensor 112 is set
In fork truck rear end, for detecting fork truck rear end at a distance from rear obstacle.By being respectively set in the front end of fork truck and rear end
First distance measuring sensor 111 and the second distance measuring sensor 112, so, it can be achieved that the advance operation deceleration avoidance of fork truck and retrogressing
Two kinds of barrier avoiding functions of operation deceleration avoidance.Wherein, the first distance measuring sensor 111 and the second distance measuring sensor 112 can be ultrasonic wave
Any one in sensor, laser range sensor and radar range finding sensor.
Further, the collision avoidance system of fork truck further includes alarm modules 130,110 electricity of alarm modules 130 and range finder module
Connection, when range finder module 110, which detects, reaches risk distance between fork truck and barrier, alarm modules 130 sound an alarm letter
Number.Driver can be reminded to pay attention to dangerous situation by 130 signal an alert of alarm modules, it is corresponding to enable a driver to make in time
Avoidance measure.
Further, alarm modules 130 include the loudspeaker 131 for making a sound signal, and/or for issuing optical signal
Dangerous tip lamp 132.Specifically, alarm modules 130 may include honeycomb loudspeaker 131 and dangerous tip lamp 132.Work as range finder module
110 when detecting within the scope of fork truck is in risk distance, and honeycomb loudspeaker 131 issue prompt tone, risk indicating lamp flashing, simultaneously
Deceleration control module 120 can carry out rebound deceleration to accelerator pedal 100 and adjust, so that the more of the sense of hearing, vision and tactile can be realized
Weight standby signal is reminded more efficient with reminding driver to take avoidance measure.
Further, the collision avoidance system of fork truck further includes dangerous releasing module 140, and danger releases module 140 and slows down
Control module 120 is electrically connected, and danger releases module 140 and stops deceleration avoidance obstacle for controlling deceleration control module 120；With/
Or, the dangerous module 140 that releases is electrically connected with alarm modules 130, danger releases module 140 for controlling the stopping of alarm modules 130
Work is to sound all clear.Specifically, when range finder module 110 detects fork truck distance range out of danger, danger releases module
140, which can be automatically controled the deceleration that deceleration control module 120 stops to fork truck accelerator pedal 100, controls；Or dangerous releasing module
140 can also be used to automatically control the stopping signal an alert of alarm modules 130 to sound all clear.In addition, when driver recognizes
After danger, module 140 voluntarily can also be released to danger and be operated to sound all clear, and take avoidance measure in time.
Further, the collision avoidance system of fork truck further includes power conversion module 150, power conversion module 150 and fork truck
Power supply be connected, by the supply voltage of fork truck be converted to can be the collision avoidance system of fork truck power supply voltage.Specifically, it pitches
Vehicle generallys use battery and is powered as power supply, by by the voltage input power conversion module 150 of fork truck storage battery, just
Can the 12V DC voltage to battery convert, so as to be the anti-of deceleration control module 120, range finder module 110 and fork truck
Other executing agencies of collision system are powered, to realize automatic obstacle avoidance function.
Referring to figure 2., a kind of control method of the collision avoidance system of the fork truck for above-described embodiment, including following step
It is rapid:
Detect the distance between fork truck and barrier；
Judge whether above-mentioned detecting distance is within the scope of default risk distance；
When above-mentioned detecting distance is within the scope of default risk distance, control the rebound of accelerator pedal 100 of fork truck with
Carry out deceleration avoidance.
Specifically, fork truck is during hauling operation, on 110 real-time detection fork truck of range finder module and fork truck traffic direction
Hinder the distance between empty, deceleration control module 120 operation is carried out to the detecting distance of distance measuring sensor with judge the detection away from
From whether within preset risk range.If judging, above-mentioned detecting distance is within the scope of default risk distance, is slowed down
Control module 120 will pass through the position for adjusting accelerator pedal 100 so that accelerator pedal 100 rebounds, and then can throttle valve open
Degree reduces, and realizes deceleration avoidance.
In another embodiment, the control method of the collision avoidance system of fork truck, comprising the following steps:
It detects between the first distance between fork truck front end and front obstacle, and detection fork truck rear end and rear obstacle
Second distance；
First distance and second distance are compared, the smaller value in the two is taken to carry out operation to judge whether fork truck is located
Within the scope of risk distance；
It is opposite according to the operating status of fork truck (namely be advance operation according to fork truck or retreat operation) disturbance in judgement object
The specific location of fork truck；
It is adjusted according to accelerator pedal 100 of the above-mentioned judging result to fork truck to realize deceleration avoidance.
The present invention also proposes a kind of fork truck, which includes the anticollision of fork truck ontology and the fork truck on fork truck ontology
System.Wherein, the specific structure of the collision avoidance system of the fork truck is referring to above-described embodiment, since this fork truck is using above-mentioned all
Whole technical solutions of embodiment, therefore at least all beneficial effects brought by the technical solution with above-described embodiment,
This is no longer repeated one by one.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of collision avoidance system of fork truck, which is characterized in that including range finder module and deceleration control module, the range finder module
For detecting the distance between fork truck and barrier, the deceleration control module respectively with the range finder module and the fork truck
Accelerator pedal is connected, when the range finder module detects that the distance between the fork truck and the barrier are in risk distance
Within the scope of when, the deceleration control module controls the accelerator pedal rebound to carry out deceleration avoidance.
2. the collision avoidance system of fork truck according to claim 1, which is characterized in that the deceleration control module includes control
Device and the reversed adjuster being electrically connected with the controller, when the range finder module detect the fork truck and the barrier it
Between distance when being within the scope of risk distance, the controller controls the reversed controller action in the accelerator pedal
The reset spring of bottom surface, so that the reset spring rebounds and the accelerator pedal is driven to rebound.
3. the collision avoidance system of fork truck according to claim 2, which is characterized in that the controller can be to the reversed tune
The strength of adjustment of section device is adjusted, so that the strength of adjustment of the reversed adjuster enhances with the reduction of risk distance.
4. the collision avoidance system of fork truck according to claim 1, which is characterized in that the range finder module includes the first ranging
Sensor and the second distance measuring sensor, first distance measuring sensor is set to the fork truck front end, before detecting the fork truck
End is at a distance from front obstacle, and second distance measuring sensor is set to the fork truck rear end, for detecting the fork truck rear end
At a distance from rear obstacle.
5. the collision avoidance system of fork truck according to claim 1, which is characterized in that it further include alarm modules, the alarm
Module is electrically connected with the range finder module, reaches dangerous between the fork truck and the barrier when the range finder module detects
Apart from when, the alarm modules signal an alert.
6. the collision avoidance system of fork truck according to claim 5, which is characterized in that it further include dangerous releasing module, it is described
Danger releases module and is electrically connected with the deceleration control module, and the dangerous module that releases is for controlling the deceleration control module
Stop deceleration avoidance obstacle；
And/or the dangerous module that releases is electrically connected with the alarm modules, the dangerous module that releases is for controlling the police
Report module from service to sound all clear.
7. according to claim 1 to the collision avoidance system of fork truck described in 6 any one, which is characterized in that further include that power supply turns
Block is changed the mold, the power conversion module is connected with the power supply of the fork truck, and the supply voltage of the fork truck is converted to can
The voltage powered for the collision avoidance system of the fork truck.
8. a kind of control method of the collision avoidance system of fork truck, which comprises the following steps:
Detect the distance between fork truck and barrier；
Judge whether above-mentioned detecting distance is within the scope of default risk distance；
When above-mentioned detecting distance is within the scope of default risk distance, the accelerator pedal for controlling the fork truck rebounds to carry out
Deceleration avoidance.
9. the control method of the collision avoidance system of fork truck according to claim 8, which is characterized in that detection fork truck and obstacle
The distance between object includes the first distance between detection fork truck front end and front obstacle, and detection fork truck rear end and rear hinder
Hinder the second distance between object；
The first distance and the second distance are compared, the smaller value in the two is taken to carry out operation to judge the fork
Whether vehicle is within the scope of the default risk distance；
The specific location of the relatively described fork truck of the barrier is judged according to the operating status of the fork truck；
It is adjusted according to accelerator pedal of the above-mentioned judging result to the fork truck to realize deceleration avoidance.
10. a kind of fork truck, which is characterized in that the collision avoidance system including fork truck as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811185071.8A CN109250656A (en) | 2018-10-11 | 2018-10-11 | Collision avoidance system, control method and the fork truck of fork truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811185071.8A CN109250656A (en) | 2018-10-11 | 2018-10-11 | Collision avoidance system, control method and the fork truck of fork truck |
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| CN109250656A true CN109250656A (en) | 2019-01-22 |
Family
ID=65045216
Family Applications (1)
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| CN201811185071.8A Pending CN109250656A (en) | 2018-10-11 | 2018-10-11 | Collision avoidance system, control method and the fork truck of fork truck |
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Cited By (6)
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| CN110053595A (en) * | 2019-05-16 | 2019-07-26 | 杭叉集团股份有限公司 | Fork truck and its anticollision braking system |
| CN110220089A (en) * | 2019-07-08 | 2019-09-10 | 沙洲职业工学院 | A kind of moveable smart television table of avoidance |
| CN111170210A (en) * | 2020-03-05 | 2020-05-19 | 安徽宇锋仓储设备有限公司 | Cargo detection device system for fork of forklift |
| CN111661212A (en) * | 2019-01-28 | 2020-09-15 | 铃木株式会社 | Control device and electric vehicle |
| CN112744216A (en) * | 2020-12-25 | 2021-05-04 | 南京爱动信息技术有限公司 | Rear vehicle distance detection device and detection method based on industrial forklift intellectualization |
| CN113321160A (en) * | 2020-02-28 | 2021-08-31 | 林德（中国）叉车有限公司 | Platform area forklift anti-falling system and method |
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| CN113321160A (en) * | 2020-02-28 | 2021-08-31 | 林德（中国）叉车有限公司 | Platform area forklift anti-falling system and method |
| CN111170210A (en) * | 2020-03-05 | 2020-05-19 | 安徽宇锋仓储设备有限公司 | Cargo detection device system for fork of forklift |
| CN112744216A (en) * | 2020-12-25 | 2021-05-04 | 南京爱动信息技术有限公司 | Rear vehicle distance detection device and detection method based on industrial forklift intellectualization |
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Application publication date: 20190122 |
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| RJ01 | Rejection of invention patent application after publication |