• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.252-254
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• 2012

물류센터내에서는 작업자에 의한 지게차 작업이 주를 이루고 있으나, 점차 물류센터의 대형화, 자동화 및 지능화에 의해 무인지게차에 의한 작업에 관한 연구가 진행되고 있다. 최근 작업 생산성을 높이기 위해, 본 연구진에 의해 이중 포크 (Dual Fork) 장착형 무인지게차에 대한 검토가 이루어지고 있으며, 이중 포크형 무인지게차에 대해서는 새로운 방법의 동적경로할당이 요구된다. 본 연구에서는 4단계 심플한 동적 경로 할당 알고리즘을 제안하였으며, 실제 물류센터에서 유용하게 사용될 수 있도록 하였다. 마지막으로는 시뮬레이션을 통하여 그 유효성을 검증하였다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.199-205
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• 2013

Stress and deformation on forklift happened at loading, unloading or moving freight are studied by structural and fatigue analysis in this study. As model 1 as closing type between forks has lower stress and stain than model 2 at opening type, model 1 has more durability than model 2. Among the cases of nonuniform fatigue loads, 'SAE bracket history' with the severest change of load becomes most unstable but 'Sample history' becomes most stable. In case of 'SAE bracket history' with the severest change of load at model 1 and 2, maximum life is shown with Cycle. Minimum damage with 854 at model 2 becomes much higher than model 1. As the gap between forks becomes open, the damage probability becomes higher. The structural result of this study can be effectively utilized with the safe and stable design of forklift by investigating prevention and durability against its damage.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.247-249
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• 2012

지게차사고의 대부분은 지게차의 좁은 바퀴간격에 비하여 무게중심이 상대적으로 많이 이동함으로서 전도사고가 일어나며, 이는 작업장에서 직접적으로 중대사고로 연결된다. 이러한 중력이동은 화물의 작업높이와 밀접한 관계가 있으며, 이로서 안정성에 직결되고 있다. 안정성 범위는 무게중심이 화물의 승강높이 범위에 넘어서 너무 무겁다든지, 혹은 너무 틸팅된 각도에 안정성 범위가 결정되고 있으므로, 본 연구에서는 각 작업시의 안정성 범위에 대하여 시뮬레이션 및 분석을 행하고자 한다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.2
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• pp.124-129
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• 2018

A forklift is used to lift materials above a height of 2 m. The width of the fork determines the weight of the material it can carry. In this paper, three models of fractured forklifts were analyzed to determine if the fracture was caused by load fatigue due to the width of the fork. The position of the fork was fixed on each model, and a 2.5 ton load was placed at the upper part of the fork. The width distances on each of three models were 500 mm, 750 mm and 1000 mm, and the maximum equivalent stresses were 237.5MPa, 227.62MPa and 230.99MPa, respectively. This analysis demonstrated that as the load increased with use of the wider fork, the fatigue life remained to be nearly equivalent irrespective of fork width among all three models. The results of this study contribute to the durability and safety design of forklifts.

• Journal of the Korea Convergence Society
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• v.12 no.5
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• pp.207-215
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• 2021

A forklift is an industrial vehicle with a power-operated fork for lifting and moving heavy loads over short distances. A significant number of accidents are caused by forklifts every year. Most of them are known to be caused by the unsafe acts of workers. However, only a few studies have focused on the risks of forklift work from the perspective of human error. In addition, various methods have been developed to analyze the risk of human error, while it is hard to find studies that directly compare the effectiveness or strengths/weaknesses of those methods. This study aims to analyze risk factors related to unsafe behavior in forklift operations using two representative human error analysis techniques, i.e., .SHERPA and HE-HAZOP, and compare their advantages and disadvantages. The analysis was performed on three main forklift operations ('unloading from the truck', 'moving and loading into the storage', and 'loading on the truck'). As a result, 118 errors and 34 remedial measures were derived by SHERPA. Through HAZOP, 139 errors and 54 measures were derived. The two techniques were compared in terms of the number of results and the method of deriving errors and remedial measures, cause analysis, and risk assessment. This study might be used to reduce human error related disasters in workplaces using forklifts. In order to provide a guide for choosing an appropriate analysis method, more comparative studies on different techniques involving wide range of tasks are needed in the future.

• Journal of Korea Multimedia Society
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• v.14 no.2
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• pp.171-181
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• 2011

A vision-based method for positioning and orienting of pallets is presented in this paper, which guides autonomous forklifts to engage pallets automatically. The method uses a single camera mounted on the fork carriage instead of two cameras for stereo vision that is conventionally used for positioning objects in 3D space. An image back-projection technique for determining the orient of a pallet without any fiducial marks is suggested in tins paper, which projects two feature lines on the front plane of the pallet backward onto a virtual plane that can be rotated around a given axis in 3D space. We show the fact that the rotation angle of the virtual plane on which the back-projected feature lines are parallel can be used to describe the orient of the pallet front plane. The position of the pallet is determined by using ratio of the distance between the back-projected feature lines and their real distance on the pallet front plane. Through a test on real pallet images, we found that the proposed method was applicable to real environment practically in real-time.