Transportation vehicle

Abstract

To provide a transportation vehicle which is capable of measuring loading weight accurately even at a work site with a lot of slopes.SOLUTION: This transportation vehicle 1 comprises a vehicle body 2 capable of traveling, a load-carrying platform 3 which is installed on the vehicle body 2 and is capable of raising and lowering diagonally against the vehicle body 2, a hydraulic cylinder 4 which raises and lowers the load-carrying platform 3 by being disposed between the vehicle body 2 and the load-carrying platform 3, a pressure sensor 5 which detects pressure of the hydraulic cylinder 4, an inclination sensor 6 which detects slope angle of the vehicle body 2, a control unit 11 which includes various control processing functions for controlling operations of the vehicle body 2 and the load-carrying platform 3, and an information output device 9 for representing information for an operator. The control unit 11 is configured so as to include a loading measurement processing function 23 which measures loading weight of the load-carrying platform 3 and outputs the measured loading weight to the information output device 9 by calculating by considering the inclination angle detected by the inclination sensor 6 from the pressure detected by the pressure sensor 5.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle, and more particularly to a transport vehicle for transporting objects loaded on a loading platform at a work site having many slopes. [Background technology]

[0002] In forestry, civil engineering, and other such work, materials such as felled timber must be transported from work sites with many slopes. Transport vehicles are used that have a body equipped with crawlers that enable them to travel on uneven, sloping terrain, and a loading platform for carrying the materials.

[0003] When such a transport vehicle is traveling with a load exceeding the rated load weight (hereinafter referred to as "overloaded state"), the center of gravity becomes higher, increasing the risk of tipping over, falling down a slope, skidding, and collisions due to increased braking distance. An overloaded state also accelerates wear on the vehicle body, leading to premature wear and breakage of crawlers and undercarriage parts, and damage to the frame, etc., which is dangerous. Furthermore, an overloaded state also leads to increased running costs. For these reasons, transport vehicles capable of measuring load weight have appeared (see, for example, Patent Document 1).

[0004] The timber collection vehicle (100) disclosed in Patent Document 1 as a transport vehicle includes a body section (10) with a traveling device (12), a loading platform (15) for loading timber, and an information processing section (50) for controlling the vehicle. In this timber collection vehicle (100), a load amount determination section (56) of the information processing section (50) determines whether the load of timber loaded on the loading platform (15) is within the loadable range based on an output signal from a load measuring device such as a load cell provided on the support section of the loading platform (15) (see paragraph 0049, etc.). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-152434 Summary of the Invention [Problem to be solved by the invention]

[0006] Such transport vehicles are often used at work sites with many slopes, but conventional transport vehicles capable of measuring load weight do not take into account the vehicle's tilted state at the time of measurement.As a result, there is a risk that the operator may assume that the load is within the rated load weight even though the vehicle is actually overloaded depending on its tilted state at the time of measurement, because they are unable to see the load amount in the tilted state.

[0007] SUMMARY OF THE INVENTION The object of the present invention is to provide a transport vehicle that can measure the load weight with high accuracy even at a work site that has many slopes. [Means for solving the problem]

[0008] In order to solve the above problems, the transport vehicle of the present invention includes a vehicle body that can be driven by an operator, a loading platform that is mounted on the vehicle body for loading transported goods and that can be raised and lowered at an angle relative to the vehicle body, a hydraulic cylinder that is arranged between the vehicle body and the loading platform and raises and lowers the loading platform, a pressure sensor that detects the pressure of the hydraulic cylinder, an inclination sensor that detects the inclination angle of the vehicle body, a control unit that has various control processing functions for controlling the operation of the vehicle body and the loading platform, and an information output device that presents information to the operator.The control unit is characterized by having, as one of the various control processing functions, a load weight measurement processing function that measures the load weight of the loading platform by calculating from the pressure detected by the pressure sensor taking into account the inclination angle detected by the inclination sensor, and outputs the measured load weight to the information output device.

[0009] In the transport vehicle according to the present invention, the load weight measurement processing function of the control unit measures the load weight of the loading platform by calculating the pressure detected by the pressure sensor while taking into account the tilt angle detected by the tilt sensor, and outputs the measured load weight to the information output device. That is, even when the transport vehicle is used at a work site with many slopes, the operator is presented with a highly accurate load weight measurement result. As a result, the transport vehicle according to the present invention is a transport vehicle that can measure the load weight with high accuracy even at a work site with many slopes.

[0010] In the transport vehicle according to the present invention, it is preferable that the control unit further has, as one of the various control processing functions, an overload warning processing function that causes the information output device to output a warning when the load weight measured by the load weight measurement processing function is determined to be overloaded. With this function, the warning is output from the information output device, so that the operator can recognize the overload without having to rely on estimates based on experience.

[0011] The transport vehicle according to the present invention preferably further comprises an information input device for an operator to input information, and the load weight measurement processing function calculates the volume of the transported goods loaded on the loading platform based on the measured load weight and with reference to the specific gravity of the transported goods preset by the operator via the information input device, and outputs the calculated volume of the transported goods to the information output device. As a result, since the volume of the transported goods is output from the information output device, it is possible to manage not only the weight of the transported goods but also the cubic meters of the transported goods.

[0012] The transport vehicle according to the present invention preferably further comprises an information input device for an operator to input information, and when the transported goods are lumber, the load weight measurement processing function calculates the center of gravity position from length information of the loaded lumber selected by the operator from the information input device based on the measured load weight, and measures the load weight of the loading platform by taking the calculated center of gravity position into consideration. This allows for more accurate measurement of the load weight.

[0013] The transport vehicle according to the present invention preferably further includes a parking brake for stopping the vehicle body from moving, and the control unit preferably further includes, as one of the various control processing functions, a measurement recommendation announcement processing function for outputting an announcement to the information output device urging the operator to measure the load weight of the loading platform when the parking brake is released and the vehicle starts moving. This function prompts the operator to check whether the vehicle is overloaded before starting to move, thereby reducing the risk of the vehicle tipping over while moving due to overloading.

[0014] In the transport vehicle according to the present invention, it is preferable that the information output device includes a monitor screen, and the control unit further has, as one of its various control processing functions, a measurement history output processing function for storing the measurement date and time and the measurement results each time a load measurement is performed by the load measurement processing function within a predetermined period, and displaying the stored measurement date and time and the measurement results as a measurement history on the monitor screen or outputting the data to an externally connected device. This function makes it easy to understand the daily work situation.

[0015] The transport vehicle according to the present invention preferably further includes a communication unit capable of communicating with an external terminal located at a remote location, and the control unit preferably includes, as one of its various control processing functions, a telemetry system communication processing function that establishes a telemetry system with the external terminal via the communication unit and processes the load weight measured by the load weight measurement processing function so that it can be confirmed from the external terminal. This function also enables the transport vehicle to continuously upload recorded data to a server via a network, allowing the data to be viewed on the web. This allows a third party other than the operator to remotely check the work status, such as overloading and load weight, thereby enabling transport work to be performed with better management of work volume and safety. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a transport vehicle that can measure the load weight with high accuracy even at a work site that has many slopes. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is an external perspective view of a transporter vehicle according to an embodiment; [Figure 2] FIG. 2 is a system configuration diagram of the transport vehicle of FIG. [Figure 3] 2 is a diagram showing an arrangement of hydraulic cylinders in the transport vehicle of FIG. 1. FIG. [Figure 4] 1. FIG. 4 is a diagram showing a display screen of a measurement history in the transport vehicle of FIG. [Figure 5] 10 is a flowchart showing a procedure for measuring a load amount performed in a transport vehicle according to the embodiment. [Figure 6] 6 is a flowchart showing processing by a measurement recommendation announcement processing function of the control unit in FIG. 5. [Figure 7] FIG. 10 is a diagram showing a setting input screen for measuring a loaded weight. [Figure 8] FIG. 2 is a side view showing a state in which lumber is loaded onto a transport vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0018] (Configuration of transport vehicle 1) Fig. 1 is an external view of a transport vehicle 1 according to an embodiment, with Fig. 1(a) showing a state in which the loading platform 3 is lowered and Fig. 1(b) showing a state in which the loading platform 3 is raised. Fig. 2 is a system configuration diagram of the transport vehicle 1, Fig. 3 is a diagram showing the arrangement of the hydraulic cylinders 4 in the transport vehicle 1, and Fig. 4 is a diagram showing a display screen for the measurement history in the transport vehicle 1. The configuration of the transport vehicle 1 as an example of a transport vehicle to which the present invention is applied will be described with reference to these figures.

[0019] The transport vehicle 1, known as a forwarder, is a transporting device used in forestry to transport lumber W, such as felled trees, over uneven terrain, including many slopes. As shown in FIGS. 1(a), 1(b), and 2, the transport vehicle 1 includes a drivable vehicle body 2, a loading platform 3 mounted on the vehicle body 2 for carrying the lumber W to be transported, and a hydraulic cylinder 4 disposed between the vehicle body 2 and the loading platform 3 for raising and lowering the loading platform 3. The transport vehicle 1 also includes a pressure sensor 5 for detecting the pressure of the hydraulic cylinder 4, an inclination sensor 6 for detecting the inclination angle of the vehicle body 2, a driving operation device 7 for an operator to operate the vehicle, an information input device 8 for the operator to input information, and an information output device 9 for presenting information to the operator. The transport vehicle 1 also includes a controller 10 that receives input signals from the pressure sensor 5, the inclination sensor 6, the driving operation device 7, the information input device 8, etc., and controls the traveling operation of the vehicle body 2, the raising and lowering operation of the loading platform 3, and the content presented on the information output device 9.

[0020] The vehicle body 2 includes a cab 2a where the operator sits to operate the vehicle; an engine 2b that generates power and rotates; a transmission mechanism 2c that converts the engine 2b's rotational output into the required rotational speed and torque and transmits it; drive wheels 2d that are grounded and rotated by the rotational output transmitted by the transmission mechanism 2c to generate propulsion; and a parking brake 2e that stops the vehicle body 2 from moving. The operator in the cab 2a can rotate the drive wheels 2d to move the vehicle. The drive wheels 2d are, for example, crawlers, allowing the vehicle body 2 to travel on uneven terrain, including many slopes. The vehicle body 2 also includes a limit switch 2f, which is electrically connected to a controller 10 (described below) and switches the magnitude of an electrical signal. The limit switch 2f is turned on when pressed by the platform 3 (described below) in the lowered position, and is turned off when the platform 3 reaches a predetermined height, thereby detecting that the platform 3 is in the lowered position.

[0021] The loading platform 3 is made of a sturdy material such as wear-resistant steel plate or high-tensile steel, and is equipped with a loading plate 3a that extends horizontally relative to the running surface of the vehicle body 2 for loading lumber W, a back plate 3b that rises vertically from the front edge of the loading plate 3a and restricts the forward movement of the lumber W, and a plurality of side poles 3c that rise vertically from the side edges of the loading plate 3a and restrict the lateral movement of the lumber W. The loading platform 3 is mounted on the vehicle body 2 behind the cab 2a, and the rear side of the underside of the loading plate 3a is rotatably connected to the vehicle body 2 about a connecting shaft 3d that extends laterally, and can be raised and lowered diagonally relative to the vehicle body 2 about this connecting shaft 3d.

[0022] As shown in Figures 1(b) and 3, the hydraulic cylinder 4 is located between the vehicle body 2 and the loading platform 3, with one end of the vehicle body rotating shaft 4a rotatably connected to the center of the vehicle body 2 and the loading platform rotating shaft 4b rotatably connected to the underside of the loading platform 3 rearward of the vehicle body rotating shaft 4a. The hydraulic cylinder 4 has a cylinder structure whose length can be changed by hydraulic pressure, and its length changes depending on the magnitude of the hydraulic pressure applied under the control of a controller 10 (described below). When the hydraulic cylinder 4 is short in length, it holds the loading platform 3 in a lowered position with a small angle θ1 (hereinafter referred to as "inclination angle θ1") relative to the running surface. As the length of the hydraulic cylinder 4 increases, the support force Fc of the cylinder tries to push the platform 3 diagonally upward and rearward to increase the distance between the vehicle body 2 and the platform 3, but because the connecting shaft 3d of the platform 3 is rotatably connected to the vehicle body 2, the platform 3 can lift the front side of the platform 3 as it rotates from a reclined position so that the tilt angle θ1 gradually increases and it stands up diagonally. Oil is supplied to the hydraulic cylinder 4 via an oil supply line from electronic devices such as a valve 4c and a hydraulic pump, which are electrically connected to a controller 10 described below.

[0023] The pressure sensor 5 is arranged in the oil supply line to the hydraulic cylinder 4 via a valve 4c, detects the oil pressure supplied to the hydraulic cylinder 4, and outputs the detected value as an oil pressure information signal for the hydraulic cylinder 4 to the controller 10, which is electrically connected to the pressure sensor 5 and will be described later.

[0024] The tilt sensor 6 is a sensor that detects the tilt angle, detects the tilt angle of the vehicle body 2, and outputs the detected value as a tilt information signal of the vehicle body 2 to a controller 10 to be described later, which is electrically connected to the tilt sensor 6.

[0025] The driving operation device 7 is an input device arranged in the driver's cab 2a of the vehicle body 2 so that the operator can give driving instructions. The transport vehicle 1 is equipped with, as the driving operation devices 7, left and right travel levers 7a for respectively instructing the rotation direction and rotation speed of the left and right drive wheels 2d of the vehicle body 2, a parking brake switch 7b for manually activating the parking brake 2e, a 1st / 2nd speed changeover switch 7c for manually switching the gear ratio (1st speed / 2nd speed) of the transmission mechanism 2c, an engine accelerator dial 7d for manually instructing the rotation speed of the engine 2b, and a lift lever 7e for instructing the lifting and lowering operation of the loading platform 3. Each driving operation device 7 outputs a driving instruction signal to an electrically connected controller 10 (described later) according to its operating status.

[0026] The information input device 8 is, for example, a monitor device provided in the driver's cab 2a and having a touch panel or input buttons, and is operated by an operator to newly input or change predetermined setting information stored in a controller 10 to which the information input device 8 is electrically connected, as described below. Other information input devices that may be used include a changeover switch, a selection button, and an information input terminal connected via a communication unit 14 to be described below.

[0027] As an example, the information output device 9 is provided in the driver's cab 2a and is a monitor device that can be used in conjunction with the information input device 8, which has a monitor screen that displays images and outputs buzzers or sounds, and presents image information or sound information to the operator based on commands from the electrically connected controller 10.

[0028] The controller 10 is a computer-controlled device that includes a control unit 11 that controls each externally electrically connected unit, a memory unit 12 that can store computer processing program data and temporary data, an input / output unit 13 that electrically connects to external electronic devices, and a communication unit 14 that can communicate with an external terminal T as part of the input / output unit 13. The control unit 11, the memory unit 12, the input / output unit 13, and the communication unit 14 are electrically connected to each other so that they can exchange data and work together to implement various control processes. The controller 10 controls the operation of the entire vehicle by issuing control signals to electrically connected output devices based on signals from electrically connected input devices. In this embodiment, the communication unit 14 is configured as a communication device in a separate housing from the other units and is electrically connected to the input / output unit 13 via a cable, but it is also preferable to configure it to be built into the same controller housing.

[0029] The control unit 11 has a computing element such as a CPU, and has various control processing functions for controlling the operations of the vehicle body 2 and the loading platform 3. The various characteristic control processing functions of the control unit 11 will be described later.

[0030] The memory unit 12 is composed of a memory element such as a semiconductor memory, and stores the control processing contents performed by the control unit 11 to perform various control processing functions as computer processing program data, and can also store temporary data required in the control processing.

[0031] The input / output unit 13 includes a connection terminal for electrically connecting with the electronic device, and is an interface for transmitting and receiving data between the control unit 11 and the storage unit 12 and the electronic device.

[0032] The communication unit 14 is connected to an external terminal T via a wired or wireless connection so as to be able to send and receive data. For example, the communication unit 14 can be connected to an external terminal T in a remote location via an internet line or the like so as to be able to send and receive data, and connects the control unit 11 and the external terminal T so as to be able to communicate with each other. The control unit 11 and the external terminal T connected by the communication unit 14 form a telemetry system.

[0033] Here, the control unit 11 has a driving processing function 21 for driving the vehicle body 2 based on the operator's operation, and a loading platform lifting processing function 22 for raising and lowering the loading platform 3 based on the operator's operation, as well as various characteristic control processing functions such as a load measurement processing function 23 for measuring the load on the loading platform 3, an overload warning processing function 24 for warning of an overloaded state, a measurement recommendation announcement processing function 25 for encouraging the operator to take measurements, a measurement history output processing function 26 for displaying the measurement history on the information output device 9, and a telemetry system communication processing function 27 for performing data communication via a telemetry system established with an external terminal T.

[0034] The driving processing function 21 is a processing function that controls the driving of the vehicle body 2 in response to driving instruction signals input by the operator operating the driving lever 7a, parking brake switch 7b, first / second speed selector switch 7c, engine accelerator dial 7d, etc. of the driving operation device 7. A known processing function may be applied to the driving processing function 21, and further explanation will be omitted.

[0035] The loading platform lifting / lowering processing function 22 is a processing function that controls the lifting / lowering of the loading platform 3 in response to a driving instruction signal input by an operator operating the lifting / lowering lever 7e of the driving operation device 7. A known processing function may be applied to the loading platform lifting / lowering processing function 22, and further explanation will be omitted.

[0036] The load amount measurement processing function 23 is a processing function that measures the load weight of the loading platform 3 by performing calculations based on the pressure detected by the pressure sensor 5 while taking into consideration the tilt angle detected by the tilt sensor 6, and outputs the measured load weight to the information output device 9. This load amount measurement processing function 23 calculates the center of gravity position from length information of the loaded timber W selected by the operator via the information input device 8, and measures the load weight of the loading platform 3 by performing calculations while taking into consideration the calculated center of gravity position. The load amount measurement processing function 23 can also calculate the volume of the timber W loaded on the loading platform 3 based on the measured load weight and with reference to the specific gravity of the timber W previously set by the operator via the information input device 8, and output the calculated volume of the timber W to the information output device 9. Note that if the operator does not particularly need information on the volume of the timber W, he or she can set the information input device 8 to not display the volume on the information output device 9. The specific flow of processing performed by the load amount measurement processing function 23 will be explained in detail in the section "Load amount measurement in the transport vehicle 1" below.

[0037] The overload warning processing function 24 is a processing function that causes the information output device 9 to output a warning to the operator when it is determined that the load weight measured by the load amount measurement processing function 23 is an overload.

[0038] The measurement recommendation announcement processing function 25 is a processing function that causes the information output device 9 to output an announcement urging the operator to measure the load weight of the loading platform 3, for example, when the operator operates the parking brake switch 7b to release the parking brake 2e and start driving. As a result, the operator is notified by a display on the monitor screen and a voice message from a buzzer or speaker at the start of driving that they should measure the load weight. If the operator does not want this announcement, the operator can set the information input device 8 to stop the measurement recommendation announcement processing function 25.

[0039] The measurement history output processing function 26 stores the measurement date and time and the measurement results measured by the load weight measurement processing function 23 within a predetermined period of time in the memory unit 12, and displays the stored measurement date and time and the measurement results as a measurement history on the monitor screen of the information output device 9, as shown in FIG. 4, for example. It is preferable that the measurement history output processing function 26 not only displays each measurement history, but also aggregated information such as the total load weight for each day. It is also preferable that the measurement history output processing function 26 be able to output data to an externally connected device such as a USB memory connected to the output terminal, or a mobile terminal or personal computer connected via wired or wireless connection.

[0040] The telemetry system communication processing function 27 is a processing function that uses a telemetry system constructed by connecting the control unit 11 and the external terminal T via the communication unit 14, and enables measurement results, including at least the load weight measured by the load measurement processing function 23, to be confirmed from the external terminal T.

[0041] The transport vehicle 1 configured in this manner is able to measure the load of timber W loaded on the loading platform 3 using the load measurement processing function 23, overload warning processing function 24, and measurement recommendation announcement processing function 25 of the control unit 11, making it a safe vehicle with means for preventing travel in an overloaded state. In addition to this load measurement, the control unit 11 also has a measurement history output processing function 26 and a telemetry system communication processing function 27, making it easy to manage the details of loading work. Load measurement is a distinctive feature of the transport vehicle 1, and next, the load measurement performed in the transport vehicle 1 will be described.

[0042] (Load measurement on transport vehicle 1) Fig. 5 is a flowchart showing the flow of load weight measurement performed in the transport vehicle 1 according to this embodiment, and Fig. 6 is a flowchart showing processing by the measurement recommendation announcement processing function 25 of the control unit 11. Fig. 7 is a diagram showing a setting input screen for measuring the load weight in the transport vehicle 1, and Fig. 8 is a side view showing the state of loading of lumber W in the transport vehicle 1. Fig. 8 shows a state in which lumber W cut into bucks at 4 m in (a), lumber W cut into bucks at 3 m in (b), and lumber W cut into bucks at 2 m in (c) are loaded to the full rated load weight. With reference to these figures, the flow of load weight measurement performed in the transport vehicle 1 will be described step by step.

[0043] The load weight measurement is mainly controlled and processed by the load weight measurement processing function 23 of the control unit 11. In the load weight measurement, first, condition setting (S1) is performed in advance, as shown in Fig. 5. In the condition setting (S1), the control unit 11 uses the load weight measurement processing function 23 to accept setting input from the monitor device serving as the information input device 8, for example, as shown in Fig. 7, regarding whether to display (ON) / not display (OFF) the volume of the loaded timber W in addition to the load weight, whether to announce (ON) / not display (OFF) the recommended measurement timing (hereinafter referred to as "measurement recommendation announcement"), the length of the timber W to be loaded, and the specific gravity of the timber W to be loaded, and set the input information.

[0044] After setting the conditions for load weight measurement (S1), the control unit 11 waits for an instruction to start measurement from the operator via the information input device 8 in the measurement start instruction wait state (S2). If there is no instruction to start measurement in the measurement start instruction wait state (S2), the processing up to the start of measurement differs depending on the setting of the measurement recommendation announcement in the measurement recommendation announcement condition branch (S3). That is, if the measurement recommendation announcement is set to OFF, the control unit waits for an instruction to start measurement in the measurement start instruction wait state (S2) without making any announcement to the operator. On the other hand, if the measurement recommendation announcement is set to ON, the control unit performs measurement recommendation announcement processing (S4) using the measurement recommendation announcement processing function 25.

[0045] In the measurement recommendation announcement process (S4), the control unit 11 first checks the passage of time (ST41), as shown in FIG.

[0046] In the time elapse check (ST41), the control unit 11 determines whether a predetermined time (e.g., 3 minutes) has elapsed since the most recent measurement. If the predetermined time has not elapsed since the most recent measurement, the measurement recommendation announcement process (S4) ends and the process returns to waiting for a measurement start instruction (S2). On the other hand, if the predetermined time has elapsed since the most recent measurement, the process proceeds to the next measurement prerequisite check (S42).

[0047] In the measurement prerequisite confirmation (S42), the control unit 11 determines whether the current vehicle state satisfies the conditions for starting measurement. Here, it determines whether the conditions for safely performing measurement are met in advance, such as whether the parking brake 2e is applied, whether the safety lock state is in place, whether the inclination of the vehicle body 2 is below a predetermined level, whether there are any abnormalities in the pressure sensor 5, and whether the loading platform 3 is not raised higher than a predetermined level. If the conditions are not met, the information output device 9 displays the fact that they are not met (S43), the measurement recommendation announcement process (S4) is terminated, and the process returns to waiting for a measurement start instruction (S2). On the other hand, if the conditions are met, the process proceeds to waiting for the next parking brake release (S43).

[0048] In waiting for the parking brake to be released (S43), the control unit 11 waits until the parking brake 2e is released, and when the parking brake 2e is released, the control unit 11 proceeds to the next step of confirming the intention to start measurement (S44).

[0049] In the step of confirming the intention to start measurement (S44), the control unit 11 displays an input screen on the monitor device, which also serves as the information input device 8 and the information output device 9, for the operator to select whether or not to start measurement, and accepts either selection input from the operator. If the selection not to start measurement is accepted, the measurement recommendation announcement process (S4) is terminated, and the process returns to waiting for an instruction to start measurement (S2). On the other hand, if the selection to start measurement is accepted, the measurement recommendation announcement process (S4) is terminated, and the process proceeds to the step of starting measurement method guidance (S5) shown in Figure 5, and the information output device 9 is caused to output guidance on the measurement method procedures.

[0050] Referring again to Figure 5, if an instruction to start measurement is received during the measurement start instruction wait (S2), the control unit 11 uses the load measurement processing function 23 to proceed to measurement method guidance start (S5) and output guidance on the measurement method procedures to the information output device 9, just as when a selection to start measurement is received during the measurement start intention confirmation (S44) in the measurement recommendation announcement processing (S4).

[0051] After proceeding to the measurement method guidance start (S5), the control unit 11 determines whether the current vehicle state satisfies the conditions for starting measurement (S6). Here, similar to the measurement prerequisite check (S42) in the measurement recommendation announcement process (S4), the control unit 11 determines whether the conditions for safely performing measurement are met in advance, such as whether the parking brake 2e is engaged, whether the safety lock state is in place, whether the tilt of the vehicle body 2 is below a predetermined level, whether there are any abnormalities in the pressure sensor 5, and whether the loading platform 3 is not elevated higher than a predetermined level. If the conditions are not met, the information output device 9 displays the fact that the conditions are not met (S7), and the process returns to waiting for a measurement start instruction (S2). On the other hand, if the conditions are met, the process waits for a loading platform lift instruction (S8), waiting for the operator to operate the loading platform lift lever 7e to lift the loading platform. Once the operator confirms safety behind the vehicle and operates the loading platform lift lever 7e to lift the loading platform, the measurement process (S9) begins.

[0052] In the measurement process (S9), the operator operates the lift lever 7e, causing the hydraulic cylinder 4 to rise and extend, raising the platform 3 until it stops at a predetermined height and the limit switch 2f turns OFF (see Figure 3).The control unit 11 calculates the load weight Fw based on the support force Fc of the cylinder obtained from the detection value of the pressure sensor 5 at that time, using parameters determined from the relative positions of the connecting shaft 3d of the platform 3, the vehicle body side rotating shaft 4a of the hydraulic cylinder 4, and the platform side rotating shaft 4b of the hydraulic cylinder 4. More specifically, the load weight Fw is calculated using parameters such as the horizontal distance H1 and vertical distance V1 between the connecting shaft 3d and the vehicle body side pivot shaft 4a, the horizontal distance H2 and vertical distance V2 between the connecting shaft 3d and the platform side pivot shaft 4b, the inclination angle θ1 of the hydraulic cylinder 4 relative to the surface on which the vehicle body 2 is grounded, the angle θ2 of the line connecting the connecting shaft 3d and the platform side pivot shaft 4b relative to the surface on which the vehicle body 2 is grounded, the inclination of the vehicle body 2 obtained from the detection value of the inclination sensor 6, the specific gravity of the wood W set in the condition setting (S1), and the center of gravity position estimated from the length of the wood W set in the condition setting (S1).

[0053] That is, in the measurement process (S9), the control unit 11 calculates the load weight Fw by taking into consideration the inclination of the vehicle body 2 by using the detection value of the inclination sensor 6. As a result, even for the transport vehicle 1 which is often used on slopes, the load weight Fw can be calculated regardless of the stopping position.

[0054] Furthermore, in the measurement process (S9), the control unit 11 calculates the load weight Fw taking into account the center of gravity position estimated from the length of the lumber W set in the condition setting (S1). That is, as shown in FIGS. 8(a) to 8(c), when the lumber W is loaded onto the loading platform 3, the overall center of gravity changes depending on the length of the lumber W (at the loading site, the lumber W is cut into logs standardized to 4 m, 3 m, or 2 m) and the loading arrangement. Therefore, in the measurement process (S9) in the transport vehicle 1, the overall center of gravity position is estimated from the length of the lumber W set in the condition setting (S1), assuming that the lumber W is placed close to the back panel 3b of the loading platform 3, and the load weight Fw is calculated taking into account the center of gravity position. In this way, the load weight Fw is calculated with errors caused by the length of the lumber W reduced.

[0055] Furthermore, in the measurement process (S9), when volume display ON is set in the condition setting (S1), the control unit 11 calculates the volume based on the calculated load weight Fw using the specific gravity parameter of the wood W set in the condition setting (S1).

[0056] Next, the control unit 11 determines whether the load weight Fw calculated in the measurement process (S9) is overloaded or not as an overload determination (S10). If the control unit 11 determines that the load weight Fw is overloaded in the overload determination (S10), the control unit 11 performs an overload warning process (S11) using the overload warning processing function 24 to cause the information output device 9 to output a warning to the operator, for example, by displaying a warning on the screen or sounding a warning buzzer, and then causes the information output device 9 to output the calculation result of the measurement process (S9) as a result display (S10). On the other hand, if the control unit 11 determines that the load weight Fw is not overloaded, the control unit 11 causes the information output device 9 to output the calculation result of the measurement process (S9) as a result display (S10) without performing any special processing. Furthermore, in the result display (S10), if volume display ON is set in the condition setting (S1), not only the calculated load weight Fw but also the calculated volume is displayed, for example, in cubic meters, on the monitor screen of the information output device 9.

[0057] After this, the control unit 11 waits for a bed lowering instruction (S13) until the operator operates the lift lever 7e to lower the bed. After the operator confirms safety behind the vehicle and operates the lift lever 7e to lower the bed, the limit switch 2f turns ON. The control unit 11 then terminates the measurement method guidance output to the information output device 9 (S14) and completes the load measurement. The control unit 11 at least temporarily stores the measurement results in the memory unit 12. Thereby, when the operator subsequently requests output of the measurement history, the measurement history output processing function 26 is used. Furthermore, when a remote person, such as a work manager or a vehicle lender, requests output of the work history, the telemetry system communication processing function 27 and the measurement history output processing function 26 are used, and information such as the measurement history including the measurement results stored in the memory unit 12 can be posted on the web so that it can be viewed by the operator or a remote person.

[0058] (Actions and Effects) In the transport vehicle 1 according to this embodiment, the load weight of the loading platform 3 is measured by the load weight measurement processing function 23 of the control unit 11 by performing calculations based on the pressure detected by the pressure sensor 5 while taking into account the tilt angle detected by the tilt sensor 6, and the measured load weight is output to the information output device 9. That is, in this transport vehicle 1, even when used at a work site with many slopes, the operator is presented with a measurement result of the load weight of the loading platform 3 that has been calculated with high precision. As a result, the transport vehicle 1 is a transport vehicle that can measure the load weight with high precision even at a work site with many slopes.

[0059] In the transport vehicle 1, the control unit 11 further has an overload warning processing function 24 that causes the information output device 9 to output a warning when it is determined that the load weight measured by the load weight measurement processing function 23 is overloaded. This function causes the information output device 9 to output a warning, so that the operator can know whether the load is overloaded without having to rely on estimates based on experience.

[0060] In the transport vehicle 1, the load amount measurement processing function 23 calculates the volume of the timber W loaded on the loading platform 3 based on the measured load weight and with reference to the specific gravity of the timber W that has been preset by the operator via the information input device 8, and outputs the calculated volume of the timber W to the information output device 9. As a result, the volume of the timber W is output from the information output device 9, making it possible to manage not only the weight of the timber W that has been transported, but also the cubic meters of the timber W that has been transported.

[0061] In the transport vehicle 1, the load weight measurement processing function 23 calculates the center of gravity position from the length information of the loaded timber W selected by the operator from the information input device 8 based on the measured load weight, and measures the load weight of the loading platform 3 by taking the calculated center of gravity position into consideration. This allows the load weight to be measured more accurately.

[0062] In the transport vehicle 1, the control unit 11 has a measurement recommendation announcement processing function 25 that causes the information output device 9 to output an announcement urging the operator to measure the load weight of the loading platform 3 when the parking brake 2e is released and the vehicle starts traveling. This function urges the operator to check whether the vehicle is overloaded before starting traveling, thereby reducing the risk of the vehicle tipping over while traveling due to overloading.

[0063] In the transport vehicle 1, the control unit 11 has a measurement history output processing function 26 that stores the measurement date and time and measurement results each time a measurement is taken by the load measurement processing function 23 within a predetermined period, and displays the stored measurement date and time and measurement results as a measurement history on the monitor screen of the information output device 9. This function makes it easy to understand the daily work situation.

[0064] The transport vehicle 1 is equipped with a communication unit 14 capable of communicating with an external terminal T located in a remote location, and the control unit 11 further establishes a telemetry system with the external terminal T via the communication unit 14. The control unit 11 has at least a telemetry system communication processing function 27 that processes the load weight measured by the load weight measurement processing function 23 so that it can be confirmed from the external terminal T. This function allows a third party other than the operator to confirm the work status from a remote location, thereby enabling forestry work to be performed with better safety management.

[0065] (Other forms) Although the present invention has been described based on the above embodiment, the present invention is not limited to the above embodiment and can be embodied in various forms without departing from the spirit of the present invention, and for example, the following modifications are also possible.

[0066] (1) The number, materials, positions, electrical connections, control sequence and time, specific types of sensors and devices, output contents by the information output device, measurement prerequisites, etc. of the components described in the above embodiments are examples and can be changed within the scope that does not impair the effects of the present invention.

[0067] (2) In the above embodiment, the measurement recommendation announcement processing function 25 has been described as causing the information output device 9 to output an announcement urging the operator to measure the load weight of the loading platform 3 when the operator operates the parking brake switch 7b to release the parking brake 2e and start traveling, but the present invention is not limited to this. In order to prevent traveling in an overloaded state, the measurement recommendation announcement processing function preferably urges the operator to measure the load weight before starting traveling. For example, the measurement recommendation announcement processing function may cause the information output device 9 to output an announcement urging the operator to measure the load weight of the loading platform 3 immediately after the key is turned on and the engine 2b is started.

[0068] (3) In the above embodiment, the load amount measurement by the load amount measurement processing function 23 is performed by an operator raising and lowering the loading platform 3, but the present invention is not limited to this. For example, the loading platform may be raised and lowered automatically. However, it is necessary to use a camera or the like to accurately grasp the surrounding safety conditions and raise and lower the loading platform, which requires a larger-scale control system.

[0069] (4) In the above embodiment, the specific gravity (type) and length of the lumber W as transported goods are input and set by an operator, but the present invention is not limited to this. They may also be set automatically using a camera or the like.

[0070] (5) In the above embodiment, only a warning is given in the case of overloading, but the present invention is not limited to this. In addition to a warning, the vehicle may be controlled so that it cannot travel unless the overloading state is resolved.

[0071] (6) In the above embodiment, a forestry transport vehicle 1 called a forwarder is described as an example of a transport vehicle, and is used in forestry to transport lumber W as an example of an object to be transported on uneven terrain with many slopes. However, the present invention is not limited to this. The present invention can also be applied to transport vehicles other than forwarders, such as an off-road transport vehicle called an off-road vehicle used to transport gravel, stones, and the like as an object to be transported on uneven terrain with many slopes. [Explanation of symbols]

[0072] 1...Transport vehicle, 2...Vehicle body, 2a...Driver's cab, 2b...Engine, 2c...Transmission mechanism, 2d...Drive wheels, 2e...Parking brake, 2f...Limit switch, 3...Loading platform, 3a...Loading plate, 3b...Back plate, 3c...Side pole, 3d...Connecting shaft, 4...Hydraulic cylinder, 4a...Vehicle body side rotating shaft, 4b...Loading platform side rotating shaft, 4c...Valve, 5...Pressure sensor, 6...Tilt sensor, 7...Driving operation device, 7a...Travel lever, 7b...Parking brake switch, 7c...1st / 2nd speed change switch switch, 7d...engine accelerator dial, 7e...lift lever, 8...information input device, 9...information output device, 10...controller, 11...control unit, 12...memory unit, 13...input / output unit, 14...communication unit, 21...driving processing function, 22...bed lifting / lowering processing function, 23...load amount measurement processing function, 24...overload warning processing function, 25...measurement recommendation announcement processing function, 26...measurement history output processing function, 27...telemetry system communication processing function, T...external terminal, W...wood

Claims

1. A vehicle body that can be driven by an operator; a loading platform mounted on the vehicle body for loading transported goods and capable of ascending and descending obliquely relative to the vehicle body; a hydraulic cylinder disposed between the vehicle body and the loading platform for raising and lowering the loading platform; a pressure sensor for detecting the pressure of the hydraulic cylinder; an inclination sensor for detecting an inclination angle of the vehicle body; a control unit having various control processing functions for controlling the operation of the vehicle body and the loading platform; an information output device for presenting information to an operator; Equipped with The control unit has, as one of the various control processing functions, a load amount measurement processing function for measuring the load weight of the loading platform by performing calculations based on the pressure detected by the pressure sensor, taking into consideration the tilt angle detected by the tilt sensor, and outputting the measured load weight to the information output device. A transport vehicle characterized by:

2. The transport vehicle according to claim 1, The control unit of the transport vehicle further has, as one of the various control processing functions, an overload warning processing function that causes the information output device to output a warning when it is determined that the load weight measured by the load measurement processing function is an overload.

3. The transport vehicle according to claim 1, further comprising an information input device for an operator to input information; The load weight measurement processing function calculates the volume of the transported goods loaded on the loading platform based on the measured load weight, by referring to the specific gravity of the transported goods that has been preset by the operator via the information input device, and outputs the calculated volume of the transported goods to the information output device.

4. The transporter vehicle according to claim 1, further comprising an information input device for an operator to input information, The transported item is lumber, and the load measurement processing function calculates the center of gravity position from length information of the loaded lumber selected by the operator from the information input device based on the measured load weight, and measures the load weight of the loading platform by performing calculations taking the calculated center of gravity position into consideration.

5. The transport vehicle according to claim 1, Further, a parking brake is provided to stop the vehicle body from moving, As one of the various control processing functions, the control unit of the transport vehicle further has a measurement recommendation announcement processing function that causes the information output device to output an announcement urging the measurement of the load weight of the loading platform when the parking brake is released and the vehicle begins to move.

6. The transport vehicle according to claim 1, the information output device includes a monitor screen; As one of the various control processing functions, the control unit of the transport vehicle further has a measurement history output processing function that stores the measurement date and time and measurement results measured by the load measurement processing function within a predetermined period of time, and displays the stored measurement date and time and measurement results as measurement history at least on the monitor screen or outputs the data to an externally connected device.

7. The transport vehicle according to any one of claims 1 to 6, Further, a communication unit is provided to enable communication with an external terminal in a remote location, The control unit further has, as one of the various control processing functions, a telemetry system communication processing function that establishes a telemetry system with an external terminal via the communication unit and processes at least the load weight measured by the load weight measurement processing function so that it can be confirmed from the external terminal.

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