CN207937870U - The transfer control system of fork truck and the operation control system of fork truck - Google Patents
The transfer control system of fork truck and the operation control system of fork truck Download PDFInfo
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- CN207937870U CN207937870U CN201820220072.0U CN201820220072U CN207937870U CN 207937870 U CN207937870 U CN 207937870U CN 201820220072 U CN201820220072 U CN 201820220072U CN 207937870 U CN207937870 U CN 207937870U
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- fork truck
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- rotation detection
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Abstract
A kind of transfer control system of fork truck and the operation control system of fork truck, the transfer control system of fork truck includes the rotation detection device of the motor driver of the unmanned controller for being electrically connected fork truck, motor and the former vehicle control for being electrically connected fork truck；Motor driver is electrically connected with motor, the input instruction control motor work for being exported according to unmanned controller；The output shaft of rotation detection device and motor is mechanically connected, for when the output shaft of motor drives the tumbler of rotation detection device to rotate, corresponding analog signal is exported to fork truck original vehicle control, so that the former vehicle control control fork truck operation of fork truck, without obtaining the communication protocol of fork truck original vehicle control, the analog signal exported with transfer control system can control the operation of fork truck original vehicle control, fork truck can be transformed into unmanned fork lift without the former vehicle control for needing to change fork truck, reduce the transformation to fork truck original vehicle, material waste can be reduced.
Description
Technical field
The utility model is related to the transfer control system of unmanned fork lift control technology field more particularly to a kind of fork truck and
The operation control system of fork truck.
Background technology
For fork truck is transformed into unmanned fork lift, because control mode becomes automatic control mode from manual control mode,
Therefore traditional modification scheme is the former vehicle control for re-replacing fork truck, to be adapted to the communication party of unmanned controller
Formula, but the former vehicle control of fork truck is usually to be enclosed in former vehicle device body, transformation difficulty is big, and due to not knowing about former vehicle
Motor design parameter, the control system newly replaced is likely difficult to be adapted to former vehicle motor, and inevitably causes material
Waste.
Utility model content
Based on this, it is necessary to provide a kind of transfer control system of fork truck and the operation control system of fork truck.
A kind of transfer control system of fork truck, including：Electricity for the unmanned controller for being electrically connected the fork truck
The rotation detection device of machine driver, motor and the former vehicle control for being electrically connected the fork truck；
The motor driver is electrically connected with the motor, for the input according to the unmanned controller output
Instruction controls the motor work；
The output shaft of the rotation detection device and the motor is mechanically connected, for the output shaft band in the motor
When moving the tumbler rotation of the rotation detection device, exports corresponding analog signal to the fork truck original vehicle and control system
System, so that the former vehicle control of the fork truck controls the fork truck operation.
In one embodiment, the rotation detection device be potentiometer, encoder or stepper motor, the potentiometer,
Encoder or stepper motor include rotary shaft, and the rotary shaft is in different corners and exports different value of electrical signals.
In one embodiment, the transfer control system of the fork truck further includes shaft coupling；
The rotary shaft of the rotation detection device is mechanically connected by the output shaft of the shaft coupling and the motor.
In one embodiment, the motor is stepper motor, and the motor driver is stepper motor driver；
Or,
The motor is steering engine, the motor driver is steering engine driver；
Or,
The motor is direct current generator, and the motor driver is DC motor driver.
In one embodiment, the motor driver includes first motor driver and the second motor driver；It is described
Motor includes first motor and the second motor；The rotation detection device includes the first rotation detection device and the second rotation
Amount detecting device；
The first motor driver is electrically connected with the first motor, unmanned controller respectively, and described first
The output shaft of motor and the first rotation detection device are mechanically connected, first rotation detection device and the fork truck original vehicle
Control system is electrically connected；The first motor driver is used for according to the input order-driven of the unmanned controller the
One motor work, to drive the first rotation detection device tumbler rotation, the fork truck original vehicle control according to
The analog signal control fork truck of first rotation detection device output moves forward or back；
Second motor driver is electrically connected with second motor, unmanned controller respectively, and described second
The output shaft of motor is mechanically connected with second rotation detection device, second rotation detection device and the fork truck
Former vehicle control is electrically connected；Second motor driver is used to be instructed according to the input of the unmanned controller and drive
Dynamic second motor work, to drive the tumbler rotation of the second rotation detection device, the fork truck original vehicle control
The rotation direction of fork truck is controlled according to the analog signal of the second rotation detection device output.
The transfer control system of above-mentioned fork truck, independently of fork truck original vehicle, the motor driver of transfer control system, motor with
And rotation detection device provides analog signal for fork truck original vehicle control, for realizing the unmanned control of fork truck, without obtaining
The communication protocol for taking fork truck original vehicle control, the analog signal exported with transfer control system can control the control of fork truck original vehicle
The operation of system reduces the transformation to fork truck original vehicle there is no need to replace the former vehicle control of fork truck, can reduce material wave
Take.
A kind of operation control system of fork truck includes the transfer control system of fork truck described in any embodiment as above, institute
The transfer control system for stating fork truck includes：Motor driver, motor and rotation detection device, the operation control of the fork truck
System further includes the former vehicle control of unmanned controller and the fork truck；
The unmanned controller is for exporting input instruction；
The motor driver is electrically connected with the unmanned controller, motor respectively, for according to the input
Instruction controls the motor work；
The rotation detection device is mechanically connected with the output shaft of the motor, and is controlled with the former vehicle of the fork truck
System is electrically connected, and when for driving the tumbler of the rotation detection device to rotate in the motor, output is corresponding
Analog signal is to the fork truck original vehicle control；
The fork truck original vehicle controller system is used to control fork truck operation according to the output signal.
In one embodiment, the rotation detection device is also electrically connected with the unmanned controller, and composition is closed
Ring control loop, for the analog signal to be fed back to the unmanned controller；
The unmanned controller adjusts the input instruction according to the analog signal of feedback and is then used as the motor
The input of driver triggers the motor driver work.
In one embodiment, the unmanned controller includes environment recognition apparatus and processor；The processor
It is electrically connected respectively with the environment recognition apparatus, motor driver；
The environment recognition apparatus is for detecting to obtain detection information road；
The processor is used to generate the input according to the detection information and instruct.
In one embodiment, the original vehicle control includes：The former vehicle controller of the fork truck, the former vehicle of the fork truck
The former vehicle motor of motor driver and the fork truck；
The original vehicle controller is used to send out driving instruction according to the analog signal；
The original vehicle motor driver is used to, according to the driving instruction control former vehicle motor operating, transport with band electrical forklift
Row.
In one embodiment, the original vehicle controller includes connecting interface, and the rotation detection device passes through the company
Connection interface is detachably electrically connected with the former vehicle controller；
The unmanned controller includes connecting interface, motor driver be by the connecting interface with it is unmanned
Controller is detachably electrically connected.
Above-mentioned fork truck operation control system has the transfer control system independently of fork truck original vehicle, transfer control system
Motor driver, motor and rotation detection device provide analog signal for fork truck original vehicle control, for realizing fork truck
Unmanned control, without obtaining the communication protocol of fork truck original vehicle control, with transfer control system export analog signal just
The operation that fork truck original vehicle control can be controlled is reduced there is no need to replace the former vehicle control of fork truck to fork truck original vehicle
Transformation, can reduce material waste.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the transfer control system of fork truck in one embodiment；
Fig. 2 is the scheme of installation of the fork truck operation control system in one embodiment；
Fig. 3 is a kind of structural schematic diagram of fork truck operation control system in one embodiment；
Fig. 4 is a kind of structural schematic diagram of fork truck operation control system in another embodiment.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Fig. 1 is a kind of transfer control system architecture schematic diagram of fork truck in one embodiment.As shown in Figure 1, fork truck
Transfer control system includes：Including：Motor driver 20, motor for the unmanned controller for being electrically connected the fork truck
30 and the former vehicle control for being electrically connected the fork truck rotation detection device 40；The motor driver 20 with
The motor 30 is electrically connected, and the rotation detection device 40 and the output shaft of the motor 30 are mechanically connected；It is unmanned
Controller output input instruction, the input instruction that motor driver 20 is exported according to the unmanned controller control the electricity
Machine 30 works, and rotation detection device 40 drives the tumbler of the rotation detection device in the output shaft of the motor 30
When rotation, corresponding analog signal (current signal or voltage signal) is exported to the fork truck original vehicle control, so that described
The former vehicle control of fork truck controls the fork truck operation.
For motor 30, in one embodiment, motor 30 is stepper motor, and motor driver 20 drives for stepper motor
Dynamic device.
Stepper motor is exactly a kind of executing agency converting electric pulse to angular displacement, when stepper motor driver receives
As soon as pulse signal, Driving Stepping Motor rotates a fixed angle by the direction of setting.It can be by controlling pulse
Number controls the angular displacement of stepper motor, from being accurately positioned, further, can also pass through the frequency of control wave
Come control stepper motor rotation speed and acceleration, to carry out speed governing.Specifically, motor 30 can be reaction equation stepping electricity
Machine (VR), p-m step motor (PM), composite stepper motor (HB) or single-phase type stepper motor etc., correspondingly, motor
Driver 20 is reaction stepping motor driver, p-m step motor driver, composite stepper motor driver or list
Phase formula stepper motor driver etc..The difference of stepper motor and common electric machine is mainly that the form of its pulsed drive, exactly
This feature, stepper motor can be combined with modern digital control technology.But stepper motor is in control accuracy, velocity variations
All it is not so good as the DC servo motor of traditional closed-loop control in terms of range, low-speed performance；So being mainly used in required precision is not
Extra high occasion.Stepper motor can respond the digital pulse signal of unmanned controller, it may be unnecessary to carry out
D/A is converted, and is converted digital pulse signal output signal to angular displacement, is embodied on the amount of spin of rotation detection device, is had
Standby advantage simple in structure, reliability is high and at low cost.
In other embodiment, motor 30 can be steering engine, direct current generator, servo motor, brushless motor or torque motor etc., right
Answer, motor driver 20 be steering engine driver, DC motor driver, motor servo driver, brushless motor driver or
Torque motor driver etc..
For rotation detection device 40, in one embodiment, rotation detection device 40 is potentiometer, encoder
Or stepper motor, potentiometer encoder or stepper motor include rotary shaft, rotary shaft be in different corners export it is different
Value of electrical signals such as voltage signal values or current signal value.Further, fork truck operation control system further includes shaft coupling；Current potential
The rotary shaft of device is mechanically connected by the output shaft of shaft coupling and motor.
In other embodiment, rotation detection device 40 other can be used for according to own rotation amount size come defeated for this field
Go out the angle quantity detection sensor of corresponding electric signal.
In one embodiment, motor driver 20 includes first motor driver and the second motor driver；Electricity
Machine 30 includes first motor and the second motor, and first motor and the second motor can be stepper motor, first motor driver with
And second motor driver can be stepper motor driver；Rotation detection device 40 include the first rotation detection device and
Second rotation detection device, the first rotation detection device and the second rotation detection device can be potentiometer, encoder
Or stepper motor angularly quantity detection sensor.
First motor driver is electrically connected with first motor, unmanned controller respectively, the output shaft of first motor
It is mechanically connected with the first rotation detection device, can specifically be connected by shaft coupling, the first rotation detection device is former with fork truck
Vehicle control is electrically connected；First motor driver is used for the input order-driven first motor according to unmanned controller
Work, to drive the tumbler rotation of the first rotation detection device, fork truck original vehicle control is according to the first amount of spin
The output signal control fork truck of detection device moves forward or back.
Second motor driver is electrically connected with the second motor, unmanned controller respectively, the output shaft of the second motor
It is mechanically connected with the second rotation detection device, can specifically be connected by shaft coupling, the second rotation detection device is former with fork truck
Vehicle control is electrically connected；Second motor driver is used for the second motor of input order-driven according to unmanned controller
Work, to drive the tumbler rotation of the second rotation detection device, fork truck original vehicle control is according to the second amount of spin
The rotation direction of the output signal control fork truck of detection device.
Specifically, the first rotation detection device 40 can be also electrically connected with unmanned controller, for what will be exported
Analog signal feeds back to unmanned controller；Unmanned controller is instructed using the analog signal adjustment input of feedback, so
Input signal by input instruction as first motor driver afterwards, triggering first motor driver work so that the first rotation
Amount-inspecting device more rotate in place, to which more accurately control fork truck moves forward or back.Second rotation detection device 40 is also
It can be electrically connected with unmanned controller, for output signal to be fed back to unmanned controller；Unmanned controller
Using the analog signal adjustment input instruction of feedback, then the input signal by input instruction as the second motor driver, is touched
Send out the work of the second motor driver so that the second rotation amount-inspecting device more rotate in place, to more accurately control fork truck
Steering.
The transfer control system of fork truck is not limited to the advance of control fork truck, retrogressing or rotation direction, can be also used for control fork
The lifting of vehicle freight fork, fork of forklift truck accessory moves left and right and/or forklift door frame moves left and right.
As shown in Fig. 2, motor driver 20, motor 30, rotation detection device 40 and shaft coupling 60 are as fork truck
Transfer control system is installed concentratedly on a support pedestal so that it is convenient to dismantle the transfer control system, is easy to be applied to it
His fork truck, is also convenient for repairing.The quantity of motor driver 20, motor 30, rotation detection device 40 and shaft coupling 60 in Fig. 3
It it is two, two sets of transfer control systems are respectively used to the steering of control fork truck forward or backward, fork truck.The application is not limited to wrap
Include control fork truck move forward or back, two sets transfer control systems of the steering of fork truck, may also include and control fork of forklift truck accessory liter
Drop, at least one of the transit module that the lifting of fork of forklift truck accessory moves left and right and forklift door frame moves left and right.
The transfer control system of above-mentioned fork truck, independently of fork truck original vehicle, the motor driver of transfer control system, motor with
And rotation detection device provides analog signal for fork truck original vehicle control, for realizing the unmanned control of fork truck, without obtaining
The communication protocol for taking fork truck original vehicle control, the analog signal exported with transfer control system can control the control of fork truck original vehicle
The operation of system is suitable for the fork truck of any model there is no need to replace the former vehicle control of fork truck, reduces to fork truck original vehicle
Transformation, material waste can be reduced.
Fig. 3 is a kind of structural schematic diagram of fork truck operation control system in one embodiment.As shown in figure 3, a kind of fork
Transfer control system in vehicle operation control system, including any embodiment as above, further include unmanned controller 10 and
Fork truck original vehicle control 50；Transfer control system includes motor driver 20, motor 30 and rotation detection device 40, electricity
Machine driver 20 is electrically connected with unmanned controller 10, motor 30 respectively, and rotation detection device 40 is defeated with motor 30
Shaft is mechanically connected, and is electrically connected with fork truck original vehicle control；Unmanned controller 10 is direct with motor driver 20
Can be that serial ports connects.
Unmanned controller 10 is used to instruct control motor according to input for exporting input instruction, motor driver 20
30 rotations, rotation detection device 40 are used for when motor 30 drives the tumbler rotation of rotation detection device 40, output
To the fork truck original vehicle control, fork truck original vehicle controller system 50 is used for corresponding analog signal (voltage or current signal)
Fork truck operation is controlled according to the analog signal of output.The mode that fork truck original vehicle controller system 50 controls fork truck operation includes control
Fork truck forward-reverse, control fork-truck steering, movement forklift door frame, the lifting of control fork of forklift truck accessory, control fork of forklift truck accessory
At least one of move left and right.
Wherein, for unmanned controller 10, unmanned controller 10 is the road by sensor-based system detection fork truck
Road environment, and the output phase should input instruction to control fork-truck steering, direction of travel, the computer for speed, lifting, forking cargo etc.
System.In one embodiment, unmanned controller 10 includes：Laser Detecting Set and processor；Laser acquisition fills
It sets and is electrically connected with processor, for carrying out laser acquisition to road to obtain traffic information；Processor, respectively with laser acquisition
Device, stepper motor driver are electrically connected, for generating input instruction according to traffic information.
For example, Laser Detecting Set detects cargo with a distance from fork truck farther out, processor then triggers the drive of motor driver 20
Dynamic motor operating, is then advanced by rotation detection device 40 and fork truck original vehicle control 50 with electrical forklift.
In other embodiment, unmanned controller 10 may include：Environment recognition apparatus and processor, processor difference
It is electrically connected with environment recognition apparatus, motor driver 20, environment recognition apparatus is for detecting road to obtain detection
Information, then the processor according to the detection information for generating the input instruction.Environment recognition apparatus specifically can be with
It is image collecting device such as photographic device, for acquiring road image to obtain traffic information, then processor is used for basis
Traffic information generates input instruction.Unmanned controller can also be sound-controlled apparatus, and command adapted thereto is exported according to user voice
To control fork truck operation.
For fork truck original vehicle control 50, in one embodiment, former vehicle control includes：The former vehicle control of fork truck
Device, the former vehicle motor driver of fork truck and the former vehicle motor of fork truck processed；The mould that former vehicle controller is used to be exported according to potentiometer
Quasi- signal sends out driving instruction；Former vehicle motor driver is used to control former vehicle motor operating according to driving instruction, with band electrical forklift
Operation.Specifically, former vehicle motor can include at least the motor of control fork truck forward-reverse, the motor for controlling fork-truck steering, movement
In the motor that the motor of forklift door frame, the motor of control fork of forklift truck accessory lifting, control fork of forklift truck accessory move left and right
It is a kind of.
In one embodiment, referring to Fig. 4, rotation detection device 40 also electrically connects with unmanned controller 10
It connects, close loop control circuit is constituted, for output signal to be fed back to unmanned controller 10；10 basis of unmanned controller
The analog signal adjustment input instruction then input as motor driver 20 of feedback, triggering motor driver work.Rotation
Amount detecting device 40 can specifically be connect with the processor in unmanned controller 10.
The present embodiment, unmanned controller 10, motor driver 20, motor 30 and the formation of rotation detection device 40
Closed-loop control so that rotation detection device 40 can more rotate in place, and can more accurately control fork truck operation.
Unmanned controller 10 is mounted on outside fork truck body, motor driver 20, motor 30 and rotation amount detection device
It sets 40 to be mounted on outside fork truck body as transfer control system, fork truck original vehicle control 50 is mounted in the body of fork truck, is turned
50 band electrical forklift of fork truck original vehicle control in the analog signal control machine body that momentum detection device 40 exports is run.
Specifically, former vehicle controller includes connecting interface, and rotation detection device is controlled by connecting interface and former vehicle
Device is detachably electrically connected, and connecting interface can be the aviation interface being detachably connected；Unmanned controller 10 includes connecing
Mouthful, motor driver 20 is detachably electrically connected by connecting interface and unmanned controller 10, and connecting interface can be can
The aviation interface of dismantling connection.
Above-mentioned fork truck operation control system, using the transfer control system independently of fork truck original vehicle, transfer control system
Motor driver, motor and rotation detection device provide analog signal for fork truck original vehicle control, for realizing fork truck
Unmanned control, without obtaining the communication protocol of fork truck original vehicle control, with transfer control system export analog signal just
The operation that fork truck original vehicle control can be controlled is reduced there is no need to replace the former vehicle control of fork truck to fork truck original vehicle
Transformation, can reduce material waste.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
The each technical characteristic all possible combinations applied in example are all described, as long as however lance is not present in the combination of these technical characteristics
Shield all should be the range that this specification is recorded.
Several embodiments of the utility model above described embodiment only expresses, the description thereof is more specific and detailed, but
It should not be interpreted as limiting the scope of the present invention.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of transfer control system of fork truck, which is characterized in that including：Unmanned control for being electrically connected the fork truck
The motor driver of device processed, the rotation detection device of motor and the former vehicle control for being electrically connected the fork truck；
The motor driver is electrically connected with the motor, for being instructed according to the input of the unmanned controller output
Control the motor work；
The output shaft of the rotation detection device and the motor is mechanically connected, and institute is driven for the output shaft in the motor
When stating the tumbler rotation of rotation detection device, corresponding analog signal is exported to the fork truck original vehicle control, with
The former vehicle control of the fork truck is set to control the fork truck operation.
2. the transfer control system of fork truck according to claim 1, which is characterized in that the rotation detection device is electricity
Position device, encoder or stepper motor, the potentiometer, encoder or stepper motor include rotary shaft, and the rotary shaft is in
Different corners exports different value of electrical signals.
3. the transfer control system of fork truck according to claim 2, which is characterized in that further include shaft coupling；
The rotary shaft of the rotation detection device is mechanically connected by the output shaft of the shaft coupling and the motor.
4. the transfer control system of fork truck according to claim 1, which is characterized in that the motor is stepper motor, institute
It is stepper motor driver to state motor driver；
Or,
The motor is steering engine, the motor driver is steering engine driver；
Or,
The motor is direct current generator, and the motor driver is DC motor driver.
5. according to the transfer control system of claim 1-4 any one of them fork trucks, which is characterized in that the motor driver
Including first motor driver and the second motor driver；The motor includes first motor and the second motor；The rotation
Amount detecting device includes the first rotation detection device and the second rotation detection device；
The first motor driver is electrically connected with the first motor, unmanned controller respectively, the first motor
Output shaft and the first rotation detection device be mechanically connected, first rotation detection device and the fork truck original vehicle control
System is electrically connected；The first motor driver is used for the first electricity of input order-driven according to the unmanned controller
Machine works, and to drive the tumbler rotation of the first rotation detection device, the fork truck original vehicle control is according to first
The analog signal control fork truck of rotation detection device output moves forward or back；
Second motor driver is electrically connected with second motor, unmanned controller respectively, second motor
Output shaft and second rotation detection device be mechanically connected, second rotation detection device and the fork truck original vehicle
Control system is electrically connected；Second motor driver is used for according to the input order-driven of the unmanned controller the
Two motors work, to drive the second rotation detection device tumbler rotation, the fork truck original vehicle control according to
The rotation direction of the analog signal control fork truck of second rotation detection device output.
6. a kind of operation control system of fork truck, which is characterized in that the transfer control system including fork truck, the transfer of the fork truck
Control system includes：The operation control system of motor driver, motor and rotation detection device, the fork truck further includes nothing
The former vehicle control of people's driving controller and the fork truck；
The unmanned controller is for exporting input instruction；
The motor driver is electrically connected with the unmanned controller, motor respectively, for being instructed according to the input
Control the motor work；
The rotation detection device is mechanically connected with the output shaft of the motor, and with the former vehicle control of the fork truck
It being electrically connected, when for driving the tumbler of the rotation detection device to rotate in the motor, exporting corresponding simulation
Signal is to the former vehicle control；
The original vehicle control is used to control fork truck operation according to the output signal.
7. the operation control system of fork truck according to claim 6, which is characterized in that the rotation detection device also with
The unmanned controller is electrically connected, and constitutes close loop control circuit, for by the analog signal feed back to it is described nobody
Driving controller；
The unmanned controller adjusts the input instruction according to the analog signal of feedback and is then driven as the motor
The input of device triggers the motor driver work.
8. the operation control system of fork truck according to claim 7, which is characterized in that the unmanned controller includes
Environment recognition apparatus and processor；The processor is electrically connected with the environment recognition apparatus, motor driver respectively；
The environment recognition apparatus is for detecting to obtain detection information road；
The processor is used to generate the input according to the detection information and instruct.
9. the operation control system of fork truck according to claim 7, which is characterized in that it is described original vehicle control include：
Former vehicle controller, the former vehicle motor driver of the fork truck and the former vehicle motor of the fork truck of the fork truck；
The original vehicle controller is used to send out driving instruction according to the analog signal；
The original vehicle motor driver is used to, according to the driving instruction control former vehicle motor operating, run with band electrical forklift.
10. according to the operation control system of claim 6-9 any one of them fork trucks, which is characterized in that the original vehicle control
Device includes connecting interface, and the rotation detection device is detachably electrically connected by the connecting interface and the former vehicle controller
It connects；
The unmanned controller includes connecting interface, and motor driver is by the connecting interface and unmanned control
Device is detachably electrically connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820220072.0U CN207937870U (en) | 2018-02-06 | 2018-02-06 | The transfer control system of fork truck and the operation control system of fork truck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820220072.0U CN207937870U (en) | 2018-02-06 | 2018-02-06 | The transfer control system of fork truck and the operation control system of fork truck |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153318A (en) * | 2018-02-06 | 2018-06-12 | 视航机器人（佛山）有限公司 | The transfer control system of fork truck and the operation control system of fork truck |
| CN111123935A (en) * | 2019-12-26 | 2020-05-08 | 未来机器人（深圳）有限公司 | Control signal generation device and method applied to unmanned forklift |
-
2018
- 2018-02-06 CN CN201820220072.0U patent/CN207937870U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153318A (en) * | 2018-02-06 | 2018-06-12 | 视航机器人（佛山）有限公司 | The transfer control system of fork truck and the operation control system of fork truck |
| CN108153318B (en) * | 2018-02-06 | 2024-05-31 | 视航机器人（佛山）有限公司 | Forklift transfer control system and forklift operation control system |
| CN111123935A (en) * | 2019-12-26 | 2020-05-08 | 未来机器人（深圳）有限公司 | Control signal generation device and method applied to unmanned forklift |
| CN111123935B (en) * | 2019-12-26 | 2023-10-27 | 未来机器人（深圳）有限公司 | Control signal generation device and method applied to unmanned forklift |
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