Work vehicle and program

Abstract

To provide a work vehicle that can reliably memorize a state where an abnormality has occurred therein.SOLUTION: A work vehicle is provided with a vehicle body, a work device connected to the vehicle body, and a processing device that controls the work device by outputting output data on the basis of obtained input data. The processing device determines an abnormality of the work device on the basis of at least one of the input data and the output data, and when determining that the abnormality has occurred in the device, stores abnormality data indicating that the abnormality has been determined and state data being data concerning at least one of the input data and the output data at the time when the abnormality of the device has been determined, while associating both data with each other.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present specification relates to a work vehicle and a program. [Background technology]

[0002] Conventionally, for example, a work vehicle includes a vehicle body, a work device connected to the vehicle body, and a processing device that controls the work device. When a device abnormality (failure or malfunction) occurs in the work vehicle described in Patent Document 1, a diagnostic device is connected to the processing device of the work vehicle. As a result, input data acquired by the processing device and output data output by the processing device are displayed on the diagnostic device.

[0003] When an abnormality occurs in a work device, for example, it becomes necessary to move the work vehicle to prevent traffic congestion. Without a diagnostic device, priority is given to recovery work that allows the work vehicle to continue operating, without checking the status of input / output data for the processing device. This can result in, for example, being unable to later recreate the state in which the abnormality occurred, making it impossible to identify the cause of the abnormality. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-320134 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to provide a work vehicle that can store the state in which an abnormality occurs. [Means for solving the problem]

[0006] The work vehicle is The car body and a working device connected to the vehicle body; a processing device that controls the operation device by outputting output data based on the acquired input data; The processing device includes: determining an abnormality in the working device based on at least one of the input data and the output data; When it is determined that the device is abnormal, abnormality data indicating that the device is abnormal is stored in association with status data, which is data relating to at least one of the input data and the output data at the time when it is determined that the device is abnormal. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram of a vehicle system according to a first embodiment; [Figure 2] Control block diagram of the processing apparatus according to the first embodiment [Figure 3] Overall view of a work vehicle according to a first embodiment [Figure 4] 1 is a flow chart of a work vehicle according to a first embodiment (a: unloading work flow chart, b: loading work flow chart). [Figure 5] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to a first embodiment; [Figure 6] An explanatory diagram of loading and unloading operations of a work vehicle according to the first embodiment. [Figure 7] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to a first embodiment; [Figure 8] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to a first embodiment; [Figure 9] 1 is an explanatory diagram of a load moving operation of a work vehicle according to a first embodiment; [Figure 10] FIG. 1 is an explanatory diagram of a dumping operation of a work vehicle according to a first embodiment; [Figure 11] Control block diagram of a work vehicle according to a first embodiment [Figure 12] Control block diagram of an input unit according to the first embodiment [Figure 13] FIG. 10 is a diagram showing a display screen of a list of abnormalities in the vehicle system according to the first embodiment; [Figure 14]FIG. 10 is a diagram showing a display screen for displaying details of an abnormality in the vehicle system according to the first embodiment; [Figure 15] FIG. 10 is an explanatory diagram of a loading and unloading operation of a work vehicle according to a modified example of the first embodiment; [Figure 16] Overall view of a work vehicle according to a second embodiment [Figure 17] 10 is a flow chart of a work vehicle according to a second embodiment (a: unloading work flow chart, b: loading work flow chart). [Figure 18] An explanatory diagram of loading and unloading operations of a work vehicle according to a second embodiment. [Figure 19] An explanatory diagram of loading and unloading operations of a work vehicle according to a second embodiment. [Figure 20] An explanatory diagram of loading and unloading operations of a work vehicle according to a second embodiment. [Figure 21] Control block diagram of a work vehicle according to a second embodiment [Figure 22] FIG. 11 is a diagram showing a display screen for displaying details of an abnormality in a vehicle system according to a second embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0008] In each drawing, the dimensions of the components may be enlarged or reduced relative to the actual dimensions, for example, to facilitate understanding, and the dimensional ratios between the drawings may not be consistent. Note that in each drawing, for example, to facilitate understanding, some of the components may be omitted.

[0009] Terms including ordinal numbers such as "first" and "second" are used to describe various components, but these terms are used only to distinguish one component from another, and the components are not particularly limited by these terms. The number of components including ordinal numbers is not particularly limited, and may be, for example, one. Furthermore, the ordinal numbers used in the following specification and drawings may differ from the ordinal numbers described in the claims.

[0010] First Embodiment A first embodiment of a work vehicle and a program will be described below with reference to Figures 1 to 15. Note that the following embodiment is provided as an example to aid in understanding the configuration of the work vehicle and the program, and does not limit the configuration of the work vehicle or the program.

[0011] As shown in Fig. 1, a work vehicle 1 is used, for example, in a vehicle system 100. The vehicle system 100 may include, for example, a terminal device 101, as in this embodiment. The work vehicle 1 is also provided with a processing device (hereinafter also referred to as a "vehicle processing device") 2, and the vehicle processing device 2 may be capable of communicating with the terminal device 101 via communication means X1, for example.

[0012] The communication means X1 is not particularly limited. For example, the communication means X1 may be a wireless communication means such as the Internet, Wi-Fi, Bluetooth (registered trademark), or a wireless LAN. Furthermore, for example, the communication means X1 may be a wired communication means such as a wired LAN or a communication cable.

[0013] The terminal device 101 may include, for example, an input device 102 into which data is input, a processing device (hereinafter also referred to as a "terminal processing device") 103 that processes the data, and an output device 104 that outputs the data, as in the present embodiment. The output device 104 may include, for example, a display unit 104a that displays the data, as in the present embodiment. The terminal device 101 is not particularly limited, and may be, for example, a portable mobile terminal, a personal computer, a tablet computer, or the like.

[0014] 2, each of the processing devices 2, 103 is a computer including, for example, a processor 105, a memory 106, and various interfaces 107. For example, the memory 106 stores a program 106a and a database 106b, the processor 105 executes the program 106a, and the various parts of the processing device 2, 103 are realized by the software and hardware working together.

[0015] The processor 105 is configured to execute computer-executable instructions and may be, for example, but not limited to, a central processing unit (CPU), a microprocessor (MPU), or the like.

[0016] The memory 106 is configured to be able to store computer data. The memory 106 includes not only a memory that temporarily stores data when the processor 105 executes processing, but also a storage that permanently stores data. The memory 106 is not particularly limited, and may be, for example, a semiconductor memory (various ROMs, various RAMs, etc.), an optical disk (CD, DVD, etc.), a magnetic disk (hard disk, MO, etc.), a magnetic tape, a storage medium using a flash memory (SD card, USB memory, etc.), etc.

[0017] 3, the work vehicle 1 includes a vehicle body 3 and a working implement 4 connected to the vehicle body 3. The vehicle body 3 may include, for example, as in this embodiment, a driver's cab 3a disposed at the front, a vehicle body frame 3b disposed at the rear, and a plurality of wheels 3c.

[0018] In the following description and drawings, the first direction D1 is also referred to as the front-to-rear direction (also referred to as the "first lateral direction") D1, the second direction D2 is also referred to as the left-to-right direction (also referred to as the "second lateral direction") D2, and the third direction D3 is also referred to as the up-down direction D3. In other words, each of the directions D1 to D3 is the direction seen from the perspective of a person (driver) sitting in the driver's seat in the driver's cab 3a of the work vehicle 1 when the work vehicle 1 is traveling.

[0019] Of the front-to-rear direction D1, the direction of the arrow in the figure is the front direction, and the direction opposite to the arrow direction in the figure is the rear direction. Furthermore, of the left-to-right direction D2, the direction of the arrow in the figure is the left direction, and the direction opposite to the arrow direction in the figure is the right direction. Furthermore, of the up-down direction D3, the direction of the arrow in the figure is the up direction, and the direction opposite to the arrow direction in the figure is the down direction.

[0020] The work vehicle 1 may, for example, as in this embodiment, be equipped with an engine 5 and a drive switching unit (also referred to as a "power take-off (PTO)") 6 that can switch the destination of the drive power of the engine 5. The drive switching unit 6 may be switchable, for example, between a first state (travelable state) in which the drive power of the engine 5 is transmitted to the wheels 3c, and a second state (workable state) in which the drive power of the engine 5 is transmitted to the working implement 4.

[0021] The working device 4 is provided with a cargo handling device 8 that loads and unloads the cargo receiving device 7 between a position where it is placed on the vehicle body 3 (see FIG. 5(a)) and a position where it is placed on the ground (see FIG. 8). The cargo receiving device 7 is not particularly limited, but may be, for example, a cargo receiving box (container) as in this embodiment.

[0022] The cargo handling device 8 may, for example, as in this embodiment, include a device frame 9 fixed to the vehicle body frame 3b, a dump arm 10 rotatably connected to the device frame 9, a lift arm 11 rotatably connected to the dump arm 10, and a hook arm 12 rotatably connected to the lift arm 11. The hook arm 12 may, for example, as in this embodiment, include a hook 12a at its tip for hooking the cargo receiving device 7 onto it.

[0023] The cargo handling device 8 may include, for example, as in this embodiment, a lift cylinder 13 that connects the device frame 9 and the lift arm 11, and a hook cylinder 14 that connects the lift arm 11 and the hook arm 12. The cargo handling device 8 may also include, for example, as in this embodiment, a locking mechanism 15 that can be switched between a locked state in which the dump arm 10 and the lift arm 11 are locked and an unlocked state in which the lock is released.

[0024] As a result, when the locking mechanism 15 is set to the unlocked state, the lift arm 11 rotates relative to the dump arm 10, allowing loading / unloading operations (see Figures 5 to 8) and load movement operations (see Figure 9) of the load receiving device 7 to be performed. On the other hand, when the locking mechanism 15 is set to the locked state, the lift arm 11 and dump arm 10 rotate together relative to the device frame 9, allowing dumping operations (see Figure 10) of the load receiving device 7 to be performed.

[0025] Although not particularly limited, for example, as in this embodiment, the cylinders 13, 14 may be hydraulic cylinders, and the cargo handling device 8 may include a hydraulic pump 8a and valves 8b (see FIG. 11), etc. As a result, the hydraulic pump 8a is operated by driving the engine 5, and the plurality of valves 8b are opened and closed, causing the cylinders 13, 14 to expand and contract.

[0026] The work vehicle 1 may be equipped with, for example, a vehicle body tilt angle detection unit 16 that detects the tilt angle θ1 of the vehicle body 3 with respect to the horizontal (see the dashed line in FIG. 3), a lift tilt angle detection unit 17 that detects the tilt angle of the lift arm 11 with respect to the horizontal, and a hook tilt angle detection unit 18 that detects the tilt angle of the hook arm 12 with respect to the horizontal, as in this embodiment. The configuration of each of the tilt angle detection units 16-18 is not particularly limited, and may be, for example, a sensor that can detect the tilt angle of each of the units 3, 11, 12 with respect to the horizontal.

[0027] Here, the operations of the working device 4, specifically the loading and unloading operation, the load moving operation, and the dumping operation, will be explained. As will be explained below, the working device 4 is a device that has a plurality of work processes.

[0028] First, the unloading operation among the loading and unloading operations will be described with reference to FIG. 4(a) and FIGS. 5 to 8. FIG.

[0029] As shown in Figure 5(a), when the working device 4 is in the initial state, the load receiving device 7 is placed on the vehicle body 3. Then, in the rear swing process, the hook cylinder 14 (not shown in Figures 5 to 10) extends, causing the hook arm 12 to rotate rearward (clockwise in each figure). This places the working device 4 in the first load unloading state, as shown in Figure 5(b). Note that in the rear swing process, the lift cylinder 13 (not shown in Figures 5 to 10) does not extend or retract.

[0030] Furthermore, although not particularly limited, for example, as in this embodiment, the rotation of the hook arm 12 relative to the lift arm 11 may be linked to the switching of the lock mechanism 15 (see FIG. 3). Specifically, the lock mechanism 15 (see FIG. 3) may be switched from a locked state to an unlocked state by the hook arm 12 rotating backward relative to the lift arm 11.

[0031] Then, in the first unloading lifting process, the lift cylinder 13 extends, causing the lift arm 11 to rotate backward (clockwise in each drawing) relative to the dump arm 10 (see FIG. 3). As a result, the working device 4 enters the second unloading state, as shown in FIG. 6(a). Note that in the first unloading lifting process, the hook cylinder 14 does not extend or retract.

[0032] Then, in the second unloading lifting step, not only the lift cylinder 13 but also the hook cylinder 14 extends, causing the lift arm 11 and the hook arm 12 to rotate backward, respectively. As a result, the working device 4 enters the third unloading state as shown in FIG. 6(b).

[0033] Then, in the third unloading lifting step, the lift cylinder 13 extends, causing the lift arm 11 to rotate backward. As a result, the working device 4 enters the fourth unloading state, as shown in Figure 7(a). Note that in the third unloading lifting step, the hook cylinder 14 does not extend or retract.

[0034] Then, in the fourth unloading lifting step, the lift cylinder 13 extends, causing the lift arm 11 to rotate backward, while the hook cylinder 14 retracts, causing the hook arm 12 to rotate forward (counterclockwise in each figure). As a result, the working device 4 enters a fifth unloading state as shown in Figure 7(b).

[0035] Then, in the final unloading lifting process, the lift cylinder 13 extends, causing the lift arm 11 to rotate backward. As a result, the work device 4 reaches its completion state when the load receiving device 7 is placed on the ground, as shown in Figure 8. Note that the hook cylinder 14 does not extend or retract in the final unloading lifting process.

[0036] Next, the loading operation among the loading and unloading operations will be described with reference to FIG. 4(b) and FIGS. 5 to 8. FIG.

[0037] As shown in Figure 8, when the working device 4 is in the initial state, the goods receiving device 7 is resting on the ground. Then, in the first loading lifting process, the lift cylinder 13 extends, causing the lift arm 11 to rotate forward (counterclockwise in each figure). This places the working device 4 in the first loading state, as shown in Figure 7(b). Note that in the first loading lifting process, the hook cylinder 14 does not extend or retract.

[0038] Then, in the second loading lifting step, the lift cylinder 13 contracts, causing the lift arm 11 to rotate forward, while the hook cylinder 14 extends, causing the hook arm 12 to rotate backward. As a result, the working device 4 enters the second loading state as shown in Figure 7(a).

[0039] Then, in the third loading lifting step, the lift cylinder 13 contracts, causing the lift arm 11 to rotate forward. As a result, the working device 4 enters the third loading state, as shown in Figure 6(b). Note that in the third loading lifting step, the hook cylinder 14 does not extend or retract.

[0040] Then, in the fourth loading lifting step, not only the lift cylinder 13 but also the hook cylinder 14 is retracted, causing the lift arm 11 and the hook arm 12 to rotate forward, respectively. As a result, the working device 4 enters the fourth loading state as shown in FIG. 6(a).

[0041] Then, in the final loading lifting step, the lift cylinder 13 contracts, causing the lift arm 11 to rotate forward. As a result, the working device 4 enters the fifth loading state, as shown in Figure 5(b). Note that in the final loading lifting step, the hook cylinder 14 does not extend or retract.

[0042] Then, in the forward swing process, the hook cylinder 14 contracts, causing the hook arm 12 to rotate forward. As a result, as shown in Figure 5(a), the load receiving device 7 is placed on the vehicle body 3, and the working device 4 reaches the completed state. Note that in the forward swing process, the lift cylinder 13 does not expand or contract.

[0043] Next, among the load moving operations, the load pre-movement operation will be described with reference to FIG. 8 and FIG. 9(a).

[0044] As shown in Figure 8, when the working device 4 is in the initial state, the hook 12a of the hook arm 12 is hooked onto the load receiving device 7 resting on the ground. Then, in the load front movement process, the lift cylinder 13 contracts, causing the lift arm 11 to rotate forward, while the hook cylinder 14 extends, causing the hook arm 12 to rotate backward. As a result, as shown in Figure 9(a), the load receiving device 7 moves forward, and the working device 4 reaches the completed state.

[0045] Next, the post-load moving work among the load moving work will be described with reference to FIG. 8 and FIG. 9(b).

[0046] As shown in Figure 8, when the working device 4 is in the initial state, the hook 12a of the hook arm 12 is hooked onto the load receiving device 7 resting on the ground. Then, in the load rearward movement process, the lift cylinder 13 extends, causing the lift arm 11 to rotate backward, while the hook cylinder 14 retracts, causing the hook arm 12 to rotate forward. As a result, as shown in Figure 9(b), the load receiving device 7 moves backward, and the working device 4 reaches the completed state.

[0047] Next, the dump lifting operation, which is one of the dump operations, will be described with reference to FIG.

[0048] As shown in Figure 10(a), when the working device 4 is in the initial state, the load receiving device 7 is horizontal. Then, during the dump lifting process, the locking mechanism 15 (see Figure 3) is in the locked state, so the lift cylinder 13 extends, causing the dump arm 10 and the lift arm 11 to rotate backward together. As a result, as shown in Figure 10(b), the load receiving device 7 tilts, and the working device 4 reaches the completed state.

[0049] Next, the dump lowering operation, which is one of the dump operations, will be described with reference to FIG.

[0050] As shown in Figure 10(b), when the working device 4 is in the initial state, the goods receiving device 7 is tilted. Then, in the dump lowering process, the lift cylinder 13 contracts, causing the dump arm 10 and the lift arm 11 to rotate forward together. As a result, as shown in Figure 10(a), the goods receiving device 7 becomes horizontal, and the working device 4 reaches the completed state.

[0051] 11, the work vehicle 1 may also be equipped with, for example, a lock detection unit 19 that detects the locked state of the lock mechanism 15 (for example, that it is in a locked state), a lift position detection unit 20 that detects the position of the lift arm 11 (for example, the lift arm 11 positioned at a reference position), and a hook position detection unit 21 that detects the position of the hook arm 12 (for example, the hook arm 12 positioned at a reference position). Although not particularly limited, each of the detection units 19 to 21 may be, for example, various types of sensors (for example, a proximity sensor, a contact sensor, a photoelectric sensor, etc.).

[0052] In this embodiment, the hydraulic pump 8a is operated by driving the engine 5, and therefore the rotation speed of the hydraulic pump 8a is controlled by the rotation speed of the engine 5. As a result, the operating speed of each of the cylinders 13, 14 changes depending on the hydraulic pressure (the rotation speed of the hydraulic pump 8a), and therefore the operating speed of each of the cylinders 13, 14 is controlled by controlling the rotation speed of the engine 5.

[0053] Furthermore, the work vehicle 1 may include, for example, an input unit 22 to which various data are input, and an output unit 23 that outputs various data. As in the present embodiment, the output unit 23 may include, for example, a display unit (e.g., an electronic bulletin board, a signal light) 23a that displays data, a sound generation unit (e.g., a buzzer, a speaker) 23b that emits the data as sound, and an external output unit 23c that outputs data to the outside (e.g., terminal device 101, etc.).

[0054] As shown in FIG. 12, the input unit 22 may include, for example, a loading input unit 22a into which instruction data for executing loading work is input, an unloading input unit 22b into which instruction data for executing unloading work is input, a dump truck lifting input unit 22c into which instruction data for executing dump truck lifting work is input, a dump truck lowering input unit 22d into which instruction data for executing dump truck lowering work is input, a pre-load movement input unit 22e into which instruction data for executing pre-load movement work is input, and a post-load movement input unit 22f into which instruction data for executing post-load movement work is input.

[0055] Furthermore, the input unit 22 may include, for example, a high-speed input unit 22g to which instruction data for increasing the speed of rotation of the engine 5 (specifically, the operation of the cargo handling device 8) is input, and a low-speed input unit 22h to which instruction data for decreasing the speed of rotation of the engine 5 is input. Although not particularly limited, each of the input units 22a to 22h may be, for example, a switch (push button switch, select switch, etc.), a touch panel, etc.

[0056] 11, the vehicle processing device 2 may include, for example, an acquisition unit 2a that acquires each piece of data from each of the units 16 to 22, 101, a storage unit 2b that stores each piece of data, a calculation unit 2c that calculates each piece of data, and a control unit 2d that controls each of the units 5, 8, 23. For example, the calculation unit 2c and the control unit 2d may be configured as a processor 105 (see FIG. 2), and the acquisition unit 2a and the storage unit 2b may be configured as a memory 106 (see FIG. 2).

[0057] As a result, the processor 105 executes the program 106a (see FIG. 2) stored in the memory 106, and the software and hardware work together to realize the units 2a to 2d of the vehicle processing device 2. Note that the vehicle processing device 2 may be configured, for example, by a software circuit, or may be configured, for example, by a hardware circuit, or may be configured, for example, by a combination of a software circuit and a hardware circuit.

[0058] The vehicle processing device 2 may be configured as a single device, or may be configured as multiple devices that can communicate with each other. Specifically, the units 2a to 2d of the vehicle processing device 2 may be provided in a single device, or may be distributed across multiple devices that can communicate with each other.

[0059] The vehicle processing device 2 controls the units 5, 8, and 23 by outputting output data (output signals, output information) to the units 5, 8, and 23 based on input data (input signals, input information) acquired from the units 16 to 22, and 101. Specifically, for example, the vehicle processing device 2 controls the working device 4 by acquiring input data from the units 16 to 22, and 101 and outputting output data to the units 8a and 8b of the working device 4.

[0060] Furthermore, the vehicle processing device 2 determines the work process being performed by the working device 4, for example, based on the acquired input data and the output data that it has output. Although not particularly limited, even if the output data to the valve 8b is the same, the vehicle processing device 2 can determine the work process, for example, based on detection by the tilt angle detection units 16 to 18. Note that the vehicle processing device 2 may determine whether the current state of the working device 4 is normal or abnormal, for example, based on the determined work process.

[0061] However, various device abnormalities can occur in the working device 4. Although not particularly limited, an example of a device abnormality in the working device 4 will be described below.

[0062] For example, during loading operations, if the inclination angle θ2 (see FIG. 3) of the lift arm 11 relative to the vehicle body 3 is equal to or greater than a first angle (e.g., 20°) and the inclination angle θ1 of the vehicle body 3 relative to the horizontal is equal to or greater than a first abnormal angle (e.g., ±20°), the loading posture is abnormal.

[0063] Furthermore, for example, during unloading work, if the tilt angle θ2 of the lift arm 11 relative to the vehicle body 3 is less than a second angle (e.g., 15°) and the tilt angle θ1 of the vehicle body 3 relative to the horizontal is a second abnormal angle (e.g., ±8°) or more, this will be considered a first abnormal unloading posture. Also, for example, during unloading work, if the tilt angle θ2 of the lift arm 11 relative to the vehicle body 3 is equal to or greater than the second angle and equal to or less than a third angle (e.g., 30°) and the tilt angle θ1 of the vehicle body 3 relative to the horizontal is a third abnormal angle (e.g., ±20°) or more, this will be considered a second abnormal unloading posture.

[0064] Furthermore, for example, during load transfer work (load front transfer work, load rear transfer work), if the inclination angle θ1 of the vehicle body 3 with respect to the horizontal is equal to or greater than a fourth abnormal angle (for example, ±15°), it is determined that the load transfer posture is abnormal. Also, for example, during dump work (dump lifting work, dump lowering work), if the inclination angle θ1 of the vehicle body 3 with respect to the horizontal is equal to or greater than a fifth abnormal angle (for example, ±8°), it is determined that the dump posture is abnormal.

[0065] The vehicle processing device 2 then determines whether or not there is an apparatus abnormality in the working device 4 based on at least one of the input data and the output data. Although not particularly limited, for example, the vehicle processing device 2 may determine whether or not there is an apparatus abnormality in the working device 4 based on a plurality of pieces of input data and output data. However, without being limited to such a configuration, for example, the vehicle processing device 2 may determine whether or not there is an apparatus abnormality in the working device 4 based on a single piece of input data (abnormal data) that indicates an apparatus abnormality in the working device 4.

[0066] Furthermore, when the vehicle processing device 2 determines that a device abnormality has occurred, it stores abnormality data indicating that a device abnormality has occurred and the status data at the time of the device abnormality determination in association with each other. Note that, hereinafter, the abnormality data and status data stored in association with each other are also referred to as associated abnormal status data.

[0067] As a result, when the terminal device 101 (see FIG. 1) later acquires the associated abnormal state data stored in the vehicle processing device 2, the display unit 104a of the terminal device 101 can display the associated abnormal state data as shown in FIGS. 13 and 14. Therefore, the state in which the abnormality occurred can be easily confirmed later.

[0068] 13, the vehicle processing device 2 may store, for example, a plurality of (eight in FIG. 13) associated abnormal state data. Although not particularly limited, the vehicle processing device 2 may store, for example, the associated abnormal state data in reverse chronological order of the date and time when the device abnormality occurred.

[0069] Furthermore, the stored abnormality data may be, for example, data indicating the details of a device abnormality from among a plurality of device abnormalities (abnormality data selected from a plurality of abnormality data), as in the present embodiment. However, the present invention is not limited to such a configuration, and the abnormality data may be, for example, data simply indicating a device abnormality (a group of abnormality data).

[0070] The vehicle processing device 2 also stores an accumulated work time that is the accumulated time spent working by the working device 4. Although not particularly limited, the vehicle processing device 2 may be configured to accumulate the work time when PTO-on data (data indicating that the drive switching unit 6 is in the second state) is acquired as input data and output data is being output to the working device 4.

[0071] For example, the vehicle processing device 2 may be configured to accumulate PTO-on data as work time when it has acquired the data as input data. Also, for example, the vehicle processing device 2 may be configured to accumulate PTO-on data as work time when it is outputting output data to the work device 4. Also, for example, the vehicle processing device 2 may be configured to accumulate PTO-on data as work time when the engine 5 is operating.

[0072] 13 and 14, the status data includes data on the accumulated operation time when it is determined that an apparatus abnormality has occurred. This makes it easy to check the accumulated operation time when an abnormality has occurred later. Therefore, for example, it is easy to check the operation time spent until the abnormality occurred, and also, for example, it is possible to predict the date and time when the abnormality of the operation apparatus 4 occurred from the accumulated operation time.

[0073] 14, the status data includes the acquired input data, the output data, and the data on the determined work process when it is determined that an apparatus abnormality has occurred. This allows, for example, not only to easily check the state (input data, output data) in which the abnormality occurred later, but also to easily check the work process when the abnormality occurred. Therefore, for example, it is not necessary to determine the work process when an abnormality has occurred in the operating device 4 from the input data or output data, and it is also possible to prevent erroneous determination of the work process when an abnormality has occurred in the operating device 4.

[0074] For example, the input data of the status data may include, for example, input data of each input unit 22a-22h (in FIG. 14, data of "input (operation)"), PTO data, and input data of each detection unit 19-21 (in FIG. 14, data of "input (detection)"). Also, for example, the input data of the status data may include, for example, detected angle data of each tilt angle detection unit 16-18 (in FIG. 14, data of "direct angle").

[0075] Furthermore, for example, the output data of the status data may include, as in this embodiment, output data of the extension and contraction of each cylinder 13, 14 (data of "output (cargo handling device)" in FIG. 14) and speed data of the engine 5 (data of "output (engine)" in FIG. 14). Note that the extension and contraction of each cylinder 13, 14 can also be determined based on, for example, output data to the valve 8b.

[0076] Furthermore, for example, the status data may include data determined and calculated based on a plurality of input data and output data, such as work process data ("work process" data in FIG. 14), for example, ground angle data of each arm 11, 12 ("relative angle" data in FIG. 14). In this way, the status data includes not only one piece of status data (input data, output data), but also status data determined and calculated based on a plurality of data.

[0077] For example, the lift arm ground angle can be calculated based on the angle (vehicle body tilt angle) detected by the vehicle body tilt angle detection unit 16 and the angle (lift arm tilt angle) detected by the lift tilt angle detection unit 17. Also, for example, the hook arm ground angle can be calculated based on the angle (vehicle body tilt angle) detected by the vehicle body tilt angle detection unit 16 and the angle (hook arm tilt angle) detected by the hook tilt angle detection unit 18.

[0078] The cargo handling device 8 loads and unloads the cargo receiving device 7 between a position where it is placed on the vehicle body 3 and a position where it is placed on the ground. As a result, in order to recreate the state in which an abnormality occurred, a large space is required in which the cargo receiving device 7 can be placed on the ground. In contrast, the vehicle system 100 stores the state in which an abnormality occurred, and can confirm the state in which the abnormality occurred without having to recreate the situation in which the abnormality occurred. This makes it possible to easily confirm the state in which the abnormality occurred later, for example, without requiring a large space.

[0079] [1] As described above, the work vehicle 1, as in the first embodiment, Body 3 and a working device 4 connected to the vehicle body 3; a processing device (2) that controls the operation device (4) by outputting output data based on the acquired input data; The processing device 2 includes: determining an abnormality in the working device (4) based on at least one of the input data and the output data; When it is determined that an apparatus abnormality has occurred, abnormality data indicating that the apparatus abnormality has occurred is stored in association with status data which is data relating to at least one of the input data and the output data at the time when it is determined that the apparatus abnormality has occurred. This configuration is preferable.

[0080] According to this configuration, when a device abnormality is determined, the abnormality data indicating the determination of the device abnormality and the status data, which is data related to at least one of the input data and the output data at the time of the device abnormality determination, are stored in association with each other, thereby making it possible to store the status in which the abnormality occurred.

[0081] [2] Furthermore, in the work vehicle 1 described above in [1], as in the first embodiment, The working device 4 includes a loading / unloading device 8 that loads and unloads the load receiving device 7 between a position where the load receiving device 7 is placed on the vehicle body 3 and a position where the load receiving device 7 is placed on the ground. This configuration is preferable.

[0082] According to this configuration, the working device 4 is equipped with a cargo handling device 8, and the cargo handling device 8 loads and unloads the cargo receiving device 7 between a position where it is placed on the vehicle body 3 and a position where it is placed on the ground. As a result, in order to recreate the state in which an abnormality occurred, a large space is required to place the cargo receiving device 7 on the ground. However, because the state in which the abnormality occurred can be reliably stored, it is possible to confirm the state in which the abnormality occurred, for example, without having to recreate the situation in which the abnormality occurred.

[0083] [3] Furthermore, in the work vehicle 1 described above in [1] or [2], as in the first embodiment, The working device 4 is a device having a plurality of working processes, The processing device 2 determines a work process to be performed by the work device 4 based on at least one of the input data and the output data, the status data includes data of the work process determined based on at least one of the input data and the output data when the device abnormality is determined; This configuration is preferable.

[0084] According to this configuration, the status data includes data on the work process determined based on at least one of the input data and the output data when the device is determined to have an abnormality, thereby making it possible to store the work process when the abnormality occurred.

[0085] [4] Furthermore, in any one of the work vehicles 1 described above in [1] to [3], as in the first embodiment, The processing device 2 stores an accumulated operation time that accumulates the time that the operation device 4 has performed an operation, The status data includes data on the integrated operation time when the device abnormality is determined. This configuration is preferable.

[0086] According to this configuration, the status data includes data on the cumulative operation time when it is determined that an apparatus abnormality has occurred, which makes it possible to store the cumulative operation time when an abnormality has occurred.

[0087] [5] Furthermore, the program 106a, as in the first embodiment, A program 106a used in any one of the work vehicles 1 described above [1] to [4], causing the work vehicle 1 to execute a data storage method, The data storage method includes a step of storing the abnormality data and the status data in association with each other. This configuration is preferable.

[0088] With this configuration, the state in which the abnormality occurred can be stored.

[0089] [6] Furthermore, the program 106a, as in the first embodiment, a program 106a causing at least one processor 105 to execute a data display method, The data display method includes a step of acquiring and displaying the abnormality data and the status data stored in association with each other in any one of the work vehicles 1 described above in [1] to [4]. This configuration is preferable.

[0090] According to this configuration, the abnormality data and the status data that are stored in association with each other are displayed, so that the status in which the abnormality occurred can be easily confirmed later.

[0091] The work vehicle 1 and program 106a are not limited to the configurations and operations of the work vehicle 1 and program 106a according to the first embodiment described above. For example, the following modifications may be made to the work vehicle 1 and program 106a according to the first embodiment described above.

[0092] In the work vehicle 1 according to the first embodiment, the hook arm 12 is rotatably connected to the lift arm 11. However, the work vehicle 1 is not limited to this configuration. For example, in the work vehicle 1, as shown in FIG. 15 , the hook arm 12 may be connected to the lift arm 11 so as to be slidable in the front-to-rear direction D1.

[0093] In the unloading operation of the work vehicle 1 shown in Figure 15, when the working device 4 is in the initial state, the goods receiving device 7 is placed on the vehicle body 3, as shown in Figure 15(a). Then, in the rear slide stroke, the hook arm 12 moves rearward, and then, in the unloading lift stroke, the lift arm 11 rotates rearward. As a result, as shown in Figure 15(b), the goods receiving device 7 is placed on the ground, and the working device 4 reaches the completed state.

[0094] On the other hand, in the loading operation of the work vehicle 1 shown in Figure 15, when the working device 4 is in the initial state, the goods receiving device 7 is on the ground, as shown in Figure 15(b). Then, in the loading lift stroke, the lift arm 11 rolls forward, and then in the forward slide stroke, the hook arm 12 moves forward. As a result, when the goods receiving device 7 is placed on the vehicle body 3, the working device 4 reaches the completed state, as shown in Figure 15(a).

[0095] Second Embodiment Next, a second embodiment of the work vehicle and program will be described with reference to Figures 16 to 22. In Figures 16 to 22, parts denoted with the same reference numerals as in Figures 1 to 15 represent elements having substantially the same configuration or substantially the same function (action) as in the first embodiment, and description thereof will not be repeated.

[0096] As shown in FIG. 16, the working device 4 according to this embodiment includes a cargo handling device 32 that loads and unloads the cargo receiving device 31 between a position where it is placed on the vehicle body 3 (see FIG. 18(a)) and a position where it is placed on the ground (see FIG. 20(b)). The cargo receiving device 31 is not particularly limited, and may be, for example, a cargo receiving platform as in this embodiment. For example, as in this embodiment, the cargo receiving device 31 may include a body 31a on which the vehicle is placed and a tailgate 31b rotatably connected to the rear end of the body 31a.

[0097] The cargo handling device 32 may, for example, as in this embodiment, include a device frame 30 fixed to the vehicle body frame 3b, a lift frame 34 rotatably connected to the device frame 30, and a lift arm 33 rotatably connected to each of the device frame 30 and the lift frame 34. The cargo handling device 32 may also, for example, as in this embodiment, include a lift cylinder 35 connecting the device frame 30 and the lift arm 33, and a slide mechanism 36 slidably connecting the cargo receiving device 31 to the lift frame 34.

[0098] The slide mechanism 36 may, for example, as in this embodiment, include a circular chain 36a, a portion of which is fixed to the goods receiving device 31 and supported by the lift frame 34, and a motor 36b that rotates and moves the chain 36a. However, the slide mechanism 36 is not limited to this configuration, and may, for example, be a cylinder that connects the goods receiving device 31 and the lift frame 34.

[0099] Although not particularly limited, for example, as in this embodiment, the lift cylinder 35 may be a hydraulic cylinder, and the cargo handling device 32 may include a hydraulic pump 32a and valves 32b (see FIG. 21), etc. As a result, the hydraulic pump 32a is operated by driving the engine 5, and the plurality of valves 32b are opened and closed, thereby causing the lift cylinder 35 to extend and retract.

[0100] Here, the work of the working device 4, specifically the loading and unloading work, will be explained. As will be explained below, the working device 4 is a device that has a plurality of work processes.

[0101] First, the unloading operation among the loading and unloading operations will be described with reference to FIG. 17(a) and FIGS. 18 to 20. FIG.

[0102] As shown in Figure 18(a), when the working device 4 is in the initial state, the goods receiving device 31 is placed on the vehicle body 3. Then, in the first rear sliding step, the goods receiving device 31 slides rearward (to the right in each figure) by the slide mechanism 36. This places the working device 4 in the first goods unloading state, as shown in Figure 18(b). Note that in the first rear sliding step, the lift cylinder 35 (not shown in Figure 18) does not extend or retract.

[0103] Then, in the first unloading lifting step, the lift cylinder 35 extends, causing the lift frame 34 to rotate backward (clockwise in each drawing). As a result, the working device 4 enters the second unloading state, as shown in Figure 19(a). Note that in the first unloading lifting step, the slide mechanism 36 does not operate.

[0104] Then, in the second rear sliding step, the goods receiving device 31 slides rearward by the slide mechanism 36. As a result, as shown in Figure 19(b), the rear end of the goods receiving device 31 touches the ground, and the working device 4 enters the first rear grounding state. Note that in the second rear sliding step, the lift cylinder 35 does not extend or retract.

[0105] Then, in the third rear sliding step, the goods receiving device 31 slides rearward by the slide mechanism 36. As a result, the working device 4 is in the second rear ground contact state, as shown in Figure 20(a). Note that in the third rear sliding step, the lift cylinder 35 does not extend or retract.

[0106] Then, in the second unloading lifting step, the lift cylinder 35 extends, causing the lift frame 34 to rotate backward. As a result, as shown in Figure 20(b), the entire load receiving device 31 is placed on the ground, and the working device 4 enters the completed state (full ground contact state). Note that in the second unloading lifting step, the slide mechanism 36 does not operate.

[0107] In this way, when the working device 4 reaches the complete state (full ground contact state), the entire load receiving device 31 is in contact with the ground, allowing the vehicle to be unloaded from the load receiving device 31. Note that when the working device 4 is in a state between the first rear ground contact state and the second rear ground contact state, the rear end of the load receiving device 31 is in contact with the ground, allowing the vehicle to be unloaded from the load receiving device 31. Therefore, the complete state of the working device 4 in the load unloading operation may be a state between the first rear ground contact state and the second rear ground contact state.

[0108] Next, the loading operation among the loading and unloading operations will be described with reference to FIG. 17(b) and FIGS. 18 to 20. FIG.

[0109] As shown in Figure 20(b), when the working device 4 is in the initial state, the entire load receiving device 31 is resting on the ground. This allows a vehicle to be loaded onto the load receiving device 31. Then, in the first loading lift process, the lift cylinder 35 contracts, causing the lift frame 34 to rotate forward (counterclockwise in each figure). This places the working device 4 in a first rear ground contact state, as shown in Figure 20(a), and the load receiving device 31 is in contact with the ground only at its rear end. Note that in the first loading lift process, the slide mechanism 36 does not operate.

[0110] Then, in the first front sliding step, the sliding mechanism 36 slides the goods receiving device 31 forward (to the left in each drawing). As a result, the working device 4 is in the second rear ground contact state, as shown in Figure 19(b). Note that in the first front sliding step, the lift cylinder 35 does not extend or retract.

[0111] Incidentally, when the working implement 4 is in a state between the first rear ground contact state and the second rear ground contact state, the rear end of the goods receiving device 31 is in contact with the ground, so a vehicle can also be loaded onto the goods receiving device 31. As a result, the initial state of the working implement 4 during loading work may be a state between the first rear ground contact state and the second rear ground contact state.

[0112] Then, in the second front sliding step, the goods receiving device 31 slides forward by the slide mechanism 36. As a result, the working device 4 is in the first loading state, as shown in Figure 19(a). Note that in the second front sliding step, the lift cylinder 35 does not extend or retract.

[0113] Then, in the second loading lifting step, the lift cylinder 35 contracts, causing the lift frame 34 to rotate forward. As a result, the working device 4 enters the second loading state, as shown in Figure 18(b). Note that in the second loading lifting step, the slide mechanism 36 does not operate.

[0114] Then, in the third forward sliding step, the goods receiving device 31 slides forward by the slide mechanism 36. As a result, as shown in Figure 18(a), the goods receiving device 31 is placed on the vehicle body 3, and the working device 4 reaches the completed state. Note that in the third forward sliding step, the lift cylinder 35 does not extend or retract.

[0115] Furthermore, as shown in FIG. 21, the work vehicle 1 may be equipped with, for example, a cargo receiving movement detection unit 37 that detects the amount of movement (slide amount) of the cargo receiving device 31, a first cargo receiving position detection unit 38 that detects the cargo receiving device 31 located at the first reference position, a second cargo receiving position detection unit 39 that detects the cargo receiving device 31 located at the second reference position, and a third cargo receiving position detection unit 40 that detects the cargo receiving device 31 located at the third reference position.

[0116] The goods movement detection unit 37 is not particularly limited, but may be, for example, a sensor (for example, an encoder) that detects the amount of rotation of the motor 36b or the amount of rotation of the sprocket wound around the chain 36a. The goods movement detection unit 37 may also be, for example, a sensor (for example, a proximity sensor or a photoelectric sensor) that detects the teeth on the outer periphery of the sprocket wound around the chain 36a.

[0117] The first reference position detected by the first goods receiving position detection unit 38 may be, for example, the front end position of the goods receiving device 31 shown in Figure 18(a). The second reference position detected by the second goods receiving position detection unit 39 may be, for example, the middle position of the goods receiving device 31 shown in Figure 18(b). The third reference position detected by the third goods receiving position detection unit 40 may be, for example, the rear end position of the goods receiving device 31 shown in Figure 20(a). Although not particularly limited, each goods receiving position detection unit 38-40 may be, for example, various types of sensors (e.g., proximity sensors, contact sensors, photoelectric sensors, etc.).

[0118] In this embodiment, the work vehicle 1 is equipped with both the goods receiving movement detection unit 37 and the first to third goods receiving position detection units 38-40, but is not limited to this configuration. The work vehicle 1 may be configured to be equipped with only the goods receiving movement detection unit 37, for example, or may be configured to be equipped with only the first to third goods receiving position detection units 38-40, for example.

[0119] The work vehicle 1 may be equipped with, for example, as in this embodiment, a vehicle body inclination angle detection unit 41 that detects the inclination angle of the vehicle body 3 relative to the horizontal, a lift inclination angle detection unit 42 that detects the inclination angle of the lift frame 34 relative to the horizontal, and an upper limit inclination detection unit 43 that detects the lift frame 34 positioned at the upper limit inclination angle.

[0120] Each of the tilt angle detectors 41, 42 is not particularly limited, and may be, for example, a sensor capable of detecting the tilt angle of each of the units 3, 34 relative to the horizontal. The lift tilt angle detector 42 may detect, for example, the tilt angle of the lift frame 34, or may indirectly detect the tilt angle of the lift frame 34 by detecting the tilt angle of the lift arm 33, which is correlated with the tilt angle detector 42.

[0121] The upper limit tilt detector 43 is not particularly limited, and may be, for example, various types of sensors (for example, a proximity sensor, a contact sensor, a photoelectric sensor, etc.). The upper limit tilt detector 43 may, for example, detect the lift frame 34 positioned at the upper limit tilt angle, or may indirectly detect the lift frame 34 positioned at the upper limit tilt angle by, for example, detecting a lift arm 33 that is correlated therewith.

[0122] In this embodiment, the hydraulic pump 32a is operated by driving the engine 5, and therefore the rotation speed of the hydraulic pump 32a is controlled by the rotation speed of the engine 5. As a result, the operating speed of the lift cylinder 35 changes depending on the hydraulic pressure (the rotation speed of the hydraulic pump 32a), and therefore the operating speed of the lift cylinder 35 is controlled by controlling the rotation speed of the engine 5.

[0123] Furthermore, although not particularly limited, for example, as in this embodiment, the motor 36b of the slide mechanism 36 may be a hydraulic motor, and the cargo handling device 32 may include a hydraulic pump 32a and valves 32b (see FIG. 21), etc. In this way, the hydraulic pump 32a is operated by driving the engine 5, and the motor 36b is rotated by opening and closing the multiple valves 32b.

[0124] In this embodiment, the hydraulic pump 32a is operated by driving the engine 5, and the motor 36b is operated by driving the hydraulic pump 32a. The rotation speed of the motor 36b is controlled by the rotation speed of the hydraulic pump 32a, specifically, the rotation speed of the engine 5. As a result, the slide movement speed of the goods receiving device 31 is controlled by controlling the rotation speed of the engine 5.

[0125] The vehicle processing device 2 controls the units 5, 23, 32, and 36 by outputting output data to the units 5, 23, 32, and 36 based on input data acquired from the units 22, 37 to 43, and 101. Specifically, the vehicle processing device 2 controls the working device 4 by acquiring input data from the units 22, 37 to 43, and 101 and outputting output data to the units 32a, 32b, and 36b of the working device 4.

[0126] Furthermore, the vehicle processing device 2 determines the work process being performed by the working device 4, for example, based on the acquired input data and the output data that it has output. Although not particularly limited, even if the output data to the hydraulic pump 32a, the valve 32b, and the motor 36b is the same, the vehicle processing device 2 can determine the work process, for example, based on the detection of the tilt angle detection units 41, 42. Note that the vehicle processing device 2 may determine whether the current state of the working device 4 is normal or abnormal, for example, based on the determined work process.

[0127] However, various device abnormalities can occur in the working device 4. Although not particularly limited, an example of a device abnormality in the working device 4 will be described below.

[0128] For example, the vehicle processing device 2 calculates the position of the consignment receiving device 31 (see "Consignment Receiving Position" in FIG. 22 described later) based on the detection of the consignment receiving movement detection unit 37. Then, when the calculated position of the consignment receiving device 31 is located at a reference position, the vehicle processing device 2 may determine that there is an apparatus abnormality if the consignment receiving position detection units 38-40 do not detect the consignment receiving device 31. Also, for example, when the consignment receiving position detection units 38-40 detect the consignment receiving device 31, the vehicle processing device 2 may determine that there is an apparatus abnormality if the calculated position of the consignment receiving device 31 is away from the reference position.

[0129] Furthermore, for example, when the vehicle processing device 2 is outputting instruction output data for sliding the goods receiving device 31 to the slide mechanism 36 (motor 36b), and the goods receiving movement detection unit 37 does not detect movement of the goods receiving device 31, the vehicle processing device 2 may determine that there is an abnormality in the device. Furthermore, for example, when the inclination angle detected by the inclination angle detection units 41, 42 is an abnormal angle (for example, an angle that is not actually possible), the vehicle processing device 2 may determine that there is an abnormality in the device.

[0130] Furthermore, for example, the vehicle processing device 2 calculates the ground angle of the lift frame 34 (see "lift frame ground angle" in FIG. 22 described later) based on detection by the vehicle body tilt angle detection unit 41 and the lift tilt angle detection unit 42. Then, when the calculated ground angle of the lift frame 34 is the upper limit tilt angle, if the upper limit tilt detection unit 43 does not detect the lift frame 34, the vehicle processing device 2 may determine that an apparatus abnormality has occurred. Furthermore, for example, when the upper limit tilt detection unit 43 detects the lift frame 34, if the calculated ground angle of the lift frame 34 differs from the upper limit tilt angle, the vehicle processing device 2 may determine that an apparatus abnormality has occurred.

[0131] The vehicle processing device 2 then determines whether or not there is an apparatus abnormality in the working device 4 based on at least one of the input data and the output data. Although not particularly limited, for example, the vehicle processing device 2 may determine whether or not there is an apparatus abnormality in the working device 4 based on a plurality of pieces of input data and output data. However, without being limited to such a configuration, for example, the vehicle processing device 2 may determine whether or not there is an apparatus abnormality in the working device 4 based on a single piece of input data (abnormal data) that indicates an apparatus abnormality in the working device 4.

[0132] Furthermore, when the vehicle processing device 2 determines that a device abnormality has occurred, it stores the associated abnormal condition data. As a result, the terminal device 101 (see FIG. 1) can later acquire the associated abnormal condition data stored in the vehicle processing device 2, and the display unit 104a of the terminal device 101 can display the associated abnormal condition data, as shown in FIG. 22 (also see FIG. 13). Therefore, the state in which the abnormality occurred can be easily confirmed later.

[0133] 22, the status data includes data on the accumulated operation time when it is determined that an apparatus abnormality has occurred. This makes it easy to check the accumulated operation time when an abnormality has occurred later. Therefore, for example, it is easy to check the operation time spent until the abnormality occurred, and also, for example, it is possible to predict the date and time when the abnormality of the operation apparatus 4 occurred from the accumulated operation time.

[0134] Furthermore, the status data includes the acquired input data, the output data, and the data on the determined work process when it is determined that an apparatus abnormality has occurred. This allows, for example, not only to easily check the state (input data, output data) in which the abnormality occurred later, but also to easily check the work process when the abnormality occurred. Therefore, for example, it is not necessary to determine the work process when an abnormality has occurred in the operating device 4 from the input data or output data, and it is also possible to prevent erroneous determination of the work process when an abnormality has occurred in the operating device 4.

[0135] For example, the input data of the status data may include, for example, input data of each input unit 22a, 22b, 22g, 22h (in FIG. 22, data of "input (operation)"), PTO data, and input data of each detection unit 38-40, 43 (in FIG. 22, data of "input (detection)"). Also, for example, the input data of the status data may include, for example, detected angle data of the tilt angle detection units 41, 42 (in FIG. 22, data of "direct angle"), as in the present embodiment.

[0136] Furthermore, for example, the output data of the status data may include, as in this embodiment, output data of the extension and contraction of the lift cylinder 35, output data of the front and rear slides of the cargo receiving device 31 (data of "output (cargo handling device)" in Figure 22), and speed data of the engine 5 (data of "output (engine)" in Figure 22).

[0137] The extension / retraction of the lift cylinder 35 can also be determined based on, for example, output data to the valve 32b. Also, the forward / rearward sliding of the goods receiving device 31 can also be determined based on, for example, input data from the goods receiving movement detection unit 37.

[0138] Furthermore, for example, the status data may include data determined and calculated based on multiple input data and output data, such as work process data ("work process" data in Fig. 22), for example, the calculated ground angle data of the lift frame 34 ("relative angle" data in Fig. 22) and the position data of the goods receiving device 31 ("direct position" data in Fig. 22). In this way, the status data includes not only status data of one piece of data (input data, output data), but also status data determined and calculated based on multiple pieces of data.

[0139] The cargo handling device 32 loads and unloads the cargo receiving device 31 between a position where it is placed on the vehicle body 3 and a position where it is placed on the ground. As a result, in order to recreate the state in which an abnormality occurred, a large space is required in which the cargo receiving device 31 can be placed on the ground. In contrast, the vehicle system 100 stores the state in which an abnormality occurred, and can confirm the state in which the abnormality occurred without having to recreate the situation in which the abnormality occurred. This makes it possible, for example, to easily confirm the state in which the abnormality occurred later without requiring a large space.

[0140] [1a] As described above, the work vehicle 1, as in the second embodiment, Body 3 and a working device 4 connected to the vehicle body 3; a processing device (2) that controls the operation device (4) by outputting output data based on the acquired input data; The processing device 2 includes: determining an abnormality in the working device (4) based on at least one of the input data and the output data; When it is determined that an apparatus abnormality has occurred, abnormality data indicating that the apparatus abnormality has occurred is stored in association with status data which is data relating to at least one of the input data and the output data at the time when it is determined that the apparatus abnormality has occurred. This configuration is preferable.

[0141] According to this configuration, when a device abnormality is determined, the abnormality data indicating the determination of the device abnormality and the status data, which is data related to at least one of the input data and the output data at the time of the device abnormality determination, are stored in association with each other, thereby making it possible to store the status in which the abnormality occurred.

[0142] [2a] Furthermore, in the work vehicle 1 of [1a] above, as in the second embodiment, The working device 4 includes a loading / unloading device 32 that loads and unloads the load receiving device 31 between a position where the load receiving device 31 is placed on the vehicle body 3 and a position where the load receiving device 31 is placed on the ground. This configuration is preferable.

[0143] According to this configuration, the working device 4 is equipped with the cargo handling device 32, and the cargo handling device 32 loads and unloads the cargo receiving device 31 between a position where it is placed on the vehicle body 3 and a position where it is placed on the ground. As a result, in order to recreate the state in which an abnormality occurred, a large space is required in which the cargo receiving device 31 can be placed on the ground. However, because the state in which the abnormality occurred can be reliably stored, it is possible to confirm the state in which the abnormality occurred, for example, without recreating the situation in which the abnormality occurred.

[0144] [3a] Furthermore, in the work vehicle 1 of [1a] or [2a] above, as in the second embodiment, The working device 4 is a device having a plurality of working processes, The processing device 2 determines a work process to be performed by the work device 4 based on at least one of the input data and the output data, the status data includes data of the work process determined based on at least one of the input data and the output data when the device abnormality is determined; This configuration is preferable.

[0145] According to this configuration, the status data includes data on the work process determined based on at least one of the input data and the output data when the device is determined to have an abnormality, thereby making it possible to store the work process when the abnormality occurred.

[0146] [4a] Furthermore, in any one of the work vehicles 1 described above [1a] to [3a], as in the second embodiment, The processing device 2 stores an accumulated operation time that accumulates the time that the operation device 4 has performed an operation, The status data includes data on the integrated operation time when the device abnormality is determined. This configuration is preferable.

[0147] According to this configuration, the status data includes data on the cumulative operation time when it is determined that an apparatus abnormality has occurred, which makes it possible to store the cumulative operation time when an abnormality has occurred.

[0148] [5a] Furthermore, the program 106a, as in the second embodiment, A program 106a used in any one of the work vehicles 1 described above [1a] to [4a], causing the work vehicle 1 to execute a data storage method, The data storage method includes a step of storing the abnormality data and the status data in association with each other. This configuration is preferable.

[0149] With this configuration, the state in which the abnormality occurred can be stored.

[0150] [6a] Furthermore, the program 106a, as in the second embodiment, a program 106a causing at least one processor 105 to execute a data display method, The data display method includes a step of acquiring and displaying the abnormality data and the status data stored in association with each other in any one of the work vehicles 1 described above in [1a] to [4a]. This configuration is preferable.

[0151] According to this configuration, the abnormality data and the status data that are stored in association with each other are displayed, so that the status in which the abnormality occurred can be easily confirmed later.

[0152] The work vehicle 1 and program 106a are not limited to the configurations and operations of the work vehicle 1 and program 106a according to the second embodiment described above. For example, the following modifications may be made to the work vehicle 1 and program 106a according to the second embodiment described above.

[0153] In the work vehicle 1 according to the second embodiment, the processing device 2 controls the extension / retraction amount of the lift cylinder 35 based on the calculated ground angle of the lift frame 34. However, the work vehicle 1 is not limited to this configuration. For example, the work vehicle 1 may be equipped with a lift position detection unit (e.g., a proximity sensor, a contact sensor, a photoelectric sensor, etc.) that detects the lift frame 34 positioned at a reference ground angle (e.g., the positions of the second unloading state and the completed state in the unloading method, and the positions of the first rear ground contact state and the second loading state in the loading method), and the processing device 2 may control the extension / retraction amount of the lift cylinder 35 based on the detection by the lift position detection unit.

[0154] The work vehicle 1 and program 106a are not limited to the configurations of the above-described embodiments, and are not limited to the above-described effects. Furthermore, it goes without saying that various modifications can be made to the work vehicle 1 and program 106a without departing from the spirit of the present invention. For example, the configurations and methods of the above-described embodiments may be arbitrarily adopted and combined (the configurations and methods of one embodiment may be applied to the configurations and methods of another embodiment), and further, it goes without saying that one or more of the configurations and methods of the various modified examples described below may be arbitrarily selected and adopted in the configurations and methods of the above-described embodiments.

[0155] (A) In the work vehicle 1 according to the first and second embodiments, the status data of the related abnormal status data includes input data, output data, and data determined and calculated from multiple data. However, the work vehicle 1 is not limited to this configuration.

[0156] For example, the status data of the related abnormal status data may be configured to consist only of input data, or may be configured to consist only of output data, or may be configured to consist only of data determined and calculated from multiple data.

[0157] (B) Furthermore, in the work vehicle 1 according to the first and second embodiments, the working device 4 is configured to be a device equipped with cargo handling devices 8, 32 that load and unload the cargo receiving devices 7, 31 between a position where it is placed on the vehicle body 3 and a position where it is placed on the ground, and is equipped with a plurality of work processes. Specifically, the work vehicle 1 according to the first embodiment is a container transporter, and the work vehicle 1 according to the second embodiment is a vehicle transporter. However, the work vehicle 1 is not limited to this configuration.

[0158] For example, the work vehicle 1 may not be equipped with the loading and unloading devices 8, 32. Specifically, the work vehicle 1 may be, for example, a dump truck, a garbage truck, a tanker truck, a powder transport vehicle, a concrete pump truck, or a vehicle equipped with a loading platform lifting device. Also, for example, the work device 4 may be a device consisting of a single work process.

[0159] (C) Furthermore, in the work vehicle 1 according to the first and second embodiments, the processing device 2 is configured to determine the work process to be performed by the work device 4 based on at least one of the input data and the output data. However, the work vehicle 1 is not limited to this configuration.

[0160] For example, if the work process is determined by the date and time stored in advance in the processing device 2, the processing device 2 may be configured to determine the work process to be performed by the operation device 4 based on the date and time when the device abnormality occurred. Also, for example, the processing device 2 may be configured not to determine the work process to be performed by the operation device 4. In other words, the status data may be configured not to include data on the determined work process.

[0161] (D) Furthermore, in the work vehicle 1 according to the first and second embodiments, the processing device 2 stores the accumulated work time, and the status data includes data on the accumulated work time when an equipment abnormality is determined. However, the work vehicle 1 is not limited to this configuration. For example, the processing device 2 may be configured not to store the accumulated work time. Also, for example, the status data may be configured not to include data on the accumulated work time when an equipment abnormality is determined.

[0162] (E) Furthermore, in the work vehicle 1 according to the first and second embodiments, the status data stored in association with the abnormality data is, for example, the status data when a device abnormality is determined. However, the work vehicle 1 is not limited to this configuration.

[0163] For example, the status data stored in association with the abnormality data may include not only the status data at the time when the device abnormality is determined, but also at least one of the status data before and after the device abnormality is determined. In such a configuration, the status data may further include status data at multiple timings at predetermined intervals. Although not particularly limited, for example, the status data stored in association with the abnormality data may include not only the status data at the time when the device abnormality is determined, but also status data every second for only five seconds before and after the time when the device abnormality is determined.

[0164] (F) Also, for example, in the work vehicle 1, the display unit 23a of the work vehicle 1 may be equipped with a monitor, and the monitor (display unit 23a) may be configured to display the abnormality data and status data that are stored in association with each other.

[0165] (G) It should be noted that, for example, the order of execution of each process, such as the operations, procedures, steps, and stages, in the systems, methods, programs, and devices shown in the claims, specifications, and drawings, can be implemented in any order, as long as the output of a previous process is not used in a subsequent process. For example, even if the terms "first" and "next" are used for convenience, this does not mean that the processes must be executed in that order. [Explanation of symbols]

[0166] 1...work vehicle, 2...vehicle processing device, 2a...acquisition unit, 2b...storage unit, 2c...calculation unit, 2d...control unit, 3...vehicle body, 3a...operator's cab, 3b...vehicle body frame, 3c...wheels, 4...working device, 5...engine, 6...drive switching unit, 7...load receiving device, 8...load handling device, 8a...hydraulic pump, 8b...valve, 9...device frame, 10...dump arm, 11...lift arm, 12...hook arm, 12a...hook, 13...lift cylinder, 14...hook cylinder , 15...lock mechanism, 16...vehicle body inclination angle detection unit, 17...lift inclination angle detection unit, 18...hook inclination angle detection unit, 19...lock detection unit, 20...lift position detection unit, 21...hook position detection unit, 22...input unit, 22a...loading input unit, 22b...unloading input unit, 22c...dump lift input unit, 22d...dump lowering input unit, 22e...load front movement input unit, 22f...load rear movement input unit, 22g...high speed input unit, 22h...low speed input unit, 23...output unit, 23a...display unit, 23b...sound generating unit, 23c...external output unit, 30...device frame, 31...load receiving device, 31a...body, 31b...tailgate, 32...load handling device, 32a...hydraulic pump, 32b...valve, 33...lift arm, 34...lift frame, 35...lift cylinder, 36...slide mechanism, 36a...chain, 36b...motor, 37...load receiving movement detection unit, 38...first load receiving position detection unit, 39...second load receiving position detection unit, 40...third load receiving position detection unit, 41...Vehicle body tilt angle detection unit, 42...Lift tilt angle detection unit, 43...Upper limit tilt detection unit, 100...Vehicle system, 101...Terminal device, 102...Input device, 103...Terminal processing device, 104...Output device, 104a...Display unit, 105...Processor, 106...Memory, 106a...Program, 106b...Database, 107...Interface, D1...Forward / backward direction (first lateral direction), D2...Left / right direction (second lateral direction), D3...Up / down direction, X1...Communication means

Claims

1. The car body and a working device connected to the vehicle body; a processing device that controls the operation device by outputting output data based on the acquired input data; The processing device includes: determining an abnormality in the working device based on at least one of the input data and the output data; When it is determined that an apparatus abnormality has occurred, abnormality data indicating that the apparatus abnormality has occurred is stored in association with status data that is data relating to at least one of the input data and the output data at the time when it is determined that the apparatus abnormality has occurred.

2. The work vehicle according to claim 1 , wherein the work device comprises a loading / unloading device that loads and unloads the load receiving device between a position where the load receiving device is placed on the vehicle body and a position where the load receiving device is placed on the ground.

3. The working device is a device having a plurality of working processes, the processing device determines a work process to be performed by the work device based on at least one of the input data and the output data; The work vehicle according to claim 1 or 2, wherein the status data includes data on a work process determined based on at least one of the input data and the output data when the device abnormality is determined.

4. The processing device stores an accumulated operation time that is an accumulation of the time that the operation device has performed, The work vehicle according to claim 1 or 2, wherein the condition data includes data on the accumulated work time when the device abnormality is determined.

5. A program used in the work vehicle according to claim 1 or 2, causing the work vehicle to execute a data storage method, The data storage method includes a step of storing the abnormality data and the status data in association with each other.

6. A program causing at least one processor to execute a data display method, 3. A program, comprising: a data display method, the data display method comprising the steps of: acquiring and displaying the abnormality data and the status data stored in association with each other in the work vehicle according to claim 1 or 2.

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