Safety and data collection system for transport vehicles with tipper bodies and transport vehicles with tipper bodies equipped with such a system

Abstract

The present invention relates to a safety and data collection system (10) for transport vehicles with tipper bodies, comprising: - first detection means (16) for detecting the inclination of a means of transport (50, 150) with a tipper body (54) on which it is mounted, - second detection means (17) for detecting the load on a hydraulic cylinder, - rod (55) for moving said tipping body (54), - an electronic control unit designed to receive and process signals from the first (16) and second (17) detection devices, and to emit at least one hazard warning signal, - hazard signalling means (19), wherein the first detection means (16) comprise three inclination sensors (20, 21, 22), a first inclination sensor (20) and a second inclination sensor (21) being fixed to the body (54), and a third inclination sensor (22) being fixed to a load-bearing platform frame (52) of said means of transport (50, 150).

Description

[0001] SAFETY AND DATA COLLECTION SYSTEM FOR TRANSPORT VEHICLES WITH TIPPER BODIES AND TRANSPORT VEHICLES WITH

[0002] TIPPER BODIES EQUIPPED WITH SUCH A SYSTEM

[0003] DESCRIPTION

[0004] Technical field

[0005] The present invention relates to a safety and data collection system for transport vehicles with tipper bodies and transport vehicles with tipper bodies equipped with such a system.

[0006] Background

[0007] It is well known today that the operation of tipping the body of a tipper vehicle presents more than one hazard and must be carried out with the utmost care.

[0008] In general, a tipper vehicle comprises a vehicle with ground sliding means, equipped with a supporting frame to which a tipper body is attached on one side by means of hinges; the tipper body is rotated for lifting and lowering by at least one hydraulic cylinder, which in turn is powered by a dedicated hydraulic circuit integrated into the vehicle.

[0009] One of the main risks associated with the tipping of a body is the tilting and consequent lateral or rear overturning of the transport vehicle, with inevitable damage to the vehicle as well as to the hydraulic system that controls the tipping of the transport vehicle itself.

[0010] A second significant risk is obviously related to the possible injury of a person who is near, if not on board, the vehicle, as well as possible damage to property located in the vicinity at the time of the overturning of the transport vehicle.

[0011] Nowadays, the following solutions are known to prevent the overturning of a transport vehicle with a tipper body when lifting the tipper body:

[0012] - use of an inclinometer, i.e. an instrument used to measure the degree of inclination of the vehicle with respect to the horizon; this instrument allows the stability of the vehicle to be monitored before and during the tipping operation so that the operation can be interrupted if the inclination is considered risky;

[0013] - adoption of a maximum pressure valve connected to the hydraulic lifting cylinder; once set, this safety system limits the pressure inside the cylinder extension hydraulic system and discharges the oil if the pressure exceeds the set value.

[0014] Although these systems are widespread and useful, they have their limitations.

[0015] In fact, the first system only monitors the inclination of the tipper body, which could also be due to the fact that the vehicle is stationary on an uneven surface, but says nothing about the load capacity of the tipper body.

[0016] The second system, on the other hand, is based on a safety component that intervenes to regulate the oil flow during operation of the system, but does not provide the operator with any information on the status of the system at different degrees of tipper body inclination.

[0017] To overcome these drawbacks, a safety device has been developed, described and claimed in Italian patent application no. 102016000082105, which comprises:

[0018] - means for detecting the inclination of a transport vehicle with a tipper body on which it is mounted,

[0019] - means for detecting the load on said hydraulic cylinder, and for identifying the angle of tipping of the tipper body with respect to said chassis,

[0020] - an electronic control unit designed to receive and process signals from the aforementioned detection devices and to emit at least one warning signal,

[0021] - hazard warning devices.

[0022] The means for detecting the inclination of the means of transport comprise a two-axis inclinometer, measuring Toll', i.e. a lateral inclination with respect to the front-to-rear axis of the vehicle, and 'pitch' or 'tilt', i.e. a backward or forward inclination of the means of transport.

[0023] This dual-angle sensor may consist, for example, of a triaxial accelerometer of the M.E.M.S. type.

[0024] This triaxial accelerometer is mounted on board the electronic control unit.

[0025] This control unit can be located in the cab of the means of transport, or outside the cab, on the chassis or on the tipper body.

[0026] In the case of a means of transport consisting of a tractor unit for a semi-trailer, this control unit may be mounted on the tractor unit (inside or outside the cab) or on the semi-trailer (on the chassis or tipper body).

[0027] Alternatively, the triaxial accelerometer may also be placed outside the cab, either on the chassis or on the tipper body. Preferably, the control unit with the accelerometer on board is mounted on the chassis, outside the cab, both in the case of a tipper lorry and in the case of a vehicle comprising a semi-trailer and a tractor unit.

[0028] Although this safety device improves on previous technology, it does not provide more specific and accurate information, not only on the vehicle's inclinations.

[0029] It is well known, from normal visual observation by an operator using a tipper truck, that a tipper truck can be stressed differently and react differently depending on the material in the tipper body that is to be unloaded, since it has been established that the behaviour of a tipper truck during an unloading operation, differs depending on the material being transported; for example, a tipper body loaded with grain, which is essentially uniform in size and flows continuously from the tilted tipper body during unloading, is subjected to different stresses and behaves differently during unloading than if it were loaded with stones. There is therefore a particularly strong need in the sector to increase knowledge of the behaviour of tipper trucks in relation to the material being transported and to be unloaded.

[0030] There is also a strong need in the sector for having information on the stresses to which the various parts of the vehicle are subjected, not only the lifting cylinder.

[0031] The task of this invention is to create a safety and data collection system for transport vehicles with tipper bodies that can overcome the limitations of existing technology.

[0032] As part of this task, one aim of the invention is to develop a safety and data collection system that allows a tipper truck to unload its tipper body more safely than is possible with existing systems, while at the same time acquiring information on the stresses to which one or more parts of the transport vehicle are subjected.

[0033] Another purpose of the invention is to develop a safety system for transport vehicles with tipper bodies that can be easily installed on existing vehicles.

[0034] Another purpose of the present invention is to develop a safety and data collection system capable of ensuring greater speed and effectiveness of safety interventions in the event of a rollover.

[0035] Another purpose of the present invention is to develop a safety and data collection system that can be used to support the design of tipper bodies and of transport vehicles with tipper bodies.

[0036] Another purpose of the invention is to develop a transport vehicle with a tipper body equipped with a similar system.

[0037] This task, as well as these and other purposes that will become clearer below, are achieved by a safety and data collection system for transport vehicles with tipper bodies according to claim 1 and by a transport vehicle with a tipper body according to claim 10.

[0038] Further features and advantages of the invention will become more apparent from the description of a preferred, but not exclusive, embodiment of a safety and data collection system for transport vehicles with tipper bodies and a tipper vehicle equipped with such a system according to the invention, illustrated, by way of example and without limitation, in the attached drawings, in which:

[0039] - figure 1 illustrates a schematic side view of a transport vehicle according to the invention;

[0040] - figure 2 shows a schematic front view of a safety and data detection system according to the invention, applied to a tipper vehicle;

[0041] - figure 3 shows another schematic side view of the system according to the invention;

[0042] - figure 4 shows a diagram of the connections between the various components of the system according to the invention;

[0043] - figure 5 represents a flow chart for processing the data collected by the system according to the invention;

[0044] - figure 6 shows another flow chart for processing data collected by the system according to the invention relating to the force on the lifting cylinder.

[0045] A safety and data collection system for transport vehicles with tipper bodies according to the invention is indicated in its entirety by the number 10, while a generic transport vehicle is indicated by the number 50 or 150.

[0046] A generic transport vehicle 50 or 150, for example on wheels 51 , comprises a supporting frame 52 to which a tipper body 54 is connected by hinging means The transport vehicle 50 or 150 comprises one or more hydraulic cylinders 55, for example a single hydraulic cylinder 55, for rotating the tipper body 54 in the lifting and lowering directions.

[0047] This transport vehicle 50 or 150 comprises, on board, a safety and data collection system 10 according to the invention.

[0048] This safety and data collection system according to the invention comprises:

[0049] - first detection means 16 for detecting the inclination of a transport vehicle 50 or 150 with a tipper body 54 on which it is mounted,

[0050] - second detection means 17 for detecting the load on a hydraulic cylinder 55 for moving the tipper body 54,

[0051] - an electronic control unit designed to receive and process the signals from said detection means, and to emit at least one danger signal,

[0052] - hazard signalling means 19.

[0053] The distinctive feature of the present invention lies in the fact that the first detection means 16 comprise three inclination sensors 20, 21 and 22, a first inclination sensor 20 and a second inclination sensor are fixed to the tipper body 54, and a third inclination sensor 22 is fixed to the supporting frame, also known as the 'platform', 52.

[0054] This structure is clearly illustrated in figures 1 and 2.

[0055] For example, the three inclination sensors 20, 21 and 22 each comprise a triaxial MEMS (Micro Electro Mechanical System) accelerometer.

[0056] Each of these inclination sensors 20, 21 and 22 is capable of detecting Toll' inclinations, i.e. a lateral inclination with respect to an anterior-posterior axis of the vehicle, and 'pitch' or 'tilt' inclinations, i.e. a backward or forward inclination of the transport vehicle 50.

[0057] Preferably, but not exclusively, each of the three inclination sensors 20, 21 and 22 consists of a M.I.M.U. type sensor.

[0058] The acronym MIMU stands for Magneto-Inertial Measurement Unit. These MIMU sensors include an accelerometer, a gyroscope and a magnetometer, all on board a single electronic board on which signal transmission devices are also mounted.

[0059] Alternatively, each of the three inclination sensors 20, 21 and 22 consists of an IMU-type sensor; the acronym IMU stands for Inertial Measurement Unit. These sensors include an accelerometer and a gyroscope.

[0060] Both IMU and MIMU sensors are MEMS sensors.

[0061] The magnetometers on board each of the first 20, second 21 and third 22 Ml Mil-type inclination sensors allow, through Kalman filters or similar, generally integrated into the MIMU sensors themselves, to estimate the complete orientation of the sensor (and therefore of the components attached to it) in 3D space (yaw, pitch and roll angles roll), unlike an IMU sensor, which only allows the pitch and roll angles to be estimated. The ability to estimate the complete rotation matrix on three axes rather than just two can be particularly useful for detecting situations in which the movements of the hull involve twisting, which manifests itself not only in a change in the roll angle of the sensor but also in a change in the yaw angle of the sensor.

[0062] It should be noted that the roll angle is measured relative to the fore-aft direction of the vehicle, the pitch angle is measured relative to a direction that is orthogonal to the fore-aft direction and essentially horizontal, while the yaw angle is measured relative to a direction that is orthogonal to the two described above.

[0063] The availability of the complete rotation matrix of the sensor and its evolution over time allows the use of signalling algorithms that can work on metrics obtainable from the matrix itself and not from Euler angles (yaw, pitch, roll) deriving from its decomposition and functional to a theoretical representation of the deformations of the hull that does not correspond to reality.

[0064] Each inclination sensor 20, 21 and 22 is housed in a protective and connection box made of plastic, for example ABS, certified IP66. The IP66 protection rating indicates complete protection against contact with water and is dust-tight.

[0065] Each protection and connection box for each inclination sensor 20, 21 and 22 also includes an IP67 USB connector for charging, an IP67 RESET button, and an RGB LED used to indicate the acquisition / connection status of a connection system, such as WiFi, integrated into the inclination sensor.

[0066] In general, each protection and connection box for each inclination sensor 20, 21 and 22 is watertight.

[0067] Again in general, the protection boxes are designed to be connected to each other by cable or by radio connection. The first 20 and second 21 inclination sensors are positioned substantially symmetrically with respect to an anterior-posterior plane of symmetry of the vehicle, below the bottom of the tipper body 54 and preferably near the free end of the tipper body 54, i.e. the non-hinged end.

[0068] Each inclination sensor 20, 21 is fixed to the box 54 by means of corresponding support brackets 56.

[0069] The third inclination sensor 22 is fixed to the floor, i.e. to the frame 52, by means of corresponding structural support elements obviously fixed to the frame 52.

[0070] This safety and data collection system 10 according to the present invention, comprising two first 20 and second 21 triaxial accelerometers on the tipper body 54, in lateral positions, and a third triaxial accelerometer 22 on the floor or supporting frame 42, allows the following assessments to be made:

[0071] - estimate the real-time angle of elevation of the tipper body 54, without the need for a limit switch;

[0072] - identify the configuration of the rod 55 and relate it to any additional oil pressure sensors;

[0073] - identify in real time the accelerations along the front-to-back direction of travel;

[0074] - in terms of data collection: quantify the energy stresses on the rod 55, stresses to be understood as differential with respect to the platform or frame 52;

[0075] - in terms of data collection: quantify the differential roll angle of the tipper body 54 with respect to the platform or chassis 52.

[0076] Accelerometers 20 and 21 on box 54 must be positioned on opposite sides of tipper body 54 in order to best capture deformations via the differential roll angle impacting the interface between rod 55 and tipper body 54, and as close as possible to rod 55.

[0077] The security and data collection system 10 according to the invention is capable of issuing the following alarms and contextual warnings in real time:

[0078] - alarm when the transport vehicle is tilted beyond a certain threshold (both pitch and roll), where this threshold can be set;

[0079] - contextual warnings regarding forward movement / braking with the body open;

[0080] - if oil pressure sensor 23 is present: real-time warnings about critical situations or situations requiring attention regarding the configuration of the rod 55 and oil pressure.

[0081] The safety and data collection system 10 allows useful data and information to be collected and stored in the event of a "black box" scenario, i.e. following an accident. Such useful information may include, for example:

[0082] - unloading carried out on slopes exceeding the threshold;

[0083] - movements of the transport vehicle moving forward with the tipper body 54 being unloaded: the number of events and the quantification of accelerations and decelerations are recorded. It is possible to monitor the change in slope of the transport vehicle 50 during forward movement with the tipper body 54 open;

[0084] - quantification of mechanical stresses on the tipper body 54 during unloading phases;

[0085] - quantification of the relative deformation of the tipper body 54 during unloading phases.

[0086] The second detection means 17 for detecting the load on said hydraulic cylinder 55 comprise, in the present, obviously non-limitative example, a pressure sensor 23 for detecting the pressure, for example in bar, of the fluid in the lifting cylinder - rod 55.

[0087] The value of the pressure in the cylinder, or rod, 55, together with information on the extension of the cylinder 55 itself, allows the weight on the tipper body 54 to be calculated.

[0088] The extension of cylinder 55 can be calculated from the inclination information detected by the first 20 and second 22 sensors located on the tipper body 54 with respect to the inclination information detected by the third triaxial sensor 22 integral with the platform-chassis 52, obviously noting the mutual positions of the triaxial sensors 20, 21 and 22.

[0089] The data collected by the first detection means 16 and the pressure gauge 23 are transmitted to an electronic control unit 30 which processes them. The extension of the cylinder-rod 55, in combination with the pressure detection, allows the load acting on the cylinder-rod 55 at a given moment to be calculated.

[0090] The data collected by the first detection devices 16, i.e. the three triaxial accelerometers 20, 21 and 22, and by the pressure gauge 23 , are collected by the electronic control unit 30, which processes them and sends them to a management terminal, which may consist of a panel located in the cabin 24 or a tablet connected via a radio connection, e.g. Wi-Fi, to the electronic unit 30. The connections may alternatively be via cable.

[0091] The electronic control unit 30 is then interconnected, for example via a Wi-Fi connection 25, with a management terminal, not shown graphically for simplicity and understood to be on board the transport vehicle 50 or remote.

[0092] The security and data collection system 10 is outlined, from the point of view of data exchange, in Figure 4.

[0093] The electronic control unit 30, if the inclination of the transport vehicle 50, roll or tilt, or the load on the cylinder rod 55, are assessed as greater than a preset safety limit value for a certain angle of tipping of the tipper body 54, it emits at least one danger signal that activates the hazard signalling means 19.

[0094] These hazard signalling means 19 may include a warning device inside the cab for use by the operator, for example a visual-audible signal on a terminal, for example in the case where this terminal is a tablet. They may also include the use of a flashing siren external to the transport vehicle 50, which normally has other functions (indicating that the vehicle is in operation and similar).

[0095] The data from a predetermined number of detection cycles are stored in a mass memory, which acts as a black box in the event of the vehicle overturning; for example, the last ten cycles of detected data may be stored.

[0096] The benefit and novelty of the safety and data collection system 10 according to the invention also lies in the fact that at every angle of tipping of the tipper body 54 it is possible to determine the load on the cylinder-rod 55 (and therefore on the tipper body itself) and to understand whether it is working within acceptable load limits. This advantage allows the tipper body manufacturer to set the control system so that the load limits are respected at every degree of inclination or at least in those four or more angular positions that are considered critical (compatibly with the design of the tipper); this makes it possible to understand whether, during an unloading operation, the material is being unloaded evenly or whether, at a certain point during tipping, i.e. at a certain degree of inclination of the tipper body 54 with respect to the platform-chassis 52, there are problems of excess load, for example the material sticks to the walls and does not come off, the design of the tipper body 54 is not suitable for that type of material, and other similar inconveniences.

[0097] The system 10 is therefore able to detect whether the load on the cylinder rod 55, and therefore indirectly that on the tipper body 54, is acceptable, within the weight limits predefined during setup, in the starting positions of each new diameter / extension of the cylinder 55, it being possible to carry out this assessment in any position of the tipper body 54 (such as at any degree of tipping of the tipper body).

[0098] The interaction between the user and the safety system 10 takes place by means of a dedicated application with a special user-friendly layout.

[0099] This application makes it possible to:

[0100] - program / set the detection means and the safety limit values, entering the parameters necessary to determine the movement constraints (e.g. maximum weight for each extension of the lifting cylinder 55, cylinder extension bore, number of cylinder strokes, maximum inclination of the transport vehicle);

[0101] - use safety system 10: this application, for example, displays a visual representation of the transport vehicle with the approximate position of the tipper body and the position of the cylinder. It allows the operator to be informed in real time about the weight of the load on the tipper body, the inclination of the transport vehicle and the inclination of the tipper body, with relative alarms in case of exceeding the safety limits.

[0102] This safety system 10 allows the detection of dangerous situations before and during the lifting of the tipper body 54 and unloading of material, to help the operator control the transport vehicle 50 and take prompt action, thus reducing the risk of accidents.

[0103] In particular, and in a particularly advantageous and innovative way, the safety and data collection system 10 according to the present invention allows the following detections and calculations:

[0104] - real-time estimation of the angle of elevation of the tipper body,

[0105] - real-time estimation of the angle of elevation of the tipper body with the truck moving forward, if oil pressure sensor 23 is present;

[0106] - real-time estimation of the rod configuration and relationship with additional oil pressure data;

[0107] - real-time detection of accelerations along the direction of travel;

[0108] - quantification of energy stresses on the rod;

[0109] - quantification of the differential roll angle of the tipper body;

[0110] - alarm when the transport vehicle is on a slope exceeding the threshold (both pitch and roll), with adjustable threshold;

[0111] - contextual warnings regarding forward movement / braking with the tipper body open;

[0112] - if an oil pressure sensor is present, real-time warnings about critical situations or situations requiring attention regarding the configuration of the rod and oil pressure;

[0113] - detection of unloading carried out on slopes exceeding the safety threshold;

[0114] - detection of movements of the transport vehicle moving forward with the tipper body being unloaded: number of events, quantification of accelerations and decelerations;

[0115] - quantification of mechanical stresses on the tipper body during unloading phases;

[0116] - quantification of the relative deformation of the tipper body during the unloading phases.

[0117] The terminal, described above as a tablet, is to be understood as being able to consist of a commercially available and well-known tablet or smartphone.

[0118] The safety and data collection system 10 provides for the possibility of sending data to a central office for processing the performance of drivers of a fleet of tipper trucks.

[0119] The transport vehicle 50 may include a rear camera that shows the operator, for example, but not exclusively, in the cab 24, how the unloading of material from the tipper body is progressing.

[0120] Figure 5 shows a block flow diagram of an algorithm for detecting and using roll, pitch and yaw angles to determine the tipping angle, i.e. the angle at which the vehicle overturns.

[0121] Figure 6 shows a block flow diagram of an algorithm for detecting and using the pressure values detected by pressure sensor 23 to calculate the force on cylinder rod 55. The safety and data collection system 10 according to the present invention allows, thanks to the three triaxial accelerometers 20, 21 and 22, to detect and determine more or less abnormal stress conditions on the infrastructure of the transport vehicle 50, such as determining any torsion dynamics, determining impulsive power dynamics and the like.

[0122] Compared to the equipment covered by Italian patent no. 102016000082105, the safety and data collection system 10 comprises at least three triaxial accelerometers, two of which are located on the cabin and one on the chassis platform, and no longer includes a flow sensor for detecting the volume of oil in the cylinder, a difference that results in structural simplification and weight reduction. The oil reading in the cylinder was used to calculate the piston elongation and therefore the inclination of the tipper body and its tipping angle. In the present invention, this reading is replaced by the combination of data collected by the triaxial accelerometers.

[0123] The difference between the data collected by the two triaxial accelerometers 20 and 21 on the tipper body 54 and the data collected by the triaxial accelerometer 22 on the load-bearing platform frame 52 also allows the torsion of the body itself to be determined.

[0124] With three sensors, we have all the information we need.

[0125] The pressure transducer connected to the cylinder also provides pressure information, indicating the load and providing information on the extension change, because there is a pressure peak during the extension change.

[0126] The safety and data collection system 10 according to the present invention is also intended to be used on semi-trailers, dumpers, tankers, and in general on any transport vehicle equipped with a tipping or tilting body or tank.

[0127] The invention also includes a transport vehicle 50 with a tipper body 54, comprising a load-bearing platform-frame 52 to which is attached, by hinging means 53, a tipper body 54, and comprising at least one hydraulic cylinder 55 for the rotation, lifting and lowering of said tipper body 54, said hydraulic cylinder 55 being connected to a dedicated hydraulic circuit 15.

[0128] The distinctive feature of transport vehicle 50 is that it includes, on board, a safety and data collection system 10 as described above.

[0129] In a first embodiment, as shown in Figures 1 , 2 and 3, this transport means 50 consists of a truck with a tipper body 54 mounted directly on the chassis 52 of the truck itself, where the hydraulic system 15 is mounted on the same chassis 52.

[0130] In a second embodiment, not shown for simplicity, the transport vehicle consists of a tractor unit and a trailer, said hydraulic system 15 being mounted on said tractor unit and connected to said cylinder by means of one or more connecting pipes.

[0131] The transport vehicle is also intended to be track-mounted, and in general the transport vehicle is intended to be any type, including a vessel.

[0132] It has been verified in practice that the invention achieves its intended task and purposes.

[0133] In particular, the invention has developed a safety and data collection system that, by combining the measurements described above, provides an operator with real-time and even delayed useful information that can be consulted by a user, installer, or manufacturer of transport vehicle regarding the state of the tipper load at each stage of unloading.

[0134] The invention has therefore developed a transport vehicle with a tipper body that can be unloaded more safely than known transport vehicle, as it has greater control over the descent of the material, thus preventing possible accidents and / or overturning and preserving the life of the hydraulic system and the transport vehicle as a whole.

[0135] With this invention, a safety and data collection system has been developed that allows manufacturers of vehicles or equipment for transport vehicles with tipper bodies to prepare control software according to the loads accepted by the permitted application and to monitor the intended use of tipper vehicles, i.e. to control the behaviour of operators / end users in order to safeguard the vehicles and their image, and, if necessary, to have technical information ready for use in the complaint management phase.

[0136] The invention as conceived is subject to numerous modifications and variations, all falling within the scope of the inventive concept; furthermore, all details may be replaced by other technically equivalent elements.

[0137] Where the features and techniques mentioned in any claim are followed by reference signs, such signs have been added for the sole purpose of increasing the intelligibility of the claims and, consequently, such reference signs have no limiting effect on the interpretation of each element identified by way of example by such reference signs.

Claims

CLAIMS1. Safety and data collection system (10) for transport vehicles with tipper bodies, comprising:- first detection means (16) for detecting the inclination of a transport vehicle (50, 150) with a tipper body (54) on which it is mounted,- second detection means (17) for detecting the load on a hydraulic cylinder (55) for moving said tipper body (54),- an electronic control unit capable of receiving and processing the signals from said first (16) and second (17) detection means, and of emitting at least one danger signal,- hazard signalling means (19), characterised in that said first detection means (16) comprise three inclination sensors (20, 21 , 22), a first inclination sensor (20) and a second inclination sensor (21 ) being fixed to the tipper body (54), and a third inclination sensor (22) being fixed to a loadbearing platform frame (52) of said transport vehicle (50, 150).

2. System according to claim 1 , characterised in that said three inclination sensors (20, 21 , 22) each comprise a triaxial accelerometer.

3. System according to one or more of the preceding claims, characterised in that each of the three inclination sensors (20, 21 , 22) consists of an I.M.U. type sensor or a M.I.M.U. type sensor.

4. System according to one or more of the preceding claims, characterised in that each inclination sensor (20, 21 , 22) is housed inside a plastic protection and connection box with IP66 protection rating, each protection and connection box comprising an IP67 USB connector for charging, an IP67 RESET button, and an RGB LED used to indicate the acquisition / connection status of a connection system, for example WiFi, integrated into the inclination sensor.

5. System according to one or more of the preceding claims, characterised in that said first (20) and second (21 ) inclination sensors are positioned substantially symmetrically with respect to an anterior-posterior plane of symmetry of the vehicle, below the bottom of the tipper body (54) and preferably near the free end of the tipper body (54), i.e. the non-hinged end, each inclination sensor (20, 21 ) being fixed to the tipper body (54) by means ofcorresponding support brackets (56).

6. System according to one or more of the preceding claims, characterised in that said third inclination sensor (22) is fixed to the floor, or to the chassis (52), by means of corresponding structural support elements.

7. System according to one or more of the preceding claims, characterised in that said first (20) and second (21 ) inclination sensors on the tipper body (54) are positioned on opposite sides of the tipper body (54) and close to a cylinderrod (55).

8. System according to one or more of the preceding claims, characterised in that said second detection means (17) for detecting the load on said hydraulic cylinder (55) comprise a pressure sensor (23) for detecting the pressure of the fluid in the lifting cylinder - rod (55).

9. Transport vehicle (50, 150) with a tipper body, comprising a load-bearing frame (52) to which a tipper body (54) is connected by hinging means (53), and comprising at least one hydraulic cylinder-rod (55) for the rotation in lifting and lowering of said tipper body, said hydraulic cylinder-rod (55) being connected to a dedicated hydraulic circuit (15), said transport vehicle (50, 150) being characterised in that it comprises, on board, a safety system (10) as in one or more of the preceding claims.

10. Transport vehicle (50) according to the previous claim, characterised in that it consists of a truck with a tipper body (54) mounted directly on the loadbearing chassis - platform (52) of the same truck, said hydraulic system (15) being mounted on the same load-bearing chassis - platform (52).

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