Vehicle system, load handling vehicle and program

Abstract

To provide a vehicle system which can change a final ground position of a load receiving device to a desired position.SOLUTION: A vehicle system includes a load handling vehicle, and a terminal device communicable with the load handling vehicle. The load handling vehicle includes a vehicle body, a load handling device for loading / unloading a load receiving device between an on-vehicle position where the load receiving device is mounted on the vehicle body, and a final ground position where the load receiving device is mounted on the ground surface, and a processing device for controlling the load receiving device. The load handling device includes a correlation body having a correlation with the position of the load receiving device, and the load handling vehicle includes a correlation detection part for detecting the correlation body. The terminal device includes a first setting input part to which first setting instruction data for setting the final ground position of the load receiving device is input. The processing device sets the current position of the correlation body as a correlation position of the final ground position, on the basis of the first setting instruction data, and when the correlation detection part detects that the correlation body is positioned at the correlation position, determines that the load receiving device is positioned at the final ground position, and stops the load receiving device.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present specification relates to a vehicle system, a cargo handling vehicle, and a program. [Background technology]

[0002] Conventionally, for example, a cargo handling vehicle includes a vehicle body, a cargo receiving device, a cargo handling device that loads and unloads the cargo receiving device between an on-vehicle position where the cargo is placed on the vehicle body and a final contact position where the cargo is placed on the ground, and a processing device that controls the cargo handling device (for example, Patent Document 1). However, there is a demand for the final contact position of the cargo receiving device to be flexibly changed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-207573 Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, an object of the present invention is to provide a vehicle system that can change the final contact position of the cargo receiving device to a desired position. [Means for solving the problem]

[0005] The vehicle system is A cargo vehicle, a terminal device capable of communicating with the cargo handling vehicle, The loading vehicle is The car body and a cargo handling device that loads and unloads the cargo receiving device between an on-vehicle position where the cargo receiving device is placed on the vehicle body and a final contact position where the cargo receiving device is placed on the ground; a processing device for controlling the loading and unloading device, The loading device includes a correlator whose position is correlated with the position of the loading device; The cargo handling vehicle includes a correlation detection unit that detects the correlator, The terminal device includes a first setting input unit to which first instruction data for setting the final landing position of the goods receiving device is input, the processing device sets the current position of the correlator as a correlated position of the final touchdown position based on the first setting instruction data; When the correlation detection unit detects that the correlator is located at the correlation position, it is determined that the goods receiving device is located at the final contact position, and the goods receiving device is stopped. [Brief explanation of the drawings]

[0006] [Figure 1] 1 is a schematic diagram of a vehicle system according to an embodiment; [Figure 2] FIG. 2 is a control block diagram of the processing apparatus according to the embodiment; [Figure 3] Overall view of the cargo handling vehicle according to the embodiment. [Figure 4] FIG. 10 is a flow chart of a loading and unloading operation of the loading and unloading vehicle according to the embodiment (a: flow chart of unloading operation, b: flow chart of loading operation). [Figure 5] 1 is an explanatory diagram of a loading and unloading operation of a cargo handling vehicle according to the embodiment; [Figure 6] 1 is an explanatory diagram of a loading and unloading operation of a cargo handling vehicle according to the embodiment; [Figure 7] 1 is an explanatory diagram of a loading and unloading operation of a cargo handling vehicle according to the embodiment; [Figure 8] 1 is an explanatory diagram of a loading and unloading operation of a cargo handling vehicle according to the embodiment; [Figure 9] FIG. 2 is a control block diagram of the cargo handling vehicle according to the embodiment; [Figure 10] FIG. 2 is a control block diagram of a terminal device according to the embodiment; [Figure 11] FIG. 10 is a diagram showing a display screen of the terminal device according to the embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0007] 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.

[0008] 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.

[0009] An embodiment of a vehicle system, a cargo handling vehicle, and a program will be described below with reference to Figures 1 to 11. Note that the following embodiment is provided as an example to aid in understanding the configurations of the vehicle system, the cargo handling vehicle, and the program, and does not limit the configurations of the vehicle system, the cargo handling vehicle, and the program.

[0010] 1, a vehicle system 100 according to this embodiment includes a cargo handling vehicle 1 and a terminal device 101 capable of communicating with the cargo handling vehicle 1. The cargo handling vehicle 1 includes a processing device (also referred to as a "vehicle processing device") 2, and the terminal device 101 includes a processing device (also referred to as a "terminal processing device") 102, and the processing devices 2 and 102 can communicate with each other via communication means X1.

[0011] 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.

[0012] 2, each processing device 2, 102 is a computer including, for example, a processor 3, a memory 4, and various interfaces 5. For example, the memory 4 stores a program 4a and a database 4b, the processor 3 executes the program 4a, and the various parts of the processing device 2, 102 are realized by the software and hardware working together.

[0013] The processor 3 is configured to be able to execute computer-executable instructions. The processor 3 is not particularly limited, and may be, for example, a central processing unit (CPU), a microprocessor (MPU), or the like.

[0014] The memory 4 is configured to be able to store computer data. The memory 4 includes not only a memory that temporarily stores data when the processor 3 executes processing, but also a storage that permanently stores data. The memory 4 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.

[0015] As shown in Fig. 3, the cargo handling vehicle 1 includes a vehicle body 6, a cargo receiving device 7, and a cargo handling device 8 connected to the vehicle body 6 and configured to load and unload the cargo receiving device 7 between an on-vehicle position where the device is placed on the vehicle body 6 (see Fig. 5(a)) and a final contact position where the device is placed on the ground (see Fig. 7(b)). The vehicle body 6 may include, for example, as in this embodiment, a driver's cab 6a disposed at the front, a vehicle body frame 6b disposed at the rear, and a plurality of wheels 6c.

[0016] 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. That is, each of the directions D1 to D3 is a direction seen from the perspective of a person (driver) sitting in the driver's seat in the driver's cab 6a of the cargo handling vehicle 1 when the cargo handling vehicle 1 is traveling.

[0017] 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.

[0018] As in the present embodiment, the cargo handling vehicle 1 may include, for example, an engine 9 and a drive switching unit (also referred to as a "power take-off (PTO)") 10 that can switch the destination of the drive power of the engine 9. The drive switching unit 10 may be switchable, for example, between a first state (travelable state) in which the drive power of the engine 9 is transmitted to the wheels 6c, and a second state (workable state) in which the drive power of the engine 9 is transmitted to the cargo handling device 8.

[0019] The cargo receiving device 7 may, for example, as in this embodiment, include a body 7a on which another vehicle can be placed and a tailgate 7b rotatably connected to the rear end of the body 7a. As a result, in this embodiment, the object to be transported by the cargo handling vehicle 1 is a car, and the cargo handling vehicle 1 is a car transport vehicle.

[0020] The loading device 8 includes a lift frame 11 that is rotatable relative to the vehicle body 6. The loading device 8 may also include, for example, as in this embodiment, a device frame 12 that is fixed to the vehicle body frame 6b and rotatably connected to the lift frame 11, and lift arms 13 that are rotatably connected to the device frame 12 and the lift frame 11, respectively.

[0021] The cargo handling device 8 is equipped with a cylinder 14 that moves the cargo receiving device 7 by extending and retracting. The cylinder 14 may, for example, connect the device frame 12 and the lift arm 13 as in this embodiment. As a result, the cargo receiving device 7 and the lift frame 11 move relative to the vehicle body 6 by extending and retracting the cylinder 14.

[0022] Although not particularly limited, for example, as in this embodiment, the cylinder 14 may be a hydraulic cylinder, and the cargo handling device 8 may include a hydraulic pump 8a and valves 8b (see FIG. 9), etc. As a result, the hydraulic pump 8a is operated by driving the engine 9, and the cylinder 14 expands and contracts as a result of the opening and closing of the multiple valves 8b.

[0023] In this embodiment, the hydraulic pump 8a is operated by driving the engine 9, and therefore the rotation speed of the hydraulic pump 8a is controlled by the rotation speed of the engine 9. As a result, the operating speed of the cylinder 14 changes depending on the hydraulic pressure (the rotation speed of the hydraulic pump 8a), and therefore the operating speed of the cylinder 14 is controlled by controlling the rotation speed of the engine 9.

[0024] Furthermore, the cargo handling device 8 may be provided with a slide mechanism 15 that slidably connects the cargo receiving device 7 to the lift frame 11, as in this embodiment. This allows the cargo receiving device 7 to slide on the lift frame 11, and the cargo receiving device 7 can be positioned at an inclined grounding position (see Figures 6(b) and 7(a)) where the rear end of the device 7 is in contact with the ground.

[0025] The slide mechanism 15 may, for example, as in this embodiment, include a circular chain 15a, a portion of which is fixed to the goods receiving device 7 and supported by the lift frame 11, and a motor 15b that rotates and moves the chain 15a. However, the slide mechanism 15 is not limited to this configuration, and may, for example, be a cylinder that connects the goods receiving device 7 and the lift frame 11.

[0026] Although not particularly limited, for example, as in this embodiment, the motor 15b may be a hydraulic motor, and the cargo handling device 8 may include a hydraulic pump 8a and valves 8b (see FIG. 9), etc. As a result, the hydraulic pump 8a is operated by driving the engine 9, and the motor 15b is rotated by opening and closing the multiple valves 8b.

[0027] In this embodiment, the hydraulic pump 8a is operated by the engine 9, and the motor 15b is operated by the hydraulic pump 8a. The rotation speed of the motor 15b is controlled by the rotation speed of the hydraulic pump 8a, specifically, the rotation speed of the engine 9. As a result, the slide movement speed of the goods receiving device 7 is controlled by controlling the rotation speed of the engine 9.

[0028] The cargo handling vehicle 1 also includes a vehicle body inclination angle detection unit 16 that detects the inclination angle θ1 of the vehicle body 6 with respect to the horizontal (see the dashed line in FIG. 3), and a lift inclination angle detection unit 17 that detects the inclination angle of the lift frame 11 with respect to the horizontal. Each inclination angle detection unit 16, 17 is not particularly limited, and may be, for example, a sensor that can detect the inclination angle of each unit 6, 11 with respect to the horizontal.

[0029] The lift tilt angle detection unit 17 may indirectly detect the tilt angle of the lift frame 11 by detecting the tilt angle of the lift arm 13, which has a correlation, as in this embodiment. However, the lift tilt angle detection unit 17 is not limited to such a configuration, and may, for example, directly detect the tilt angle of the lift frame 11.

[0030] Here, the operation of the cargo handling device 8, specifically the loading and unloading operation, will be described. First, the unloading operation of the loading and unloading operation will be described with reference to FIG. 4(a) and FIGS.

[0031] As shown in FIG. 5(a), when the cargo handling device 8 is in the initial state, the cargo receiving device 7 is located in an on-vehicle position where it is placed on the vehicle body 6. Then, in the first rear sliding step, the sliding mechanism 15 causes the cargo receiving device 7 to slide rearward (toward the right in each figure). As a result, as shown in FIG. 5(b), the cargo receiving device 7 is located in the first unloading position. Note that in the first rear sliding step, the cylinder 14 (not shown in FIG. 5) does not extend or retract.

[0032] Then, in the first unloading lifting step, the cylinder 14 extends, causing the lift frame 11 to rotate backward (clockwise in each figure). As a result, as shown in Figure 6(a), the load receiving device 7 is located at the second unloading position. Note that in the first unloading lifting step, the slide mechanism 15 does not operate.

[0033] Then, in the second rear sliding step, the goods receiving device 7 slides rearward by the slide mechanism 15. As a result, as shown in Fig. 6(b), the rear end of the goods receiving device 7 touches the ground, and the goods receiving device 7 is positioned at the first inclined grounding position. Note that in the second rear sliding step, the cylinder 14 does not extend or retract.

[0034] When the goods receiving device 7 is located at the first inclined ground position, the inclination angle of the goods receiving device 7 relative to the horizontal is the same as the inclination angle of the lift frame 11 relative to the horizontal. Specifically, in the second rear sliding step, the inclination angle of the goods receiving device 7 relative to the horizontal is the same as the inclination angle of the lift frame 11 relative to the horizontal.

[0035] Then, in the third rear sliding step, the goods receiving device 7 slides rearward by the slide mechanism 15. As a result, the goods receiving device 7 is positioned at the second inclined ground contact position, as shown in Fig. 7(a). Note that in the third rear sliding step, the cylinder 14 does not extend or retract.

[0036] In the third rear sliding step, the goods receiving device 7 slides rearward while its rear end slides on the ground, so that the goods receiving device 7 gradually moves away from the lift frame 11 from the rear side. As a result, in the third rear sliding step, the inclination angle of the goods receiving device 7 relative to the horizontal gradually becomes smaller than the inclination angle of the lift frame 11 relative to the horizontal. Therefore, when the goods receiving device 7 is located in the second inclined ground contact position, the inclination angle of the goods receiving device 7 relative to the horizontal is smaller than the inclination angle of the lift frame 11 relative to the horizontal.

[0037] Then, in the second unloading lifting step, the cylinder 14 extends, causing the lift frame 11 to rotate backward. As a result, the front end of the load receiving device 7 moves downward, and as shown in FIG. 7(b), it moves to the final ground contact position. When the load receiving device 7 is positioned at the final ground contact position, the front end of the load receiving device 7 is supported on the ground via the rear end of the lift frame 11, so the entire load receiving device 7 is supported on the ground. In this way, when the load receiving device 7 is positioned at the final ground contact position, other vehicles loaded on the load receiving device 7 can be unloaded from the load receiving device 7.

[0038] When the cargo receiving device 7 is located at a position between the first inclined ground position and the second inclined ground position, the rear end of the cargo receiving device 7 is in contact with the ground, so other vehicles on the cargo receiving device 7 can also be unloaded from the cargo receiving device 7. Therefore, the position of the cargo receiving device 7 when the unloading operation is completed may be a position between the first inclined ground position and the second inclined ground position.

[0039] In the second unloading lift process, the slide mechanism 15 does not operate. Also, even if command data is input to the vehicle input unit 22 (unloading input unit 22b) described later when the load receiving device 7 is positioned at the final grounding position, the vehicle processing device 2 does not extend the cylinder 14.

[0040] Next, the loading operation among the loading and unloading operations will be described with reference to FIG. 4(b) and FIGS. 5 to 7. FIG.

[0041] As shown in FIG. 7(b), when the cargo handling device 8 is in the initial state, the cargo receiving device 7 is located at the final ground contact position. This allows another vehicle to be loaded onto the cargo receiving device 7. Then, in the first loading lift process, the cylinder 14 contracts, causing the lift frame 11 to rotate forward (counterclockwise in each figure). As a result, as shown in FIG. 7(a), the cargo receiving device 7 touches the ground only at its rear end, and is located at the second inclined ground contact position. Note that the slide mechanism 15 does not operate in the first loading lift process.

[0042] Then, in the first forward sliding step, the sliding mechanism 15 slides the goods receiving device 7 forward (to the left in each figure). As a result, as shown in Figure 6(b), the goods receiving device 7 is positioned at the first inclined ground contact position. Note that in the first forward sliding step, the cylinder 14 does not extend or retract.

[0043] When the goods receiving device 7 is located at the second inclined ground position, the inclination angle of the goods receiving device 7 relative to the horizontal is smaller than the inclination angle of the lift frame 11 relative to the horizontal. In the first forward sliding process, the goods receiving device 7 slides forward while sliding its rear end on the ground, so that the goods receiving device 7 gradually approaches the lift frame 11 from the rear side.

[0044] As a result, in the first rear sliding step, the inclination angle of the goods receiving device 7 relative to the horizontal gradually increases. Therefore, when the goods receiving device 7 is located at the first inclined grounding position, the inclination angle of the goods receiving device 7 relative to the horizontal becomes the same as the inclination angle of the lift frame 11 relative to the horizontal.

[0045] When the cargo receiving device 7 is at a position between the first inclined ground contact position and the second inclined ground contact position, the rear end of the cargo receiving device 7 is in contact with the ground, so that other vehicles can be loaded onto the cargo receiving device 7. As a result, in the initial state of the cargo handling device 8 during loading work, the cargo receiving device 7 may be at a position between the first inclined ground contact position and the second inclined ground contact position.

[0046] Then, in the second forward sliding step, the goods receiving device 7 slides forward by the slide mechanism 15. As a result, the goods receiving device 7 is positioned at the first loading position, as shown in Fig. 6(a). Note that in the second forward sliding step, the cylinder 14 does not extend or retract.

[0047] Then, in the second loading lifting step, the cylinder 14 contracts, causing the lift frame 11 to rotate forward. As a result, the goods receiving device 7 is located at the second loading position, as shown in Fig. 5(b). Note that in the second loading lifting step, the slide mechanism 15 does not operate.

[0048] Then, in the third forward sliding step, the goods receiving device 7 slides forward by the slide mechanism 15. As a result, as shown in Fig. 5(a), the goods receiving device 7 is placed on the vehicle body 6, and the goods receiving device 7 is positioned at the on-vehicle position. Note that in the third forward sliding step, the cylinder 14 does not extend or retract.

[0049] As shown in Figure 8, when the load receiving device 7 is located at the inclined ground position, the lift frame ground angle θ2 (the inclination angle θ2 of the lift frame 11 relative to the vehicle body 6; see Figure 3) is called the inclined ground angle θ2a, θ2b. The processing device 2 stores a first angle θ2a (see Figure 8(a)) and a second angle θ2b (see Figure 8(b)) smaller than the first angle θ2a as the inclined ground angles θ2a, θ2b.

[0050] Although not particularly limited, for example, the first angle θ2a is an angle used when loading a vehicle with a normal vehicle height onto the cargo receiving device 7, and may be configured to be 11° to 13°. Furthermore, although not particularly limited, the second angle θ2b is an angle used when loading a vehicle with a low vehicle height (for example, a sports car) onto the cargo receiving device 7, and may be configured to be 9° to 11°.

[0051] Furthermore, as shown in Figure 9, the cargo handling vehicle 1 may be equipped with, for example, a cargo receiving movement detection unit 18 that detects the amount of movement (slide amount) of the cargo receiving device 7, a first cargo receiving position detection unit 19 that detects the cargo receiving device 7 located at a first reference position, a second cargo receiving position detection unit 20 that detects the cargo receiving device 7 located at a second reference position, a third cargo receiving position detection unit 21 that detects the cargo receiving device 7 located at a third reference position, an input unit (also referred to as a "vehicle input unit") 22 into which various data are input, and an output unit (also referred to as a "vehicle output unit") 23 that outputs various data.

[0052] The goods movement detection unit 18 is not particularly limited, but may be, for example, a sensor (for example, an encoder) that detects the amount of rotation of the motor 15b or the amount of rotation of the sprocket wound around the chain 15a. The goods movement detection unit 18 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 15a.

[0053] The first reference position detected by the first goods receiving position detection unit 19 may be, for example, the front end position of the goods receiving device 7 shown in Fig. 5(a). The second reference position detected by the second goods receiving position detection unit 20 may be, for example, the middle position of the goods receiving device 7 shown in Fig. 5(b). The third reference position detected by the third goods receiving position detection unit 21 may be, for example, the rear end position of the goods receiving device 7 shown in Fig. 7(a). Although not particularly limited, each goods receiving position detection unit 19-21 may be, for example, various types of sensors (for example, proximity sensors, contact sensors, photoelectric sensors, etc.).

[0054] In this embodiment, the cargo handling vehicle 1 is equipped with both the cargo receiving movement detection unit 18 and the first to third cargo receiving position detection units 19 to 21, but is not limited to this configuration. The cargo handling vehicle 1 may be configured to include only the cargo receiving movement detection unit 18, or may be configured to include only the first to third cargo receiving position detection units 19 to 21, for example.

[0055] The vehicle input unit 22 may include, for example, as in this embodiment, a loading input unit 22a to which instruction data for executing a loading operation is input, an unloading input unit 22b to which instruction data for executing an unloading operation is input, a high-speed input unit 22c to which instruction data for increasing the rotation speed of the engine 9 (specifically, the operation of the cargo handling device 8) is input, and a low-speed input unit 22d to which instruction data for decreasing the rotation speed of the engine 9 is input. Although not particularly limited, each of the input units 22a to 22d may be, for example, various switches, touch panels, etc.

[0056] The vehicle output unit 23 may include, for example, as in this embodiment, a display unit (e.g., an electronic bulletin board, a signal light) 23a that displays data, a sound output unit (e.g., a buzzer, a speaker) 23b that outputs the data as sound, and an external output unit 23c that outputs data to the outside (e.g., a terminal device 101, etc.).

[0057] The vehicle processing device 2 may include, for example, an acquisition unit 2a that acquires each piece of data from each unit 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 unit 8, 9, 23. For example, the calculation unit 2c and the control unit 2d may be configured as a processor 3 (see FIG. 2), and the acquisition unit 2a and the storage unit 2b may be configured as a memory 4 (see FIG. 2).

[0058] As a result, the processor 3 executes the program 4a (see FIG. 2) stored in the memory 4, 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.

[0059] 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.

[0060] The vehicle processing device 2 calculates the tilt angle (lift frame ground angle) θ2 of the lift frame 11 relative to the vehicle body 6 based on the angle detected by the vehicle body tilt angle detection unit 16 (vehicle body tilt angle) and the angle detected by the lift tilt angle detection unit 17 (lift frame tilt angle). Since the lift frame ground angle θ2 correlates with the position of the goods receiving device 7, for example, in each lift process of the loading / unloading work, the vehicle processing device 2 may control the cylinder 14 (specifically, the valve 8b) based on the calculated lift frame ground angle θ2.

[0061] Furthermore, the vehicle processing device 2 may calculate the position of the goods receiving device 7 relative to the lift frame 11, for example, based on the detection of the goods receiving movement detection unit 18. Then, for example, in each sliding process of the loading / unloading work, the vehicle processing device 2 may control the motor 15b based on the calculated position of the goods receiving device 7.

[0062] 10, the terminal device 101 may include, for example, an input unit (also referred to as a "terminal input unit") 103 to which data is input, and an output unit (also referred to as a "terminal output unit") 104 to which data is output. Although not particularly limited, the terminal device 101 may be, for example, a portable mobile terminal, a personal computer, a tablet computer, or the like.

[0063] The terminal input unit 103 includes a first setting input unit 105 to which first setting instruction data for setting the final landing position of the cargo receiving device 7 is input, and a second setting input unit 106 to which second setting instruction data for setting the inclined landing angles θ2a, θ2b to the first angle θ2a (see Figure 8(a)) or the second angle θ2b (see Figure 8(b)) is input.

[0064] The terminal output unit 104 may, for example, as in this embodiment, include a display unit (e.g., an electronic bulletin board, a signal light) 104a that displays data, a sound output unit (e.g., a buzzer, a speaker) 104b that outputs the data as sound, and an external output unit 104c that outputs data to the outside (e.g., a loading vehicle 1, etc.).

[0065] The terminal processing device 102 may include, for example, an acquisition unit 102a that acquires each piece of data from each unit 1, 103, a storage unit 102b that stores each piece of data, a calculation unit 102c that calculates each piece of data, and a control unit 102d that controls each unit 104. For example, the calculation unit 102c and the control unit 102d may be configured as a processor 3 (see FIG. 2), and the acquisition unit 102a and the storage unit 102b may be configured as a memory 4 (see FIG. 2).

[0066] As a result, the processor 3 executes the program 4a (see FIG. 2) stored in the memory 4, and the software and hardware work together to realize the units 102a to 102d of the terminal processing device 102. Note that the terminal processing device 102 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.

[0067] Furthermore, the terminal processing device 102 may be configured as, for example, a single device, or may be configured as, for example, a plurality of devices that can communicate with each other. Specifically, the units 102a to 102d of the terminal processing device 102 may be provided in, for example, a single device, or may be provided as, for example, a plurality of devices that can communicate with each other.

[0068] As shown in FIG. 11, for example, the vehicle processing device 2 may output (transmit) the vehicle body inclination angle detected by the vehicle body inclination angle detection unit 16 to the terminal device 101, and the terminal device 101 may acquire the vehicle body inclination angle and display it on the display unit 104a of the terminal output unit 104 (see "Vehicle body inclination angle" under "Direct angle" in FIG. 11).

[0069] Also, for example, as in this embodiment, the vehicle processing device 2 may output (transmit) the lift tilt angle detected by the lift tilt angle detection unit 17 to the terminal device 101, and the terminal device 101 may acquire the lift tilt angle and display it on the display unit 104a of the terminal output unit 104 (see "Lift tilt angle" under "Direct angle" in Figure 11).

[0070] In addition, the vehicle processing device 2 outputs (transmits) to the terminal device 101 the position of the cargo receiving device 7 relative to the lift frame 11 calculated based on the detection of the cargo receiving movement detection unit 18, and the terminal device 101 acquires the position of the cargo receiving device 7 and displays it on the display unit 104a of the terminal output unit 104 (see ``Cargo Receiving Position'' under ``Direct Position'' in Figure 11).

[0071] Incidentally, since the position of the lift frame 11 correlates with the position of the goods receiving device 7, the lift frame 11 is also referred to as a correlator 8c (see Fig. 3). A detection unit that detects the lift frame 11, which is the correlator 8c, specifically, a lift inclination angle detection unit 17 that detects the inclination angle of the lift frame 11, is also referred to as a correlation detection unit 1a that detects the correlator 8c (see Figs. 3 and 9).

[0072] The vehicle processing device 2 outputs (transmits) the calculated lift frame ground angle θ2 to the terminal device 101, and the terminal device 101 acquires the lift frame ground angle θ2 and displays it on the display unit 104a of the terminal output unit 104 (see "lift frame ground angle" under "relative angle" in Figure 11). This allows the position of the goods receiving device 7 to be confirmed using the lift frame ground angle θ2.

[0073] Here, a setting method for the vehicle system 100 according to this embodiment will be described. Note that the following is an example to help understand the setting method for the vehicle system 100, and is not intended to limit the setting method for the vehicle system 100.

[0074] First, a method for setting the final contact position of the goods receiving device 7 will be described.

[0075] First, the goods receiving device 7 is positioned at the desired final landing position by inputting instruction data into the vehicle input unit 22. Then, with the goods receiving device 7 positioned at the desired final landing position, first setting instruction data is input into the first setting input unit 105 of the terminal input unit 103. Note that the method of inputting the first setting instruction data into the first setting input unit 105 is not particularly limited.

[0076] For example, the method of inputting the first setting instruction data into the first setting input unit 105 may be as follows: as shown in FIG. 11, to select a setting change for the final contact position, the mouse pointer is moved to the position of the toggle switch 105a for "final contact position" and the mouse is clicked, and then, to change the setting, the mouse pointer is moved to the position of the switch 105b for "send setting" and the mouse is clicked, thereby inputting the first setting instruction data into the first setting input unit 105.

[0077] Then, when first setting instruction data is input to the first setting input unit 105, the terminal device 101 (specifically, the external output unit 104c) outputs the first setting instruction data to the loading vehicle 1, and the loading vehicle 1 (specifically, the acquisition unit 2a) acquires the first setting instruction data.

[0078] As a result, in this embodiment, the vehicle processing device 2 sets the current position of the lift frame 11, which is the correlator 8c, specifically the current value of the vehicle lift frame ground angle θ2, as the correlated position of the final touchdown position. That is, the vehicle processing device 2 sets the current position of the correlator 8c as the correlated position of the final touchdown position.

[0079] Therefore, thereafter, when the calculated vehicle lift frame ground angle θ2 based on the detections of the vehicle body tilt angle detection unit 16 and the lift tilt angle detection unit 17 reaches a value set as the correlation position of the final touchdown position, the vehicle processing device 2 determines that the goods receiving device 7 is positioned at the final touchdown position and stops the goods receiving device 7. In this way, the current position of the goods receiving device 7 is set as the final touchdown position, so that the final touchdown position of the goods receiving device 7 can be changed to a desired position.

[0080] When the rear end of the goods receiving device 7 is in the second inclined ground contact position (see FIG. 7(a)), the cylinder 14 extends, causing the front end of the goods receiving device 7 to descend and move to the final ground contact position (see FIG. 7(b)). Therefore, even if the cylinder 14 is extended as designed, for example, due to individual differences in the dimensions of components such as the cylinder 14, the cylinder 14 may extend too much, causing the front end of the goods receiving device 7 to press against the ground, which may damage the cylinder 14.

[0081] In contrast, since the current position of the goods receiving device 7 is set as the final contact position, it is possible to appropriately extend the cylinder 14. This makes it possible to prevent the cylinder 14 from being damaged due to excessive extension.

[0082] For example, as in this embodiment, the value of the lift frame ground angle θ2 when the load receiving device 7 is located at the final contact position may be displayed on the display unit 104a of the terminal output unit 104 (see "Final Contact Position Angle" under "Current Setting Value" in FIG. 11). Specifically, the display unit 104a displays the value of the lift frame ground angle θ2 set as a relative position of the final contact position.

[0083] Next, a method for setting the inclined ground angles θ2a, θ2b (the lift frame ground angle θ2 when the goods receiving device 7 is located at the inclined ground position) will be described.

[0084] First, second setting instruction data is input to the second setting input unit 106 of the terminal input unit 103. Note that the method of inputting the second setting instruction data (specifically, instruction data for selecting either the first angle θ2a or the second angle θ2b as the inclined ground contact position) to the second setting input unit 106 is not particularly limited.

[0085] For example, the method of inputting the second setting instruction data into the second setting input unit 106 may be such that, in order to select a setting change for the tilted landing position, the mouse pointer is moved to the position of the "Tilt Landing Position" toggle switch 106a and the mouse is clicked, then the mouse pointer is moved to the position of the drop-down list 106b and the mouse is clicked to select the desired angle (first angle or second angle), and then, in order to change the setting, the mouse pointer is moved to the position of the "Send Setting" switch 106c and the mouse is clicked, thereby inputting the second setting instruction data into the second setting input unit 106.

[0086] The display of the drop-down list 106b is not particularly limited. The display of the drop-down list 106b may be, for example, "first angle" and "second angle," or may be, for example, "for normal vehicle height" and "for low vehicle height," or may be, for example, actual angles (e.g., "10°" and "12°").

[0087] When second setting instruction data is input to the second setting input unit 106, the terminal device 101 (specifically, the external output unit 104c) outputs the second setting instruction data to the cargo handling vehicle 1, and the cargo handling vehicle 1 (specifically, the acquisition unit 2a) acquires the second setting instruction data. As a result, the vehicle processing device 2 sets the tilt ground contact angle based on the second setting instruction data. Therefore, the tilt ground contact angle can be changed to a desired angle.

[0088] For example, as in this embodiment, the value of the lift frame ground angle θ2 when the load receiving device 7 is located at the inclined ground position may be displayed on the display unit 104a of the terminal output unit 104 (see "Inclined Ground Position Angle" under "Current Setting Value" in FIG. 11). Then, for example, the vehicle processing device 2 sets the value of the lift frame ground angle θ2 as the relative position of the inclined ground position, and stops the extension and retraction of the cylinder 14 when the lift frame ground angle θ2 reaches the value set as the relative position of the inclined ground position during the first unloading lift process or the first loading lift process.

[0089] [1] As described above, the vehicle system 100, as in this embodiment, 1. A loading vehicle; a terminal device 101 capable of communicating with the cargo handling vehicle 1; The cargo handling vehicle 1 is Body 6 and a cargo handling device 8 for loading and unloading the cargo receiving device 7 between an on-vehicle position where the cargo receiving device 7 is placed on the vehicle body 6 and a final contact position where the cargo receiving device 7 is placed on the ground; a processing device (2) for controlling the cargo handling device (8), The cargo handling device 8 is provided with a correlator 8c whose position is correlated with the position of the cargo receiving device 7, The cargo handling vehicle 1 is equipped with a correlation detection unit 1a that detects the correlator 8c, The terminal device 101 includes a first setting input unit 105 to which first setting instruction data for setting the final landing position of the goods receiving device 7 is input, the processing device 2 sets the current position of the correlator 8c as a correlated position of the final contact position based on the first setting instruction data, When the correlation detection unit 1a detects that the correlator 8c is located at the correlation position, it is determined that the goods receiving device 7 is located at the final contact position, and the goods receiving device 7 is stopped. This configuration is preferable.

[0090] According to this configuration, first setting instruction data for setting the final landing position of the goods receiving device 7 is input to the first setting input unit 105 of the terminal device 101. Then, based on the first setting instruction data input to the first setting input unit 105, the processing device 2 sets the current position of the correlator 8c as the correlated position of the final landing position.

[0091] When the correlation detection unit 1a detects that the correlator 8c is positioned at the correlation position, the goods receiving device 7 is determined to be positioned at the final contact position, and the goods receiving device 7 stops. As a result, the current position of the goods receiving device 7 is set as the final contact position, and the final contact position can be changed to a desired position.

[0092] [2] Furthermore, in the vehicle system 100 described above in [1], as in this embodiment, The cargo handling device 8 includes a cylinder 14 that moves the cargo receiving device 7 by extending and retracting. The cargo handling device 8 is positioned at an inclined grounding position where the rear end of the cargo receiving device 7 is grounded, and by extending the cylinder 14, the front end of the cargo receiving device 7 is lowered to move the cargo receiving device 7 to the final grounding position. This configuration is preferable.

[0093] According to this configuration, when the goods receiving device 7 is in the inclined grounding position with its rear end on the ground, the cylinder 14 is extended, and the goods receiving device 7 lowers its front end and moves to the final grounding position. On the other hand, since the current position of the goods receiving device 7 is set as the final grounding position, the extension amount of the cylinder 14 can be set appropriately.

[0094] [3] In addition, in the vehicle system 100 described above in [2], as in this embodiment, The cargo handling vehicle 1 is The goods receiving device 7; a lift frame (11) connecting the load receiving device (7) so that the load receiving device (7) can rotate relative to the vehicle body (6) by extending and contracting the cylinder (14), and the load receiving device (7) moves from the inclined grounding position to the final grounding position by extending the cylinder (14); a vehicle body tilt angle detection unit 16 that detects the tilt angle of the vehicle body 6 with respect to the horizontal; a lift tilt angle detection unit (17) for detecting the tilt angle of the lift frame (11) relative to the horizontal; The lift frame 11 is the correlator 8c, The correlation detection unit 1a is the vehicle body tilt angle detection unit 16 and the lift tilt angle detection unit 17, The processing device 2 includes: Calculating a lift frame ground angle θ2, which is the tilt angle θ2 of the lift frame 11 relative to the vehicle body 6, based on the detection by the vehicle body tilt angle detection unit 16 and the detection by the lift tilt angle detection unit 17; Based on the first setting instruction data, the current value of the lift frame ground angle θ2 is set as a relative position of the final ground contact position; When the lift frame ground angle θ2 reaches a value set as the relative position of the final ground contact position, the load receiving device 7 is determined to be positioned at the final ground contact position, and the load receiving device 7 is stopped. This configuration is preferable.

[0095] According to this configuration, the extension and contraction of the cylinder 14 causes the lift frame 11 to rotate relative to the vehicle body 6. And, since the goods receiving device 7 is connected to the lift frame 11, the extension of the cylinder 14 causes the goods receiving device 7 to move from the inclined ground position to the final ground position. As a result, the inclination angle θ2 of the lift frame 11 relative to the vehicle body 6 correlates with the position of the goods receiving device 7, and the lift frame 11 becomes a correlating body 8c.

[0096] Then, the lift frame ground angle θ2 is calculated based on the detection by the vehicle body tilt angle detection unit 16 and the detection by the lift tilt angle detection unit 17. Then, based on the first setting instruction data input to the first setting input unit 105, the processing device 2 sets the current value of the lift frame ground angle θ2 as a relative position of the final ground contact position. Thereafter, when the lift frame ground angle θ2 reaches the value set as the relative position of the final ground contact position, the load receiving device 7 is determined to be located at the final ground contact position, and the load receiving device 7 stops.

[0097] [4] Furthermore, in the vehicle system 100 described above in [3], as in this embodiment, The terminal device 101 displays the calculated lift frame ground angle θ2. This configuration is preferable.

[0098] According to this configuration, the ground angle θ2 of the lift frame 1 is displayed on the terminal device 101. This allows the position of the goods receiving device 7 to be confirmed using the ground angle θ2 of the lift frame.

[0099] [5] In addition, in any one of the vehicle systems 100 described above in [1] to [4], as in this embodiment, The cargo handling device 8 is The goods receiving device 7; a lift frame 11 rotatable relative to the vehicle body 6; The load receiving device 7 is connected to the lift frame 11 so as to be able to slide on the lift frame 11 and be positioned at an inclined grounding position with its rear end on the ground; The processing device 2 stores the first angle θ2a and the second angle θ2b as an inclined ground contact angle, which is the inclination angle θ2 of the lift frame 11 relative to the vehicle body 6 when the load receiving device 7 is located at the inclined ground contact position, the terminal device 101 includes a second setting input unit 106 to which second setting instruction data for setting the inclined ground contact angle to the first angle θ2a or the second angle θ2b is input, The processing device 2 sets the tilted ground contact angle based on the second setting instruction data. This configuration is preferable.

[0100] According to this configuration, second setting instruction data for setting the tilted contact angle to the first angle θ2a or the second angle θ2b is input to the second setting input unit 106 of the terminal device 101. Then, the processing device 2 sets the tilted contact angle based on the second setting instruction data input to the second setting input unit 106. This allows the tilted contact angle to be changed to a desired angle.

[0101] [6] In addition, as in this embodiment, the cargo handling vehicle 1 is Used in any one of the vehicle systems 100 described above in [1] to [5], This configuration is preferable.

[0102] According to this configuration, the final contact position of the goods receiving device 7 can be changed.

[0103] [7] In addition, the program 4a, as in this embodiment, A program 4a for causing the terminal device 101 of any one of the vehicle systems 100 described above [1] to [5] to execute a data output method, The data output method includes a step of outputting the first setting instruction data to the cargo handling vehicle (1) when the first setting instruction data is input to the first setting input unit (105). This configuration is preferable.

[0104] According to this configuration, the final contact position of the goods receiving device 7 can be changed.

[0105] The vehicle system 100, the cargo handling vehicle 1, and the program 4a are not limited to the configurations of the above-described embodiments, and are not limited to the above-described effects. Furthermore, the vehicle system 100, the cargo handling vehicle 1, and the program 4a can, of course, be modified in various ways without departing from the spirit of the present invention. For example, it is of course possible to arbitrarily select one or more of the configurations, methods, etc., according to the various modified examples described below and employ them in the configurations, methods, etc., according to the above-described embodiments.

[0106] (A) In the vehicle system 100 according to the above embodiment, the cargo handling apparatus 8 is configured to extend the cylinder 14 to lower the front end of the cargo receiving apparatus 7, thereby moving the cargo receiving apparatus 7 from the inclined landing position to the final landing position. In other words, the cargo handling apparatus 8 is configured to include a second unloading lift step in the unloading method. However, the vehicle system 100 is not limited to this configuration.

[0107] For example, the unloading method of the cargo handling device 8 may not include the second unloading lift step, i.e., the unloading method may end with the third rear slide step. Also, for example, the unloading method of the cargo handling device 8 may not include the third rear slide step and the second unloading lift step, i.e., the unloading method may end with the second rear slide step.

[0108] (B) Furthermore, in the vehicle system 100 according to the above embodiment, the cargo handling device 8 is configured to extend the cylinder 14 to lower the front end of the cargo receiving device 7, thereby moving the cargo receiving device 7 from the inclined ground contact position to the final ground contact position. However, the vehicle system 100 is not limited to this configuration. For example, the cargo handling device 8 may be configured to retract the cylinder 14 to lower the front end of the cargo receiving device 7, thereby moving the cargo receiving device 7 from the inclined ground contact position to the final ground contact position.

[0109] (C) Furthermore, in the vehicle system 100 according to the above embodiment, the vehicle processing device 2 is configured to calculate the tilt angle θ2 of the lift frame 11 with respect to the vehicle body 6 based on the detection by the vehicle body tilt angle detection unit 16 and the detection by the lift tilt angle detection unit 17. However, the vehicle system 100 is not limited to such a configuration.

[0110] For example, not only the vehicle processing device 2 (or instead of the vehicle processing device 2), but also the terminal device 101 may be configured to calculate the tilt angle θ2 of the lift frame 11 relative to the vehicle body 6 based on the detection by the vehicle body tilt angle detection unit 16 and the detection by the lift tilt angle detection unit 17. Also, the vehicle processing device 2 and the terminal device 101 may be configured not to calculate the tilt angle θ2 of the lift frame 11 relative to the vehicle body 6.

[0111] (D) Furthermore, in the vehicle system 100 according to the above embodiment, the terminal device 101 is configured to display the calculated tilt angle θ2 of the lift frame 11 with respect to the vehicle body 6. However, the vehicle system 100 is not limited to such a configuration.

[0112] For example, not only the terminal device 101 (or instead of the terminal device 101), but also the cargo handling vehicle 1 may be configured to display the calculated tilt angle θ2 of the lift frame 11 relative to the vehicle body 6. Also, for example, the terminal device 101 and the cargo handling vehicle 1 may be configured not to display the calculated tilt angle θ2 of the lift frame 11 relative to the vehicle body 6.

[0113] (E) In addition, in the vehicle system 100 according to the above embodiment, the tilt angle θ2 of the lift frame 11 relative to the vehicle body 6 correlates with the position of the goods receiving device 7, and the terminal device 101 displays the calculated tilt angle θ2 of the lift frame 11 relative to the vehicle body 6. However, the vehicle system 100 is not limited to such a configuration.

[0114] For example, the terminal device 101 may be configured to display other parameters of the cargo handling device 8 that are correlated with the position of the cargo receiving device 7. Examples of other parameters of the cargo handling device 8 that are correlated with the position of the cargo receiving device 7 include the tilt angle of the lift arm 13 relative to the vehicle body 6, the extension / retraction amount of the cylinder 14, etc.

[0115] (F) Furthermore, in the vehicle system 100 according to the above embodiment, at least one of the processing device 2 and the terminal device 101 calculates the tilt angle θ2 of the lift frame 11 relative to the vehicle body 6 based on the detection by the vehicle body tilt angle detection unit 16 and the detection by the lift tilt angle detection unit 17, and the terminal device 101 displays the calculated tilt angle θ2 of the lift frame 11 relative to the vehicle body 6. However, the vehicle system 100 is not limited to this configuration.

[0116] For example, since the inclination angle θ2 of the lift frame 11 relative to the vehicle body 6 is correlated with the inclination angle of the cargo receiving device 7 relative to the vehicle body 6, at least one of the processing device 2 and the terminal device 101 may calculate not only the inclination angle θ2 of the lift frame 11 relative to the vehicle body 6 (instead of the inclination angle θ2 of the lift frame 11 relative to the vehicle body 6) based on the detection of the vehicle body inclination angle detection unit 16 and the detection of the lift inclination angle detection unit 17, and the terminal device 101 may display the calculated inclination angle of the cargo receiving device 7 relative to the vehicle body 6.

[0117] (G) In the vehicle system 100 according to the above embodiment, the terminal device 101 is configured to include a second setting input unit 106 to which second setting instruction data for setting the inclined ground contact angle to the first angle θ2a or the second angle θ2b is input. However, the vehicle system 100 is not limited to this configuration.

[0118] For example, the second setting input unit 106 of the terminal device 101 may be configured to input a specific value of the tilted ground contact angle to be set, and the vehicle processing device 2 may set the value input to the second setting input unit 106 as the tilted ground contact angle. Also, for example, the terminal device 101 may not be configured to include the second setting input unit 106.

[0119] (H) In addition, in the vehicle system 100 according to the above embodiment, the correlator 8c of the cargo handling device 8 is the lift frame 11, the correlation detection unit 1a is the vehicle body tilt angle detection unit 16 and the lift tilt angle detection unit 17, and the value of the lift frame ground angle θ2 when the first setting instruction data is input to the first setting input unit 105 is set as the correlation position of the final ground contact position. However, the vehicle system 100 is not limited to this configuration.

[0120] (H-1) For example, the vehicle processing device 2 may calculate the tilt angle (lift arm ground angle) of the lift arm 13 relative to the vehicle body 6 based on detection by the vehicle body tilt angle detection unit 16 and detection by the lift tilt angle detection unit 17. The correlator 8c of the cargo handling device 8 may be the lift arm 13, and the correlation detection unit 1a may be the vehicle body tilt angle detection unit 16 and the lift tilt angle detection unit 17.

[0121] In this configuration, the value of the lift arm ground angle when the first setting instruction data is input to the first setting input unit 105 is set as the relative position of the final contact position. Then, when the lift arm ground angle reaches the value set as the relative position of the final contact position, the vehicle processing device 2 determines that the goods receiving device 7 is positioned at the final contact position and stops the goods receiving device 7.

[0122] (H-2) For example, the cargo handling vehicle 1 may be provided with a plurality of position detection units (for example, proximity sensors, contact sensors, photoelectric sensors, etc.) that detect the lift frame 11. The correlator 8c of the cargo handling device 8 may be the lift frame 11, and the correlation detection unit 1a may be the position detection unit.

[0123] In this configuration, the specific position detection unit that detects the lift frame 11 when the first setting instruction data is input to the first setting input unit 105 is set as the relative position of the final contact position. When the specific position detection unit set as the relative position of the final contact position detects the lift frame 11, the vehicle processing device 2 determines that the goods receiving device 7 is located at the final contact position and stops the goods receiving device 7.

[0124] (H-3) For example, the cargo handling vehicle 1 may be provided with a plurality of position detection units (for example, proximity sensors, contact sensors, photoelectric sensors, etc.) that detect the lift arm 13. The correlator 8c of the cargo handling device 8 may be the lift arm 13, and the correlation detection unit 1a may be the position detection unit.

[0125] In this configuration, the specific position detection unit that detects the lift arm 13 when the first setting instruction data is input to the first setting input unit 105 is set as the relative position of the final contact position. When the specific position detection unit set as the relative position of the final contact position detects the lift arm 13, the vehicle processing device 2 determines that the goods receiving device 7 is positioned at the final contact position and stops the goods receiving device 7.

[0126] (H-4) For example, the cargo handling vehicle 1 may also be provided with an expansion / contraction amount detection unit that detects the expansion / contraction amount of the cylinder 14. The correlator 8c of the cargo handling device 8 may be the cylinder 14, and the correlation detection unit 1a may be the expansion / contraction amount detection unit.

[0127] In this configuration, the value of the extension / contraction amount of the cylinder 14 when the first setting instruction data is input to the first setting input unit 105 is set as the correlation position of the final contact position. Then, when the extension / contraction amount detected by the correlation detection unit 1a reaches the value set as the correlation position of the final contact position, the vehicle processing device 2 determines that the goods receiving device 7 is located at the final contact position and stops the goods receiving device 7.

[0128] (I) In addition, in the vehicle system 100 according to the above embodiment, the vehicle processing device 2 controls the extension and retraction amount of the cylinder 14 based on the calculated lift frame ground angle θ2 in each lift step of the loading and unloading method. However, the vehicle system 100 is not limited to this configuration. For example, the cargo handling 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 11 positioned at the reference ground angle (specifically, the lift frame 11 when the cargo receiving device 7 is positioned at the second unloading position, the second loading position, the second inclined landing position, or the final landing position), and the vehicle processing device 2 may control the extension and retraction amount of the cylinder 14 based on the detection by the lift position detection unit.

[0129] (J) In addition, in the vehicle system 100 according to the above embodiment, the cargo handling vehicle 1 is configured as a vehicle transporter. However, the vehicle system 100 is not limited to this configuration. For example, the cargo receiving device 7 may be a cargo receiving box (container), and the cargo handling vehicle 1 may be a container transporter.

[0130] (K) Note that, for example, the order of execution of each process, such as operations, procedures, steps, and stages, in the systems, methods, programs, and devices shown in the claims, specifications, and drawings, can be realized in any order, as long as the output of a previous process is not used in a subsequent process. For example, even if a description is made using "first," "next," etc. for convenience, it does not mean that execution is required in that order. [Explanation of symbols]

[0131] 1...loading vehicle, 1a...correlation detection unit, 2...vehicle processing device, 2a...acquisition unit, 2b...storage unit, 2c...calculation unit, 2d...control unit, 3...processor, 4...memory, 4a...program, 4b...database, 5...interface, 6...vehicle body, 6a...operator's cab, 6b...vehicle body frame, 6c...wheels, 7...load receiving device, 7a...body, 7b...tailgate, 8...loading device, 8a...hydraulic pump, 8b...valve, 8c...correlator, 9...engine, 10...drive switching unit, 11...lift frame, 12...device frame, 13...lift arm, 14...cylinder, 15...slide mechanism, 15a...chain, 15b...motor, 16...vehicle body inclination angle detection unit, 17...lift inclination angle detection unit, 18...load receiving movement detection unit, 19...first load receiving position detection unit, 20...second load receiving position detection unit, 21...third load receiving position detection unit output unit, 22...vehicle input unit, 22a...loading input unit, 22b...unloading input unit, 22c...high-speed input unit, 22d...low-speed input unit, 23...vehicle output unit, 23a...display unit, 23b...sound output unit, 23c...external output unit, 100...vehicle system, 101...terminal device, 102...terminal processing device, 102a...acquisition unit, 102b...storage unit, 102c...calculation unit, 102d...control unit, 103...terminal input unit, 104 ...terminal output unit, 104a...display unit, 104b...sound output unit, 104c...external output unit, 105...first setting input unit, 105a...toggle switch, 105b...switch, 106...second setting input unit, 106a...toggle switch, 106b...drop-down list, 106c...switch, D1...front-back direction (first horizontal direction), D2...left-right direction (second horizontal direction), D3...up-down direction, X1...communication means

Claims

1. A cargo vehicle, a terminal device capable of communicating with the cargo handling vehicle, The loading vehicle is The car body and a cargo handling device that loads and unloads the cargo receiving device between an on-vehicle position where the cargo receiving device is placed on the vehicle body and a final contact position where the cargo receiving device is placed on the ground; a processing device for controlling the loading and unloading device, The loading device includes a correlator whose position is correlated with the position of the loading device; The cargo handling vehicle includes a correlation detection unit that detects the correlator, The terminal device includes a first setting input unit to which first setting instruction data for setting the final landing position of the goods receiving device is input, The processing device includes: setting the current position of the correlator as a correlation position of the final contact position based on the first setting instruction data; When the correlation detection unit detects that the correlator is located at the correlation position, the vehicle system determines that the cargo receiving device is located at the final contact position and stops the cargo receiving device.

2. The cargo handling device includes a cylinder that extends and retracts to move the cargo receiving device, 2. The vehicle system of claim 1, wherein the loading device is positioned in an inclined contact position with the rear end of the load receiving device in contact with the ground, and the cylinder is extended to lower the front end of the load receiving device and move the load receiving device to the final contact position.

3. The loading vehicle is The cargo receiving device; a lift frame connecting the load receiving device such that the load receiving device can rotate relative to the vehicle body by extending and retracting the cylinder, and the load receiving device moves from the inclined landing position to the final landing position by extending the cylinder; a vehicle body tilt angle detection unit that detects a tilt angle of the vehicle body relative to the horizontal; a lift tilt angle detection unit that detects the tilt angle of the lift frame relative to the horizontal, the lift frame is the correlator; the correlation detection unit is the vehicle body tilt angle detection unit and the lift tilt angle detection unit, The processing device includes: calculating a lift frame ground angle, which is a tilt angle of the lift frame relative to the vehicle body, based on the detection by the vehicle body tilt angle detection unit and the detection by the lift tilt angle detection unit; Based on the first setting instruction data, the current value of the lift frame ground angle is set as a relative position of the final contact position; 3. The vehicle system of claim 2, wherein when the lift frame ground angle reaches a value set as the relative position of the final contact position, the load receiving device is determined to be positioned at the final contact position and the load receiving device is stopped.

4. The vehicle system according to claim 3 , wherein the terminal device displays the calculated tilt angle of the lift frame relative to the vehicle body.

5. The cargo handling device is The cargo receiving device; a lift frame rotatable relative to the vehicle body, the load receiving device is connected to the lift frame so as to be slidable on the lift frame and positioned at an inclined grounding position with its rear end on the ground; The processing device stores the first angle and the second angle as an inclined ground contact angle, which is an inclination angle of the lift frame relative to the vehicle body when the load receiving device is located at the inclined ground contact position; the terminal device includes a second setting input unit to which second setting instruction data for setting the tilted ground contact angle to the first angle or the second angle is input, 5. The vehicle system according to claim 1, wherein the processing unit sets the inclined ground contact angle based on the second setting instruction data.

6. A cargo handling vehicle used in the vehicle system according to any one of claims 1 to 4.

7. A program for causing the terminal device of the vehicle system according to any one of claims 1 to 4 to execute a data output method, The data output method is a program including a step of outputting the first setting instruction data to the cargo handling vehicle when the first setting instruction data is input to the first setting input unit.

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