CN210133848U - Remote control cabin and unmanned forklift matched with same - Google Patents
Remote control cabin and unmanned forklift matched with same Download PDFInfo
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- CN210133848U CN210133848U CN201920859006.2U CN201920859006U CN210133848U CN 210133848 U CN210133848 U CN 210133848U CN 201920859006 U CN201920859006 U CN 201920859006U CN 210133848 U CN210133848 U CN 210133848U
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Abstract
The utility model relates to the field of warehousing, in particular to the fields of automation, intellectualization and modernization warehousing, more particularly to a remote control cabin and an unmanned forklift matched with the remote control cabin, which comprises a visual display device, wherein the visual display device comprises a display screen, a display screen adjusting bracket, a computer host, a switch and a hard disk video recorder; the driver cabin comprises a cabin base, a seat is fixed on the cabin base, and a driving simulator is arranged in front of the seat; and the integrated control system mainly comprises a data acquisition card module and a remote control cabin communication protocol module, so that the requirements of automation and unmanned operation under different storage conditions can be met, and the requirements of control accuracy and accuracy can be met.
Description
Technical Field
The invention relates to the field of warehousing, in particular to the fields of automation, intellectualization and modernization warehousing, and particularly relates to a remote control cabin and an unmanned forklift matched with the remote control cabin.
Background
Forklifts are commonly used transport vehicles in the warehousing field. With the development of modern warehousing, unmanned automatic forklifts have been developed and applied to the field of large-scale warehousing.
At present, a common unmanned driving mode is that a laser detection device is arranged at the top of a forklift, and a laser head is arranged at a specific place of a warehouse, so that a complete warehouse coordinate system is formed by laser, the forklift is positioned by the laser detection device at the top when walking in the warehouse, and automatic unmanned transportation and carrying work can be completed by matching with preset position and action information.
However, the requirement on the light and the environment in the warehouse is high, and the positioning accuracy and the operation accuracy of the forklift are affected by the strong and weak light, the brightness, the visibility and the like, so that the unmanned forklift is not widely applied.
Another unmanned mode is to use the AGV technology to lay a rail on the warehouse floor, so that the forklift can travel along a preset path, and complete the transportation work at a specific position through a preset program. However, in the first mode, a larger walking space needs to be reserved, so that the storage rate area utilization rate is reduced, the second mode is fixed and cannot be changed randomly, and the maneuverability is not enough.
Therefore, in practical application, the utilization rate and the popularization rate of the unmanned forklift are not high.
This also causes that in the actual warehousing process at present, still it is the manual operation fork truck that is the main mode.
The drawback of manual driving fork truck mainly lies in: firstly, because manual work is needed to be carried out on site, the transportation operation cannot be carried out normally in outdoor places under weather conditions such as wind, rain and the like; secondly, for some special dangerous goods storage, the danger is increased by manual on-site transportation, and casualties are easy to cause; thirdly, because the labor intensity of the forklift operation is high, and the driving qualification of special equipment is required for driving the forklift, the labor cost is continuously high, and the difficulty of recruitment is large.
The traditional manual operation mode is obviously inconsistent with the development trend of automatic, intelligent and modern logistics storage.
At present, in the industry, a third technical scheme is not available, and the advantages of unmanned forklift operation and manual forklift operation can be achieved.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control method of a forklift aiming at the modernization, intellectualization and automation requirements of the current logistics storage industry, so that the control method can meet the requirements of automation and unmanned operation under different storage conditions and can meet the requirements of control accuracy and accuracy.
In order to solve the technical problems, the invention provides a remote control cabin and an unmanned forklift matched with the remote control cabin, wherein data exchange and data communication are realized between the remote control cabin and the unmanned forklift through an intelligent ad hoc network.
The invention discloses a remote control cabin, which mainly comprises:
the visual display device comprises a display screen, a display screen bracket, a computer host, a switch and a network video recorder; the display screen adjusting support comprises a display screen mounting frame, and the display screen is fixedly mounted on the display screen mounting frame; the display screen is respectively connected with the computer host and the hard disk video recorder, and the computer host and the hard disk video recorder are simultaneously connected with the switch;
the driving simulator is also fixed on the cabin base and mainly comprises a simulation steering wheel, a simulation accelerator, a simulation brake, a simulation operation control hand lever and a simulation gear push rod; the forklift truck also comprises an indicator light panel, wherein an indicator light group for displaying the working state of the forklift truck and an indicator light group for displaying the action state of the forklift truck are arranged on the indicator light panel;
the integrated control system mainly comprises a data acquisition card module and a communication protocol module, wherein the data acquisition card module is connected with a driving simulator in a driving cabin, and the communication protocol module is connected with the driving simulator and an indicator lamp panel in the driving cabin.
The switch receives video data sent back by the corresponding camera after being connected with the network video recorder, and transmits the video data to the computer host, and the computer host transmits the video data to the display screen after receiving, storing and processing the video data sent back by the forklift camera, so that the visual state of the forklift is reflected in real time.
The driving cabin provides a panoramic simulation driving state, and the forklift can be controlled by a simulation steering wheel, a simulation accelerator, a simulation brake, a simulation operation control hand lever and a simulation gear push rod in the driving simulator. Meanwhile, an indicator light panel is further arranged in the driving cabin, so that the display performance in the manual operation process can be simulated, and the specific performance display of the unmanned forklift can be increased according to the requirement.
The integrated control system is a connection point between the unmanned forklift and the remote control cabin, data connection between the unmanned forklift and the remote control cabin can be achieved by means of a data acquisition card module and a communication protocol module in the integrated control system, so that action signals in the driving simulator are converted into electric signals and transmitted to the unmanned forklift through a communication protocol, and after the unmanned forklift receives the electric signals, the unmanned forklift controls the unmanned forklift through decoding the signals. Meanwhile, all data of the unmanned forklift can be received through the communication protocol module and are reflected through the indicating lamps on the indicating lamp panel.
Preferably, the display screen adjusting support comprises a supporting support, and the bottom end of the supporting support is fixed on the bottom plate.
Further preferably, the support bracket comprises a first support rod and a second support rod, and further comprises a height adjusting joint, and the first support rod and the second support rod are connected and fixed through the height adjusting joint.
The first supporting rod and the second supporting rod can move relatively and are locked and fixed through the height adjusting joint. Thereby realizing the height adjustment of the supporting bracket.
As a preferred technical scheme, the display screen adjusting support comprises an upper layer of display screen mounting frame and a lower layer of display screen mounting frame, a connecting rod is connected between the upper layer of display screen mounting frame and the lower layer of display screen mounting frame, the lower layer of display screen mounting frame is fixed on the upper portion of the supporting support, the connecting rod is fixed on the upper top of the supporting support, and the upper layer of display screen mounting frame is fixed on the upper portion of the connecting rod.
Further preferably, the connecting link comprises a first connecting link and a second connecting link, and further comprises a connecting joint, and the first connecting link and the second connecting link are rotatably connected through the connecting joint.
For example, a screw rod can be used as a connecting joint, screw holes matched with the screw rod are respectively arranged on the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod are inserted or staggered, and the screw rod is arranged on the contact surface of the first connecting rod and the second connecting rod, so that the rotatable connection is formed.
Of course, other rotatable connection modes can be adopted here, and are not described in detail.
Through the mode, the rotation of the connecting rod can be realized, so that the pitching angle of the upper display screen fixed on the connecting rod can be adjusted.
It is further preferred that five display screens are included, two of which are located at the upper layer and three of which are located at the lower layer.
Furthermore, the invention also preferably selects the indicating lamp set for displaying the working state of the forklift to comprise a forklift battery power display lamp, a forklift lifting state display lamp, a forklift inclination angle state display lamp, a forklift side shifting state display lamp and a forklift distance adjusting state display lamp, and simultaneously discloses the indicating lamp set for displaying the action state of the forklift to comprise a forklift headlamp state display lamp, a forklift steering lamp state display lamp and a forklift brake lamp state display lamp.
As a preferred technical scheme, the system further comprises a forklift matching remote control cabin terminal, the forklift matching remote control cabin terminal and the forklift matching forklift terminal are in data connection response, one forklift matching remote control cabin terminal and one forklift matching remote control cabin terminal do not respond to other forklifts after responding, and/or the system further comprises an information receiving system, and the information receiving system is used for receiving task information.
In a preferred technical scheme, the system further comprises a tablet personal computer, and the tablet personal computer can simultaneously have the function of matching the forklift with the remote control cabin terminal and the function of the information receiving system. Through the tablet computer, tasks issued by an upper system can be received, and meanwhile response connection can be carried out with a forklift.
A tablet personal computer is used as a control center, and the remote control cabin and the unmanned forklift are matched one by one. And one unmanned forklift is controlled by only one remote control cabin, so that operation conflict is avoided.
The invention further discloses an unmanned forklift matched with the remote control cabin, wherein the unmanned forklift is provided with:
the camera is used for acquiring a view interface image of the running operation of the forklift;
the forklift end control system comprises a forklift end communication module and a forklift end control module, wherein the forklift end communication module is used for communicating with the remote control cabin, and the forklift end control module is used for analyzing the action command of the remote control cabin and outputting the analyzed action command to form a forklift control command;
the forklift truck further comprises electromagnetic valves for controlling the motion of each accessory and the portal, wherein each electromagnetic valve is connected with the forklift truck end control board card and is controlled by a forklift truck control instruction output by the forklift truck end control board card, so that the actions of the portal and the accessories are realized; the forklift steering system also comprises a motor and a transmission structure for realizing steering movement, wherein the transmission structure is connected with a steering shaft of a steering wheel, and the motor controls the stroke of the transmission structure to realize steering of the forklift; still including motor and the transmission structure who realizes the braking, transmission structure is connected with the braking vane, the stroke of motor control transmission structure realizes fork truck braking.
The electromagnetic valve, the motor and the transmission structure for realizing steering movement and the motor and the transmission structure for realizing braking are the same as the existing forklift control process.
By adopting the technical scheme disclosed by the invention, the remote control cabin can be arranged in a central control room of an office building, an operator can operate the remote control cabin in the central control room, and the remote control of the forklift can be realized by utilizing an integrated control system and a control system at the forklift end.
The remote control forklift can realize various functions in different environments according to different requirements in various production scenes. Compared with the intelligent AGV, the remote control forklift still makes decisions by personnel, so that the calculation period of a computer can be reduced to the maximum extent, the logistics consumption is reduced, and the efficiency of a handling system is improved to the maximum extent.
Meanwhile, the remote control forklift mainly works by means of an MESH networking coverage area of a warehouse site, a plurality of high-definition network cameras and networking equipment are arranged on the forklift, the central control room controls the forklift to reach an appointed carrying area through the remote networking equipment, and then carrying is started, so that human resources are saved to a certain extent.
Drawings
FIG. 1 is a schematic view of a visual display device of a remote control pod;
FIG. 2 is a schematic view of a cockpit of a remote control pod;
fig. 3 is a schematic view of a forklift.
Detailed Description
In order that the invention may be better understood, we now provide further explanation of the invention with reference to specific examples.
Examples
As shown in fig. 1 and fig. 2, the invention discloses a remote control cabin and an unmanned forklift matched with the remote control cabin, wherein data exchange and data communication are realized between the remote control cabin and the unmanned forklift through an intelligent ad hoc network.
The remote control pod shown in fig. 1 and 2 mainly includes:
the visual display device comprises a display screen, a display screen bracket, a computer host, a switch and a network video recorder; the display screen adjusting support comprises a display screen mounting frame, and the display screen is fixedly mounted on the display screen mounting frame; the display screen is respectively connected with the computer host and the hard disk video recorder, and the computer host and the hard disk video recorder are simultaneously connected with the switch;
as shown in fig. 1, in the present embodiment, five display screens are included, two of which are located at the upper layer and three of which are located at the lower layer.
As can be seen from fig. 1, the display screen adjusting bracket preferably comprises a supporting bracket, and the bottom end of the supporting bracket is fixed on the bottom plate 1. Meanwhile, the support bracket comprises a first support rod 2, a second support rod 3 and a height adjusting joint, wherein the first support rod 2 and the second support rod 3 are fixedly connected through the height adjusting joint. The first supporting rod 2 and the second supporting rod 3 can move relatively and are locked and fixed through the height adjusting joint. Thereby realizing the height adjustment of the supporting bracket.
Further, the connecting rod is arranged between the upper display screen mounting frame and the lower display screen mounting frame, the lower display screen mounting frame is fixed to the upper portion of the supporting support, the connecting rod is fixed to the upper top of the supporting support, and the upper display screen mounting frame is fixed to the upper portion of the connecting rod.
The connecting rod comprises a first connecting rod 4, a second connecting rod 5 and a connecting joint 6, wherein the first connecting rod 4 and the second connecting rod 5 are rotatably connected through the connecting joint 6.
Through the mode, the rotation of the connecting rod can be realized, so that the pitching angle of the upper display screen fixed on the connecting rod can be adjusted.
Further, referring to fig. 2, the cockpit includes a cockpit base 7, a seat 8 is fixed on the cockpit base 7, a driving simulator is also arranged in front of the seat 8 and also fixed on the cockpit base 7, and the driving simulator mainly comprises a simulated steering wheel 9, a simulated accelerator 10, a simulated brake 11, a simulated operation control hand lever 12 and a simulated gear push rod 13; the forklift truck further comprises an indicator light panel 14, wherein an indicator light group for displaying the working state of the forklift truck and an indicator light group for displaying the action state of the forklift truck are arranged on the indicator light panel 14;
meanwhile, it should be seen that an integrated control system is further arranged inside the cockpit, the integrated control system mainly comprises a data acquisition card module and a communication protocol module, the data acquisition card module is connected with a driving simulator in the cockpit, and the communication protocol module is connected with the driving simulator and an indicator lamp panel in the cockpit.
The switch receives video data sent back by the corresponding camera after being connected with the network video recorder, and transmits the video data to the computer host, and the computer host transmits the video data to the display screen after receiving, storing and processing the video data sent back by the forklift camera, so that the visual state of the forklift is reflected in real time.
The driving cabin provides a panoramic simulated driving state, and the control of the forklift can be realized through a simulated steering wheel 9, a simulated accelerator 10, a simulated brake 11, a simulated operation control hand lever 12 and a simulated gear push rod 13 in the driving simulator. Meanwhile, an indicator light panel 14 is further arranged in the cockpit 7, so that the display performance in the manual operation process can be simulated, and the specific performance display of the unmanned forklift can be increased according to the requirement.
The integrated control system is a connection point between the unmanned forklift and the remote control cabin, data connection between the unmanned forklift and the remote control cabin can be achieved by means of a data acquisition card module and a communication protocol module in the integrated control system, so that action signals in the driving simulator are converted into electric signals and transmitted to the unmanned forklift through a communication protocol, and after the unmanned forklift receives the electric signals, the unmanned forklift controls the unmanned forklift through decoding the signals. Meanwhile, all data of the unmanned forklift can be received through the communication protocol module and are reflected through the indicating lamps on the indicating lamp panel.
In this embodiment, it is seen that the indicator light set for displaying the working state of the forklift includes a forklift battery power display lamp, a forklift lifting state display lamp, a forklift inclination angle state display lamp, a forklift side shift state display lamp, and a forklift distance adjustment state display lamp, and meanwhile, the indicator light set for displaying the action state of the forklift includes a forklift headlamp state display lamp, a forklift steering lamp state display lamp, and a forklift brake lamp state display lamp.
Meanwhile, we see an unmanned forklift shown in fig. 3, which is matched with the remote control cabin, and the unmanned forklift is provided with:
the camera 16 is used for acquiring a view interface image of the running operation of the forklift;
the forklift end control system comprises a forklift end communication module and a forklift end control module, wherein the forklift end communication module is used for communicating with the remote control cabin, and the forklift end control module is used for analyzing the action command of the remote control cabin and outputting the analyzed action command to form a forklift control command;
the forklift truck further comprises electromagnetic valves for controlling the motion of each accessory and the portal, wherein each electromagnetic valve is connected with the forklift truck end control board card and is controlled by a forklift truck control instruction output by the forklift truck end control board card, so that the actions of the portal and the accessories are realized; the forklift steering system also comprises a motor and a transmission structure for realizing steering movement, wherein the transmission structure is connected with a steering shaft of a steering wheel, and the motor controls the stroke of the transmission structure to realize steering of the forklift; still including motor and the transmission structure who realizes the braking, transmission structure is connected with the braking vane, the stroke of motor control transmission structure realizes fork truck braking.
It should be understood that the solenoid valves and the motor and transmission structure for effecting steering movement and the motor and transmission structure for effecting braking in this embodiment are all the same as in the existing forklift control process.
In the traditional operation process, an operator controls structures of control units such as an electromagnetic valve and the like through control keys or control structures on the forklift and enables the forklift to run. The basic control structure of the steering and braking of the forklift is not changed, and only an operator does not control a control key or a control structure on the forklift any more, but the basic control structure is controlled by the method disclosed by the invention by using technical means such as a remote control cabin, data communication and the like.
In this embodiment, the data transmission is based on an intelligent ad hoc network. The intelligent ad hoc network is constructed by a plurality of intelligent ad hoc network image transmission devices and is a real-time transmission channel for video data and control instructions.
The forklift remote control cabin is positioned in a central control room of an office building, and a remote control instruction is sent to a vehicle-mounted control system on the forklift in real time through a graph transmission device, and the vehicle-mounted control system controls the forklift to walk and work; and receiving video data returned by the camera on the forklift through the image transmission network, and displaying the panoramic image around the forklift on the liquid crystal display through the computer host and the network hard disk video recorder. The forklift is located in the outdoor warehouse, the vehicle-mounted image transmission terminal and the multiple cameras are installed on the forklift, the multiple cameras are connected into the vehicle-mounted image transmission terminal through the switch, and the videos of the multiple cameras are transmitted to the central control room in real time through the vehicle-mounted image transmission terminal.
When the operator carries out different operations in the remote control cabin, different action signals can be formed, so that different controls on the forklift are formed. For example, the operating lever is pushed forward quickly, the fork on the forklift is lifted quickly, the operating lever is pushed slowly, and the fork is lifted slowly. The brake is fast, the forklift is fast and slow to brake, and the forklift is slow to brake. The steering wheel rotates fast, the forklift steers fast, the steering wheel rotates slow, and the forklift steers slowly.
Specifically, the data acquisition card in the remote control cabin acquires the forward and backward push-pull actions of the accessory control hand lever, converts the forward and backward push-pull actions into electric signals and communicates with the forklift end control panel card through a tcp/ip protocol, and the forklift end control panel card receives data sent by the data acquisition card, analyzes an accessory control signal, outputs a corresponding control instruction and controls the opening of a proportional solenoid valve of a corresponding accessory, so that the movement of the portal frame and the accessory is realized.
The data acquisition card in the remote control cabin collects the steering or braking action, converts the steering or braking action into an electric signal and communicates with the control panel card at the forklift end through a tcp/ip protocol, the control panel card receives the data sent by the data acquisition card, the steering or braking signal is analyzed, and a corresponding control command is output: the steering stepping motor is controlled to drive the gear to rotate, and indirectly drive the steering shaft to rotate, so that the steering of the forklift is realized; and the brake stepping motor is controlled to control the electric push rod to move, so that the displacement of the brake pedal is realized, and the forklift is braked.
Example 2
On the basis of embodiment 1, the present embodiment further includes a plurality of remote control cabins and a plurality of unmanned forklifts, and also includes a tablet computer 15 installed on the remote control cabin. The tablet personal computer has two functions, wherein one function is that the tablet personal computer serves as a forklift matching remote control cabin terminal, data connection response is performed between the forklift matching remote control cabin terminal and the forklift matching forklift terminal, and the forklift matching remote control cabin terminal does not respond to other forklifts after responding to the forklift matching remote control cabin terminal and the forklift matching terminal; another function is as an information receiving system for receiving task information.
What has been described above is a specific embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. Remote control cabin, its characterized in that mainly includes:
the visual display device comprises a display screen, a display screen adjusting bracket, a computer host, a switch and a hard disk video recorder; the display screen adjusting support comprises a display screen mounting frame, and the display screen is fixedly mounted on the display screen mounting frame; the display screen is respectively connected with the computer host and the hard disk video recorder, and the computer host and the hard disk video recorder are simultaneously connected with the switch;
the driving simulator is also fixed on the cabin base and mainly comprises a simulation steering wheel, a simulation accelerator, a simulation brake, a simulation operation control hand lever and a simulation gear push rod; the forklift truck also comprises an indicator light panel, wherein an indicator light group for displaying the working state of the forklift truck and an indicator light group for displaying the action state of the forklift truck are arranged on the indicator light panel;
the integrated control system mainly comprises a data acquisition card module and a remote control cabin communication protocol module, wherein the data acquisition card module is connected with a driving simulator in a driving cabin, and the remote control cabin communication protocol module is communicated with a vehicle-mounted communication module on the forklift.
2. The remote control pod of claim 1, wherein: the display screen adjusting support comprises a supporting support, and the bottom end of the supporting support is fixed on the bottom plate.
3. The remote control pod of claim 2, wherein: the supporting bracket comprises a first supporting rod, a second supporting rod and a height adjusting joint, and the first supporting rod and the second supporting rod are connected and fixed through the height adjusting joint.
4. The remote control pod of claim 1, wherein: the display screen adjusting support comprises an upper display screen mounting frame and a lower display screen mounting frame which are respectively an upper display screen mounting frame and a lower display screen mounting frame, a connecting rod is connected between the upper display screen mounting frame and the lower display screen mounting frame, the lower display screen mounting frame is fixed on the upper portion of the supporting support, the connecting rod is fixed on the upper top of the supporting support, and the upper display screen mounting frame is fixed on the upper portion of the connecting rod.
5. The remote control pod of claim 4, wherein: the connecting rod comprises a first connecting rod and a second connecting rod and further comprises a connecting joint, and the first connecting rod and the second connecting rod are rotatably connected through the connecting joint.
6. The remote control pod of any of claims 1-5, wherein: the display screen comprises five display screens, wherein two display screens are positioned on the upper layer, and three display screens are positioned on the lower layer.
7. The remote control pod of claim 1, wherein: the indicating lamp set for displaying the working state of the forklift comprises a forklift battery power display lamp, a forklift lifting state display lamp, a forklift inclination angle state display lamp, a forklift side shifting state display lamp and a forklift distance adjusting state display lamp; the indicating lamp set for displaying the action state of the forklift comprises a forklift headlamp state display lamp, a forklift steering lamp state display lamp and a forklift brake lamp state display lamp.
8. The remote control pod of claim 1, wherein: still including fork truck matching remote control cabin terminal, data connection response between fork truck matching remote control cabin terminal and the fork truck matching fork truck terminal to can no longer match remote control cabin terminal response with other fork trucks after a fork truck matching fork truck terminal and a fork truck matching remote control cabin terminal response, and/or still including information receiving system, information receiving system is used for receiving task information.
9. The remote control pod of claim 1, wherein: the tablet computer is further included.
10. An unmanned forklift truck adapted to the remote control pod of any one of claims 1-9, wherein the unmanned forklift truck has mounted thereon:
the camera is used for acquiring a view interface image of the running operation of the forklift;
the forklift end control system comprises a forklift end communication module and a forklift end control module, wherein the forklift end communication module is used for communicating with the remote control cabin, and the forklift end control module is used for analyzing the action command of the remote control cabin and outputting the analyzed action command to form a forklift control command;
the forklift truck further comprises electromagnetic valves for controlling the motion of each accessory and the portal, wherein each electromagnetic valve is connected with the forklift truck end control board card and is controlled by a forklift truck control instruction output by the forklift truck end control board card, so that the actions of the portal and the accessories are realized;
the forklift steering system also comprises a motor and a transmission structure for realizing steering movement, wherein the transmission structure is connected with a steering shaft of a steering wheel, and the motor controls the stroke of the transmission structure to realize steering of the forklift;
still including motor and the transmission structure who realizes the braking, transmission structure is connected with the braking vane, the stroke of motor control transmission structure realizes fork truck braking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920859006.2U CN210133848U (en) | 2019-06-10 | 2019-06-10 | Remote control cabin and unmanned forklift matched with same |
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| CN201920859006.2U CN210133848U (en) | 2019-06-10 | 2019-06-10 | Remote control cabin and unmanned forklift matched with same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077992A (en) * | 2019-06-10 | 2019-08-02 | 国网江苏省电力有限公司南京供电分公司 | Remote control cabin and matched unmanned fork lift |
| US20210300742A1 (en) * | 2020-03-27 | 2021-09-30 | Jungheinrich Aktiengesellschaft | Device and method for remotely controlling an industrial truck |
| CN114355893A (en) * | 2021-12-13 | 2022-04-15 | 河南嘉晨智能控制股份有限公司 | System and method for automatically controlling industrial vehicle door frame based on environment perception |
-
2019
- 2019-06-10 CN CN201920859006.2U patent/CN210133848U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077992A (en) * | 2019-06-10 | 2019-08-02 | 国网江苏省电力有限公司南京供电分公司 | Remote control cabin and matched unmanned fork lift |
| US20210300742A1 (en) * | 2020-03-27 | 2021-09-30 | Jungheinrich Aktiengesellschaft | Device and method for remotely controlling an industrial truck |
| EP3896023A1 (en) * | 2020-03-27 | 2021-10-20 | Jungheinrich Aktiengesellschaft | Device and method for remote controlling an industrial truck |
| CN114355893A (en) * | 2021-12-13 | 2022-04-15 | 河南嘉晨智能控制股份有限公司 | System and method for automatically controlling industrial vehicle door frame based on environment perception |
| CN114355893B (en) * | 2021-12-13 | 2024-04-09 | 河南嘉晨智能控制股份有限公司 | Automatic control system and method for industrial vehicle door frame based on environment awareness |
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