GB2537591A

GB2537591A - Method and system for determining when a tipper body has been emptied

Info

Publication number: GB2537591A
Application number: GB1503868.0A
Authority: GB
Inventors: Baldys Marek; Hertog Maarten; Biemond Jacob
Original assignee: Hyva Holding BV
Current assignee: Hyva Holding BV
Priority date: 2015-03-06
Filing date: 2015-03-06
Publication date: 2016-10-26
Also published as: CN105936235A; CN205706328U; GB201503868D0

Abstract

The invention relates to determining when a tipper body of a tipper lorry has been emptied by monitoring both the pressure in the hydraulic cylinder 14 used to raise the tipper body 8 and the angle of the tipper body during the tipping operation. The tipper comprises a tipper body which moves in a pivoting manner with respect to a frame or chassis 6 and the movement is actuated by a hydraulic cylinder which is disposed between the frame and body. The method comprises commencing a tipping operation in which the tipper body containing a load and it is pivoted from a resting position towards a tipped position during which the load is emptied from the tipper body. During this operation a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder is measured with a pressure sensor 42 (in figure 3) and an angular positional parameter relating to the tip angle of the tipper body is also measured. Both are monitored to determine if emptying has occurred. Another invention is directed to a hydraulic cylinder comprising an inclination sensor. The cylinder has a pivot axis which is perpendicular to its longitudinal axis.

Description

METHOD AND SYSTEM FOR DETERMINING WHEN A TIPPER BODY HAS BEEN EMPTIED

The invention relates to a method and system for determining when a tipper body of a tipper has been emptied.

A tipper truck, sometimes referred to as a dump or dumper truck, is a vehicle that is typically used in the construction industry for transporting aggregate (e.g. gravel or sand). The tipper typically comprises an engine, a driver cab and a trailer. The trailer usually has a trailer chassis or frame with a tipper body, in the form of an open-top cuboidal container, pivotably mounted thereto. A hydraulic cylinder is provided between the frame and the tipper body and can be extended to pivot the tipper body to a tipping position in which the load is emptied from the body. The cylinder can be retracted to lower the tipper body. It should be appreciated that this is merely one form of tipper truck and other types do exist.

In use, as the tipper body is moved from a resting position to a fully tipped tipping position the load (such as aggregate) is progressively emptied from the tipper body. The operator typically pivots the tipper body to the fully tipped position, even though all of the load may have been emptied from the tipper body well before the tipper body reaches the fully tipped position. This unnecessarily increases the time taken to perform a single tipping operation.

It is therefore desirable to provide a method and system which addresses this problem to at least some extent.

According to an aspect there is provided a method of determining when a tipper body of a tipper has been emptied during a tipping operation, the tipper comprising a tipper body pivotably moveable with respect to a frame with a hydraulic cylinder disposed therebetween and actuatable to pivot the tipper body, the method comprising: commencing a tipping operation in which the tipper body containing a load is pivoted from a resting position towards a tipped position during which the load is emptied from the tipper body; and during the tipping operation: monitoring a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder and an angular positional parameter relating to the tip angle of the tipper body; and determining when the tipper body is empty based on at least the monitored pressure parameter and the angular positional parameter. If it is determined that the tipper body is empty during a tipping operation, this may be alerted to the operator such that the tipper body can be lowered.

This may reduce the total tipping time resulting in more efficient operation.

The term "angular positional parameter" covers any measurable parameter from which the angular position and/or tip angle of the tipper body can be determined. Thus the angular positional parameter does not have to be generated by directly measuring the angular position of the tipper body. For example, the angular positional parameter could be generated by measuring another factor such as the inclination angle of the hydraulic cylinder, the length of the hydraulic cylinder, or the vertical distance between the frame and the lower surface of the tipper body.

The term "pressure parameter" covers any measurable parameter from which the pressure of the hydraulic fluid within the hydraulic cylinder can be determined.

The pressure parameter may be generated by a pressure sensor which measures the hydraulic pressure within the hydraulic cylinder. The pressure sensor may be mounted to the hydraulic cylinder. The pressure sensor could be mounted within a port provided in the hydraulic cylinder. In other embodiments the pressure sensor may be provided within a fluid line connected to the hydraulic cylinder. The pressure sensor could be an electronic pressure arranged to generate an electronic pressure signal, the value of which is related to the hydraulic pressure within the hydraulic cylinder.

The angular positional parameter may be generated by an inclination sensor. The inclination sensor may measure the inclination of the hydraulic cylinder. The inclination sensor may be mounted to the hydraulic cylinder. The inclination sensor may measure the inclination of the hydraulic cylinder in a plane perpendicular to the pivot axis of the cylinder (i.e. the fore-aft inclination). The inclination sensor may measure the inclination of the tipper body. The inclination sensor may be mounted to the tipper body. The angular positional parameter may be generated by a rotary position sensor. The rotary position sensor may measure the angular position of the hydraulic cylinder about a pivot axis of the hydraulic cylinder. The rotary position sensor may measure the angular position of the tipper body about the pivot axis of the hydraulic cylinder. The position sensor, such an inclination (or tilt) sensor or a rotary position sensor, may be electronic and may be arranged to generate an electronic signal, the value of which is related to the angular position of the tipper body.

Determining when the tipper body is empty may comprise comparing the monitored pressure parameter with reference data during the tipping operation. The comparison may be a direct comparison or an indirect comparison. For example, the pressure parameter could be converted into another form before comparison. It may be determined that the tipper body is empty if the pressure parameter is below a threshold.

The method may further comprise generating an alert following it being determined that the tipper body is empty. The alert could be an audible and/or a visual alert. The method may further comprise automatically halting the tipping operation following it being determined that the tipper body is empty. The method may further comprise automatically returning the tipper body to the resting position following it being determined that the tipper body is empty.

The tipping operation may be performed by an operator operating an operator input device. The operator input device could be a control lever or button.

According to another aspect there is provided an empty body determining system for determining when a tipper body of a tipper has been emptied during a tipping operation, the tipper comprising a tipper body pivotably moveable with respect to a frame with a hydraulic cylinder disposed therebetween and actuatable to pivot the tipper body, the system comprising: an empty body determining module arranged to: monitor a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder and an angular positional parameter relating to the tip angle of the tipper body during a tipping operation; and determine when the tipper body is empty based on at least the monitored pressure parameter and the angular positional parameter.

The system may further comprise an operator input device for commencing a tipping operation in which the tipper body containing a load is pivoted from a resting position towards a tipped position during which the load is emptied from the tipper body. The system may further comprise a pressure sensor arranged to measure the hydraulic pressure within the hydraulic cylinder and generate the pressure parameter.

The system may further comprise an inclination sensor arranged to generate the angular positional parameter. The inclination sensor may be arranged to measure the inclination of the hydraulic cylinder. The inclination sensor may be arranged to measure the inclination of the tipper body. The system may further comprise a rotary position sensor arranged to generate the angular positional parameter. The rotary position sensor may be arranged to measure the angular position of the hydraulic cylinder about a pivot axis of the hydraulic cylinder. The rotary position sensor may be arranged to measure the angular position of the tipper body about the pivot axis of the hydraulic cylinder.

The system may further comprise a storage module storing reference data. The empty body determining module may be arranged to determine when the tipper body is empty by comparing the monitored pressure parameter with reference data stored in the storage module during the tipping operation.

The empty body determining module may be arranged to determine that the tipper body is empty if it is determined that the pressure parameter is below a threshold.

The system may further comprise an alert generator arranged to generate an alert following it being determined that the tipper body is empty.

The system may further comprise a hydraulic cylinder control module arranged actuate the hydraulic cylinder to halt the tipping operation following it being determined that the tipper body is empty. The hydraulic cylinder control module may be further arranged to actuate the hydraulic cylinder to return the tipper body to the resting position following it being determined that the tipper body is empty.

According to a further aspect there is provided a tipper comprising: a tipper body pivotably moveable with respect to a frame; a hydraulic cylinder disposed between the frame and the tipper body and actuatable to pivot the tipper body; and an empty body determining system in accordance with any statement herein for determining when a tipper body of a tipper has been emptied during a tipping operation. The pressure sensor may be mounted to the hydraulic cylinder. The inclination sensor may be mounted to the hydraulic cylinder. The inclination sensor may be mounted to the tipper body. The tipper may be a tipper vehicle.

According to yet a further aspect there is provided a hydraulic cylinder assembly comprising: a hydraulic cylinder having at least one pivot axis perpendicular to the longitudinal axis of the cylinder; and at least one inclination sensor coupled to the hydraulic cylinder such that it is capable of generating a fore-aft inclination parameter relating to the inclination of the cylinder in a plane perpendicular to the pivot axis. At least one end of the hydraulic cylinder may be provided with an eye which defines the pivot axis.

The hydraulic cylinder assembly may further comprise a pressure sensor coupled to the hydraulic cylinder such that it is capable of generating a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder.

The invention may comprise any combination of the features and/or limitations referred to herein, except combinations of such features as are mutually exclusive.

Embodiments of the invention will now be described, by way of example, with reference to the accompanying drawings, in which: Figure 1 schematically shows a perspective view of a tipper truck; Figure 2 schematically shows a side view of the tipper truck of Figure 1 without the tractor; Figure 3 schematically shows an empty tipper body determining system for determining when the tipper body of the tipper truck is empty; Figure 4 schematically shows a tipper truck with the tipper body in a resting position; Figure 5 schematically shows a tipper truck with the tipper body in a fully tipped; and Figure 6 schematically shows an alternative tipper truck..

Figures 1 and 2 show a tipper truck 1, sometimes referred to as a dump truck, comprising a tractor 2 and a trailer 4. The trailer 4 has a trailer chassis or frame 6, and a tipper body 8 is pivotably mounted thereto. The tipper body 8 is pivotably mounted to the chassis 6 about a transverse axis 10 that is located at the rear of the chassis 6. The tipper body 8 is in the form of a cuboidal container having an open top. The rear panel (or door) 12 of the tipper body 8 is hinged at its upper edge and can be locked and unlocked such that it can be opened to allow the contents of the tipper body 8 to be emptied. A hydraulic cylinder 14 is provided that is pivotably attached at a lower end to the front of the chassis 6 and pivotably attached an upper end to the front of the tipper body 8. The hydraulic cylinder 14 can be extended (as in Figure 1) to pivot the tipper body 8 about the axis 10 to a fully tipped position in which, with the rear panel 12 unlocked, any load within the tipper body 8 is emptied onto the ground. The cylinder 14 can be retracted so as to pivot the tipper body 8 back to a resting position in which it rests on the chassis 6. Since the lower end of the hydraulic cylinder 14 is pivotably fixed to the chassis 6 and the upper end of the hydraulic cylinder 14 is pivotably fixed to the tipper body 8, there is a fixed relationship between the inclination angle a of the cylinder 14 relative to the chassis, and the tip angle 0 of the tipper body 8 relative to the chassis 6.

The tipper truck 1 further comprises a hydraulic actuation system 20 for actuating the hydraulic cylinder 14. The hydraulic actuation system 20 comprises an oil tank 22, a pump 24 and a valve assembly 26 that are connected with fluid lines to form a fluid circuit. A pilot system (not shown) is also provided for switching the valve assembly 26 between various configurations. The valve assembly 26 is provided with a port that is hydraulically connected to the hydraulic cylinder 14 with a fluid line 28. The valve assembly 26 can be switched between a number of configurations in order to operate the hydraulic cylinder 14. In a bypass configuration of the valve assembly 26, with the pump 24 running, hydraulic fluid is circulated by the pump 24 from the tank 22, through the valve assembly 26 back to the tank 22. In order to extend the hydraulic cylinder 14 to pivot the tipper body 8 to a fully tipped position (as in Figures 1 and 2), the valve assembly 26 is switched to a raising configuration in which the pump 24 pumps hydraulic fluid from the tank 22 into the hydraulic cylinder 14, thus causing it to extend. When the hydraulic cylinder 14 has been sufficiently extended (either fully extended or extended by the desired amount), the valve assembly 26 is returned to a bypass configuration in which, with the pump 24 running, hydraulic fluid is circulated from the tank 22 through the valve assembly 26 back to the tank 22. In the bypass configuration of the valve assembly 26 the fluid line 28 is closed and therefore the cylinder 14 remains in the extended configuration. In this embodiment, the hydraulic actuation system 20 is provided with an automatic knock-off which automatically switches the valve assembly 26 to the bypass configuration when the hydraulic cylinder has been fully extended. The automatic knock-off is in the form of a switch which the body of the hydraulic cylinder 14 triggers when it reaches the fully extended position. The valve assembly 26 is also provided with a pressure relief bypass valve. If the pressure of the hydraulic fluid in the valve assembly 26 exceeds a threshold (which may be due to an excessively heavy load in the tipper body 8) the hydraulic fluid is diverted to the tank 22, rather than being pumped into the hydraulic cylinder 14. This is a safety feature provided to prevent excessively heavy loads from being lifted. In order to lower the hydraulic cylinder 14, the pump 24 is shut off and the valve assembly 26 is switched to a lowering configuration. In this configuration, the fluid line 28 is opened and the cylinder 14 retracts under the weight of the tipper body 8 with the hydraulic fluid being returned to the tank 22.

As will be described in detail below, the tipper truck 1 is provided with an empty body determining system 40 which, during a tipping operation, can determine when the tipper body 8 is empty.

Figure 3 shows the empty body determining system 40 for determining when the tipper body 8 is empty. The empty body determining system 40 comprises a pressure sensor 42 for measuring the pressure of the hydraulic fluid, such as oil, within the hydraulic cylinder 14 and an inclination (or tilt) sensor 44 for measuring the inclination (i.e. the tilt angle) of the hydraulic cylinder 14 in a plane perpendicular to the lower pivot axis 30. The lower pivot axis 30 of the cylinder 14 is defined by the axis of the eye 32 by which the cylinder 14 is pivotably mounted to the chassis 6. Similarly, the upper pivot axis 34 (which is parallel to the lower axis 30) is defined by the axis of the eye 36 by which the cylinder 14 is pivotably mounted to the tipper body 8. The pressure sensor 42 is an electronic pressure transducer that is installed within a port provided in the outer wall of the cylinder 14. The pressure sensor 42 is thus fixed to the hydraulic cylinder 14 and is exposed to the hydraulic fluid within the cylinder 14. The pressure sensor 42 is arranged to generate an electronic signal which is representative of the detected hydraulic pressure (i.e. the pressure of the hydraulic fluid). Thus, the hydraulic pressure within the cylinder 14 can be determined from the electronic signal generated by the pressure sensor 42. The inclination sensor 44 is mounted to the outer surface of the hydraulic cylinder 14 and is positioned such that it can measure the fore-aft (i.e. forwards/backwards) inclination of the hydraulic cylinder 14 in a plane perpendicular to the pivot axis 30. The inclination sensor 44 is arranged to generate an electronic signal which is representative of the inclination angle a. In this embodiment, with the truck chassis 6 horizontal, the inclination angle a of the hydraulic cylinder 14 can be determined from the electronic signal generated by the inclination sensor 44. Due to the fixed relationship between the inclination angle and the tip angle, the electronic signal generated by the inclination sensor 44 also relates to the tip angle 0 (i.e. with the truck chassis 6 horizontal the tip angle 8 can be determined from the electronic signal generated by the inclination sensor).

The empty body determining system 40 further comprises an empty body determining module 50, a cylinder control module 52 and a touch-screen display 54. The pressure sensor 42 and the inclination sensor 44 are connected to the empty body determining module 50 by appropriate cabling such that the empty body determining module 50 can obtain the signals generated by the sensors 42, 44. It should be appreciated that in other embodiments the sensors 42, 44 could be wirelessly connected to the empty body determining module 50. The empty body determining module 50 is configured to monitor the signals generated by the pressure sensor 42 and the inclination sensor 44 during a tipping operation and, based on these signals, determine when the tipper body 8 is empty. This determination is made by comparing the electronic signal received from the pressure sensor 42 and pre-stored data stored within the module 50. The cylinder control module 52 is coupled to the hydraulic actuation system 20 of the tipper truck 1 (via the pilot system) so that it can automatically actuate the hydraulic cylinder 14 to halt (or stop) the movement of the tipper body 8 and return it to the resting position when it has been determined that the tipper body 8 is empty. The cylinder control module 52 may be connected either wired or wirelessly to the hydraulic actuation system 20 to control the pump 24 and/or the valve assembly 26 via the pilot system. The display 54 is connected to the empty body determining module 50 and is configured to display an alert if the empty body determining module 50 determines, during a tipping operation, that the tipper body 8 is empty. In this embodiment the display 54 is installed in the dashboard of the tractor 2 such that it is easily visible by an operator. However, in other embodiments it could be located externally, or it could be in the form of a wireless hand-held device (e.g. a smartphone or a tablet). If the display 54 is provided by a portable wireless device, such as a smartphone or tablet, it could also incorporate the empty body determining module 50 and the cylinder control module 52 and could communicate wirelessly with the sensors 42, 44.

A tipping operation will now be described with reference to Figures 4 and 5.

Before commencing a tipping operation the tipper truck 1 is driven to a location where the chassis 6 is substantially horizontal. Initially, the tipper body 8 containing a load 16 (such as sand) is in a resting position (Figure 4). In the resting position of the tipper body 8 it rests on the chassis 6 of the trailer 4 such that the load is transferred directly to the chassis 6. Therefore, in the resting position no load is transferred through the hydraulic cylinder 14. In order to commence a tipping operation in which the load 16 within the tipper body 8 is progressively emptied, an operator uses a control lever (not shown) of the hydraulic actuation system 20 to extend the hydraulic cylinder 14. This causes the tipper body 8 to be pivoted about the axis 10 from the resting position towards a fully tipped position (Figure 5). In this embodiment, the fully tipped position is approximately a 50° tip angle with respect to the horizontal chassis 6. Since the rear door 12 is unlocked during the tipping operation, as the hydraulic cylinder 14 is extended, the load 16 is emptied onto the ground. As soon as the tipper body 8 is pivoted away from the chassis 6 load is transferred through the hydraulic cylinder 14 which pressurises the hydraulic fluid within the cylinder 14. The pressure is at its highest during the initial phase of the tipping operation. As the tip angle of the tipper body 8 increases, the pressure decreases as the load 16 is progressively emptied onto the ground. The pressure also decreases as the centre of gravity of the tipper body 8 and load 16 moves closer to the rear tipper axis 10, and as the inclination angle of the hydraulic cylinder 14 decreases. It should be noted that there may be step changes in the pressure (although not the force) if the cylinder 14 is a telescopic (multi-stage) cylinder.

During the tipping operation (i.e. during the pivoting movement of the tipper body 8 from the resting position towards the fully tipped position) the empty body determining module 50 continuously monitors both the value of the pressure signal generated by the pressure sensor 42 (pressure parameter P) and the value of the inclination signal generated by the inclination sensor 44 (angular positional parameter A). The pressure parameter P relates to the pressure of the hydraulic fluid within the cylinder 14, and in some embodiments the empty body determining module 50 may calculate the actual hydraulic pressure in MPa. The angular positional parameter A is based on the inclination of the cylinder 14, but due to the fixed relationship between the cylinder 14 and the tipper body 8, it also relates to the tip angle (i.e. the angular position of the tipper body 8). The empty body determining module 50 utilises both the monitored pressure parameter P and the monitored angular positional parameter A to determine when the tipper body 8 is empty. In this embodiment, this is done by comparing the monitored pressure parameter P at the particular monitored angular positional parameter A with reference data stored in the determining module 50. In particular, the reference data contains a database which correlates a range of angular positional parameters AR with reference pressure parameters PR. The reference pressure parameters PR relate to the pressure within the hydraulic cylinder 14 when there is no (or little) load within the tipper body 8. The reference pressure parameters could be actual pressure values (for example in MPa), or it could be values relating to the electronic output of the pressure sensor. The reference pressure parameters PR may in fact be slightly greater (for example 5% greater) than the pressure parameter with zero load in the tipper body 8. If the monitored pressure parameter P is equal to or less than the reference pressure parameter PR at the monitored angular positional parameter A, the empty body determining module 50 determines that the tipper body 8 is empty. It may be determined that the tipper body 8 is empty before the tipper body 8 reaches the fully tipped position (Figure 5). In response to determining that the tipper body 8 is empty, the cylinder control module 52 communicates with the hydraulic actuation system 20 to automatically actuate the hydraulic cylinder 14 to stop any further movement of the tipper body 8. Further, the cylinder control module 52 communicates with the hydraulic actuation system 20 to actuate the cylinder 14 to return the tipper body 8 to the resting position (Figure 4). In addition to this, the display 54 generates an alert indicating to the operator that the tipper body 8 is empty. The system and method may therefore reduce the time taken to complete a tipping operation as the tipper body 8 is lowered as soon as it is determined that it is empty. In other embodiments, only an alert may be generated to indicate that the tipper body 8 is empty, and the operator may use a cylinder control lever (not shown) to return the tipper body 8 to the resting position.

In order to be able to determine, during a tipping operation, that the tipper body 8 is empty, the empty body determining module 50 may be calibrated for the specific tipper truck 1. For example, the tipper 1 may be calibrated by initiating a calibration sequence in which an empty tipper body 8 is pivoted from a resting position to the fully tipped position. This calibration may create the reference database, In other embodiments the reference data could be pre-programmed for the specific tipper truck 1 based on the geometry and weight of the tipper 1. It should be appreciated that other measures or parameters could be used in addition to the pressure parameter and the inclination parameter.

The empty body determining module 50 may make various assumptions in order to be able to determine when the tipper body 8 is empty. For example, the empty body determining module 50 may assume that the chassis 6 is horizontal. If the chassis 6 is not horizontal, the empty body determining system 40 may be able to determine the inclination angle of the chassis 6, and may use this value to correct for any inclination. For example, the chassis 6 may be provided with an inclination sensor arranged to generate a signal indicative of the inclination angle. In other arrangements, the signal generated by the inclination sensor 44 attached to the hydraulic cylinder 14 may be used to determine the inclination angle of the chassis 6. For example, with the tipper body 8 in the resting position (Figure 4), the signal generated by the inclination sensor 44 may be used to calculate the inclination angle of the chassis 6 based on the known inclination angle of the hydraulic cylinder 14 with the chassis 6 horizontal.

It has been described above that the angular positional parameter is generated by an inclination sensor attached to the hydraulic cylinder 14. However, other suitable sensors could be used. For example, an inclination sensor could be attached to the tipper body 8 to measure the angular position of the tipper body. Further, a rotary position sensor could be used to measure the amount of rotation at either the pivot axis 10 of the tipper body 8, or the lower or upper pivot axes 30, 34 of the hydraulic cylinder 14. The signals generated by these sensors can all be related to the angular position of the tipper body (either with respect to the chassis 6 or horizontal). Further, a linear position sensor could be used to monitor the length of the hydraulic cylinder 14. Such a sensor could include a Hall effect sensor, for example. The signal generated by the linear position sensor could again be used to determine the angular position of the tipper body 8. In another arrangement, a distance sensor could be provided to measure the vertical distance between the frame and the lower front edge (i.e. the raised edge) of the tipper body 8. Such a sensor would generate an angular positional parameter as the output of the sensor relates to the angular position of the tipper body 8.

As opposed to providing the pressure sensor 42 in a port in the wall of the hydraulic cylinder 14, the pressure sensor could be provided in the fluid line 28 connecting the valve assembly 26 to the cylinder 14. In essence, the pressure sensor 42 could be provided at any suitable position in the hydraulic system where it can detect the hydraulic pressure within the cylinder 14.

It should be appreciated that the system could be used with any suitable type of tipper truck in which a tipper body 8 can be pivoted or moved by a hydraulic cylinder. For example, as shown in Figure 6, the tipper truck 1 may comprises a tractor 2 having a frame 6 with a hydraulic cylinder 14 connected between the frame 6 and the tipper body 8. The tipper truck 14 further comprises a drawbar 11 that is pivotably connected at a first end to the frame 6 at a first pivot axis 10 and at a second end to the tipper body 8 at a second pivot axis 11. In order to pivot the tipper body 8 from a resting position (not shown) to the fully tipped position (Figure 6), the hydraulic cylinder 14 is extended which causes the tipper body 8 to pivot clockwise (in Figure 6) with respect to the frame 6 about the pivot axis 10, and with respect to the drawbar 9 about the pivot axis 11. It should also be appreciated that in order to measure the angular position (i.e. tip angle) of the tipper body 8 the inclination angle of the drawbar 9 could be measured since there is a fixed relationship between this angle and the tip angle (and the inclination angle of the hydraulic cylinder 14).

The empty body determining system 40 may be one of many intelligent systems that the tipper truck 1 is provided with and could therefore be combined with any suitable system for providing information regarding the tipper vehicle and/or the load carried by the tipper body. If multiple intelligent systems are provided, they may share the same display or processors, for example.

Some aspects of the above-described apparatus, system and methods, may be embodied as machine readable instructions such as processor control code, for example on a non-volatile carrier medium such as a disk, CD-or DVD-ROM, programmed memory such as read only memory (Firmware), or on a data carrier such as an optical or electrical signal carrier. For some applications, embodiments of the invention will be implemented on a DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array). Thus the code may comprise conventional program code or microcode or, for example code for setting up or controlling an ASIC or FPGA. The code may also comprise code for dynamically configuring re-configurable apparatus such as re-programmable logic gate arrays. Similarly the code may comprise code for a hardware description language such as Verilog TM or VHDL (Very high speed integrated circuit Hardware Description Language). The code may be distributed between a plurality of coupled components in communication with one another. Where appropriate, embodiments may also be implemented using code running on a field-(re)programmable analogue array or similar device in order to configure analogue hardware.

Claims

CLAIMS: 1. A method of determining when a tipper body of a tipper has been emptied during a tipping operation, the tipper comprising a tipper body pivotably moveable with respect to a frame with a hydraulic cylinder disposed therebetween and actuatable to pivot the tipper body, the method comprising: commencing a tipping operation in which the tipper body containing a load is pivoted from a resting position towards a tipped position during which the load is emptied from the tipper body; and during the tipping operation: monitoring a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder and an angular positional parameter relating to the tip angle of the tipper body; and determining when the tipper body is empty based on at least the monitored pressure parameter and the angular positional parameter.
2. A method according to claim 1, wherein the pressure parameter is generated by a pressure sensor which measures the hydraulic pressure within the hydraulic cylinder.
3. A method according to claim 2, wherein the pressure sensor is mounted to the hydraulic cylinder.
4. A method according to any preceding claim, wherein the angular positional parameter is generated by an inclination sensor.
5. A method according to claim 4, wherein the inclination sensor measures the inclination of the hydraulic cylinder.
6. A method according to claim 5, wherein the inclination sensor is mounted to the hydraulic cylinder.
7. A method according to claim 4, wherein the inclination sensor measures the inclination of the tipper body.
8. A method according to claim 7, wherein the inclination sensor is mounted to the tipper body.
9. A method according to any of claims 1-3, wherein the angular positional parameter is generated by a rotary position sensor.
10. A method according to claim 9, wherein the rotary position sensor measures the angular position of the hydraulic cylinder about a pivot axis of the hydraulic cylinder.
11. A method according to claim 9, wherein the rotary position sensor measures the angular position of the tipper body about the pivot axis of the hydraulic cylinder.
12. A method according to any preceding claim, wherein determining when the tipper body is empty comprises comparing the monitored pressure parameter with reference data during the tipping operation.
13. A method according to claim 12, wherein if the pressure parameter is below a threshold it is determined that the tipper body is empty.
14. A method according to any preceding claim, further comprising generating an alert following it being determined that the tipper body is empty.
15. A method according to any preceding claim, further comprising automatically halting the tipping operation following it being determined that the tipper body is empty.
16. A method according to claim 14 or 15, further comprising automatically returning the tipper body to the resting position following it being determined that the tipper body is empty.
17. A method according to any preceding claim, wherein the tipping operation is performed by an operator operating an operator input device.
18. An empty body determining system for determining when a tipper body of a tipper has been emptied during a tipping operation, the tipper comprising a tipper body pivotably moveable with respect to a frame with a hydraulic cylinder disposed therebetween and actuatable to pivot the tipper body, the system comprising: an empty body determining module arranged to: monitor a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder and an angular positional parameter relating to the tip angle of the tipper body during a tipping operation; and determine when the tipper body is empty based on at least the monitored pressure parameter and the angular positional parameter.
19. A system according to claim 18, further comprising an operator input device for commencing a tipping operation in which the tipper body containing a load is pivoted from a resting position towards a tipped position during which the load is emptied from the tipper body.
20. A system according to claim 18 or 19, further comprising a pressure sensor arranged to measure the hydraulic pressure within the hydraulic cylinder and generate the pressure parameter.
21. A system according to any of claims 18-20, further comprising an inclination sensor arranged to generate the angular positional parameter.
22. A system according to claim 21, wherein the inclination sensor is arranged to measure the inclination of the hydraulic cylinder.
23. A system according to claim 21, wherein the inclination sensor is arranged to measure the inclination of the tipper body.
24. A system according to any of claims 18-20, further comprising a rotary position sensor arranged to generate the angular positional parameter.
25. A system according to claim 24, wherein the rotary position sensor is arranged to measure the angular position of the hydraulic cylinder about a pivot axis of the hydraulic cylinder.
26. A system according to claim 24, wherein the rotary position sensor is arranged to measure the angular position of the tipper body about the pivot axis of the hydraulic cylinder.
27. A system according to any of claims 18-26, further comprising a storage module storing reference data, and wherein the empty body determining module is arranged to determine when the tipper body is empty by comparing the monitored pressure parameter with reference data stored in the storage module during the tipping operation.
28. A system according to claim 27, wherein the empty body determining module is arranged to determine that the tipper body is empty if it is determined that the pressure parameter is below a threshold.
29. A system according to any of claims 18-28, further comprising an alert generator arranged to generate an alert following it being determined that the tipper body is empty.
30. A system according to any of claims 18-29, further comprising a hydraulic cylinder control module arranged actuate the hydraulic cylinder to halt the tipping operation following it being determined that the tipper body is empty.
31. A system according to claim 30, wherein the hydraulic cylinder control module is further arranged to actuate the hydraulic cylinder to return the tipper body to the resting position following it being determined that the tipper body is empty.
32. A tipper comprising: a tipper body pivotably moveable with respect to a frame; a hydraulic cylinder disposed between the frame and the tipper body and actuatable to pivot the tipper body; and an empty body determining system in accordance with any of claims 18-31 for determining when a tipper body of a tipper has been emptied during a tipping operation.
33. A tipper according to claim 32 when appended to claim 20, wherein the pressure sensor is mounted to the hydraulic cylinder.
34. A tipper according to claim 32 or 33 when appended to claim 22, wherein the inclination sensor is mounted to the hydraulic cylinder.
35. A tipper according to claim 32 or 33 when appended to claim 23, wherein the inclination sensor is mounted to the tipper body.
36. A tipper vehicle in accordance with any of claims 32-35.
37. A hydraulic cylinder assembly comprising: a hydraulic cylinder having at least one pivot axis perpendicular to the longitudinal axis of the cylinder; and at least one inclination sensor coupled to the hydraulic cylinder such that it is capable of generating a fore-aft inclination parameter relating to the inclination of the cylinder in a plane perpendicular to the pivot axis.
38. A hydraulic cylinder assembly according to claim 37, wherein at least one end of the hydraulic cylinder is provided with an eye which defines the pivot axis.
39. A hydraulic cylinder assembly according to claim 37 or 38, further comprising a pressure sensor coupled to the hydraulic cylinder such that it is capable of generating a pressure parameter relating to the hydraulic pressure within the hydraulic cylinder.
40. A method according to claim 1 and substantially as described herein with reference to the accompanying drawings.
41. An empty body determining system, a tipper, a tipper vehicle or a hydraulic cylinder substantially as described herein with reference to the accompanying drawings.