JP2005335892A - Load measuring device for working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To establish accurate measurability for the load acting on a load reception part without stopping a working vehicle and enable grasping the operating situation of the vehicle precisely by subjecting signals from a load measuring sensor mounted on the vehicle to a wave-form processing upon accommodating in a memory means so as to remove the noise. <P>SOLUTION: A load measuring device according to the present invention is equipped with an information acquisition part to acquire the information to show the load from a load sensor 21 which senses the load acting on the load reception part of the working vehicle, a temporary memory part 13a to accommodate temporarily the information which the information acquisition part has acquired, and a control part 11 to acquire the information accommodated in the temporary memory part 13a and subject the information to a wave-form processing, whereby the load acting on the load reception part is measured while the vehicle is running. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a load measuring apparatus for a work vehicle.

  Conventionally, in order to manage the operation status of work vehicles that load and unload parts, products, luggage, etc. on the premises of factories, warehouses, etc., such as forklifts, transport vehicles, checkers, etc. There has been proposed a load measuring device that receives a signal of a sensor attached to a work vehicle and measures a load applied to a load receiving portion such as a fork (for example, see Patent Document 1).

As a result, the operator of the work vehicle and the management center can accurately grasp the load applied to the load receiving part of the work vehicle being worked on the premises.
JP-A-8-198598

  However, in the conventional load measuring device, the calculation means is mounted on the work vehicle, and the calculation means takes in the signal from the sensor and measures the load. However, when the work vehicle is running, However, the load applied to the load receiving portion such as a fork could not be accurately measured due to the influence of noise caused by running vibration or the like. In addition, the time during which the load is applied to the load receiving portion, that is, the load time cannot be measured.

  Furthermore, since it is impossible to determine whether or not the load has been changed, it is not possible to recognize one load state or one load, and it is not possible to collect information on one load state or one load. It was.

  The present invention solves the above-mentioned conventional problems, and considers the operation state of the work vehicle, the vehicle speed, and the like, so that the work vehicle travels based on a signal from a load measuring sensor attached to the work vehicle. The load applied to the load receiving part can be accurately measured even during the load, the load time can be measured, one load condition and one load can be recognized, one load condition and one load It is an object of the present invention to provide a work vehicle load measuring device capable of collecting information related to winning and accurately grasping the operation status of the work vehicle.

  Therefore, in the work vehicle load measuring device of the present invention, the information acquisition unit that acquires information indicating the load from the load detector that detects the load applied to the load receiving unit of the work vehicle, and the information acquisition unit A temporary storage unit that temporarily stores information; and a control unit that acquires the information stored in the temporary storage unit and executes waveform processing on the information, Measure the load applied to the receiving part.

  In another work vehicle load measuring device of the present invention, an information acquisition unit that acquires information indicating a load from a load detector that detects a load applied to a load receiving unit of the work vehicle, and information acquired by the information acquisition unit A temporary storage unit that temporarily stores information, and a control unit that acquires information stored in the temporary storage unit and executes waveform processing on the information, and determines a load state of the work vehicle .

  In still another work vehicle load measuring device according to the present invention, the information acquisition unit acquires information indicating forward / backward travel of the work vehicle and information indicating an operating state of the work vehicle, and performs the control. The unit performs waveform processing on the information indicating the load with reference to information indicating forward / backward travel of the work vehicle and information indicating an operating state of the work vehicle.

  In still another working vehicle load measuring apparatus according to the present invention, the control unit determines that the load has been released when the working vehicle changes from a loaded state to a no-loaded state and moves backward.

  In still another working vehicle load measuring device of the present invention, the information indicating the load is information indicating a hydraulic pressure, and the control unit is configured to change a hydraulic pressure due to a cargo handling, a load due to traveling of the working vehicle, and the like. To determine the noise associated with the vibration.

  In yet another working vehicle load measuring device according to the present invention, the working vehicle load measuring device further includes a storage unit for storing the measured load applied to the load receiving unit for each section time.

  In yet another work vehicle load measuring device of the present invention, the control unit further determines a load state of the work vehicle, acquires operation information of the work vehicle, and obtains the load state and operation information. Along with the measured load applied to the load receiving portion, the load is stored in the storage portion for each section time.

  In still another working vehicle load measuring apparatus according to the present invention, the control unit automatically calibrates parameters used for the waveform processing.

  According to the present invention, the work vehicle load measurement device includes an information acquisition unit that acquires information indicating a load from a load detector that detects a load applied to a load receiving unit of the work vehicle, and information acquired by the information acquisition unit. A temporary storage unit that temporarily stores information, and a control unit that acquires information stored in the temporary storage unit and executes waveform processing on the information, and receives the consignment during the traveling of the work vehicle. Measure the load on the part.

  In this case, the load applied to the load receiving portion can be accurately measured without stopping the work vehicle, and the work performed on the load by the work vehicle can be accurately performed for the load, the load time, and one load. Can grasp.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a conceptual diagram of a work vehicle management system in an embodiment of the present invention, and FIG. 2 is a side view of the work vehicle in an embodiment of the present invention.

  In FIG. 2, a forklift 30 as a work vehicle includes a fork 31 that moves up and down as a load receiving portion, wheels 32, an instrument panel 33, a handle 34, a cargo handling lever 35, a seat 36, a mast 37, and the like. The work vehicle may be any type of vehicle such as a transport vehicle or a towing vehicle as long as it is a vehicle that loads and unloads parts, products, luggage, etc. in a factory, warehouse, etc. In the present embodiment, description will be made assuming that the forklift 30 is used. The forklift 30 may be a so-called engine vehicle that uses an internal combustion engine such as a gasoline engine as a drive source. Here, the forklift 30 is driven by a current supplied from a mounted secondary battery, that is, a battery. In the following description, it is assumed that the battery is a so-called battery car.

  A driver who drives the forklift 30, that is, an operator, gets on the seat 36, operates the handle 34, the cargo handling lever 35, an accelerator pedal (not shown), a pedal such as a brake pedal, various switches, etc. 31 and the mast 37 are moved up and down, the forklift 30 is moved forward and backward, and a right turn and a left turn are performed. The cargo handling lever 35 is usually a plurality. As a result, parts, products, luggage, etc. can be loaded and unloaded and transported on the premises such as factories and warehouses.

  Further, the forklift 30 is equipped with a load measuring device 10 as shown in FIG. The load measuring device 10 is a kind of computer, and includes a control unit 11 including a calculation unit such as a CPU and an MPU, a storage unit such as a semiconductor memory, and the like, and an RTC (real time) that measures the current time and transmits it to the control unit 11. A display unit 14 including a clock (Real Time Clock) 12, a memory 13 as a storage unit for storing various data, a CRT disposed on the instrument panel 33, a liquid crystal display panel, an LED (Light Emitting Diode) display panel, and the like. , An input device 15 having a push button, a keyboard, a joystick, a touch panel, etc., a communication circuit 16 connected to a network (not shown) and communicating with an external device such as a management server, a key switch disposed on the forklift 30, an accelerator Switch, cargo handling switch It has an interface 17 as an information acquiring unit which receives signals from various detectors such as the signal and driving the pulse detector from various switches and the like. The memory 13 includes a temporary storage unit 13 a that temporarily stores data such as a hydraulic waveform and a vehicle information storage unit 13 b that stores vehicle information of the forklift 30. Also, an external device can be connected to the input device 15 and input can be performed from the external device. Further, an external storage device can be connected to the communication circuit 16.

  Here, the interface 17 includes a load detector 21 that detects a load applied to the fork 31 and the mast 37, a vehicle speed detector 22 that detects a vehicle speed of the forklift 30, and a cargo handling lever that detects an operation state of the cargo handling lever 35. An operation detector 23 is connected. In the present embodiment, the control unit 11 determines that the load is released when the forklift 30 changes from a loaded state to a no-loaded state and moves backward until the next loaded state starts. ing. That is, it is determined that there is no pallet on the fork 31 because the forklift 30 moves backward after unloading. In this case, whether or not the forklift 30 has made a clear reverse (for example, reverse for 2 [seconds] or more) from the end of the load state to the next load state, that is, in the no-load state. Based on this, it is determined whether or not the load has been changed. It is also possible to determine that there is no pallet on the fork 31 by attaching a pallet detector (not shown) that detects the presence or absence of the pallet to the tip of the fork 31 or the like. The load detector 21 is, for example, a hydraulic detector that detects the hydraulic pressure in the hydraulic cylinder device for raising and lowering the fork 31 and the mast 37. The load cell 21 directly measures the load applied to the fork 31 and the mast 37. It may be.

  In the present embodiment, the interface 17 as an information acquisition unit acquires information indicating the load from the load detector 21, the temporary storage unit 13a temporarily stores the information acquired by the interface 17, and the control unit 11 Information stored in the temporary storage unit 13a is acquired, and waveform processing is executed on the information.

  The load measuring device 10 can measure the load even while the forklift 30 is traveling by storing raw load data in the memory 13 and executing waveform processing. Further, the accuracy of load measurement can be improved by referring to data such as vehicle speed, lever operation, and presence / absence of a pallet. Then, the measured load, the determination result of the load state and the like are stored in the memory 13 together with other operation information for each section time, and transmitted to the external device as necessary. Furthermore, the parameters used for the waveform processing can be automatically calibrated.

  Next, the operation of the load measuring apparatus 10 having the above configuration will be described. First, the automatic calibration operation will be described. Here, a case where the load detector 21 is a hydraulic pressure detector will be described.

  FIG. 3 is a flowchart showing an automatic calibration operation of the load measuring apparatus according to the embodiment of the present invention.

  First, the load measuring apparatus 10 enters a calibration mode for performing automatic calibration. Note that the automatic calibration is desirably performed in an interactive manner. Subsequently, the fork 31 is lifted up to a predetermined lifting height with an empty load, that is, the fork 31 is raised to a predetermined height, for example, about 40 [cm] without applying a load. In 2 stage-FFL, 3 stage-FFL, and 2 stage-SFL, it is performed within the free lift height. This is because there is a load change corresponding to the weight of the mast 37 depending on the type of the mast 37 and the height of the fork 31.

  Subsequently, the forklift 30 is caused to travel a predetermined distance, and a hydraulic waveform during that time is acquired. The hydraulic waveform is measured by the load detector 21. In this case, it is desirable to travel on a road surface close to the road surface condition where the forklift 30 actually operates. Note that even if the weight of the mast 37 is measured statically, it does not mean the average when the forklift 30 is actually operating.

Subsequently, an average oil pressure P1 is acquired during that time, that is, while the forklift 30 travels a predetermined distance. The P1 is a mast load pressure. If only the zero point is set without using the reference load, P1 may be measured and the process may be terminated. In this case, it is not necessary to input the mast weight. In addition, the load L is represented by the following formula (1) according to the mast type, for example.
^{L = π × (d 2/} 4) × n × (P-P1) / 2 ··· Equation (1)
Here, P is the current hydraulic pressure, d is the cylinder diameter of the hydraulic cylinder device, and n is the number of hydraulic cylinders. In this case, the A / D error and sensor error at high weight are not corrected. If the structure of the mast 37 is different, the load L is expressed by a formula different from the formula (1).

  In measuring the load, the zero point is very important. If the 0 points are not matched, the load time or the like changes, and the determination of the load state is affected. In addition, if the 0 points are set together, it is possible to eliminate the use of a reference load by sacrificing only a relatively high weight error.

  Subsequently, the reference load is lifted up to a predetermined lifting height. In this case, the reference load is a vehicle rated load, for example, 2500 [kg]. Subsequently, the forklift 30 is caused to travel a predetermined distance, and a hydraulic waveform during that time is acquired. Then, an average oil pressure P2 is acquired during that time, that is, while the forklift 30 travels a predetermined distance.

Subsequently, a load conversion coefficient, that is, a calibration value is calculated based on the acquired hydraulic pressure, and the automatic calibration is terminated. The calibration value CALB is calculated by the following equation (2).
CALB = reference load / (P2-P1) (2)
In this case, the load conversion coefficient, that is, the calibration value includes a cylinder diameter, an A / D error, and a sensor error of the hydraulic cylinder device. The weight of the mast 37, the cylinder diameter of the hydraulic cylinder device, and the calibration value need not be input.

Further, by using the calibration value CALB calculated by the equation (2), the load L can be calculated from the current hydraulic pressure P by the following equation (3).
L = CALB × (P−P1) (3)
By applying such automatic calibration, other points can be automated. For example, it is possible to set a sudden oil pressure drop by actually lowering.

Next, a flowchart will be described.
Step S1 The calibration mode is entered.
Step S2 Lifting up to a predetermined lifting height with an empty load.
Step S3 The vehicle travels a predetermined distance and acquires a hydraulic waveform during that time.
Step S4: The average oil pressure P1 during that time is acquired.
Step S5 The reference load is lifted up to a predetermined lifting height.
Step S6 The vehicle travels a predetermined distance and acquires a hydraulic waveform during that time.
Step S7: Obtain an average oil pressure P2 during that time.
Step S8: Calculate a load conversion coefficient based on the hydraulic pressure and end the process.

  Next, a process for measuring a load based on the measured hydraulic waveform will be described. In this case, the control unit 11 performs waveform processing on the data temporarily stored in the temporary storage unit 13a. Here, a case where the load detector 21 is a hydraulic pressure detector will be described.

  FIG. 4 is a first diagram showing the hydraulic pressure and other waveforms acquired by the load measuring device in the embodiment of the present invention, and FIG. 5 shows the hydraulic pressure and other waveforms acquired by the load measuring device in the embodiment of the present invention. FIG. 6 is a first diagram showing processing contents executed by the load measuring device according to the embodiment of the present invention, and FIG. 7 is a hydraulic pressure obtained by the load measuring device according to the embodiment of the present invention and others. FIG. 8 is a second diagram showing processing contents executed by the load measuring device according to the embodiment of the present invention, and FIG. 9 is executed by the load measuring device according to the embodiment of the present invention. FIG. 10 is a fourth diagram showing the hydraulic pressure and other waveforms acquired by the load measuring apparatus according to the embodiment of the present invention, and FIG. 11 is a load measuring apparatus according to the embodiment of the present invention. Indicates the processing performed by 4 and FIG. 12 are fifth diagrams showing the processing contents executed by the load measuring device according to the embodiment of the present invention, and FIG. 13 is the hydraulic pressure and other waveforms acquired by the load measuring device according to the embodiment of the present invention. FIG. 14 is a sixth diagram illustrating the hydraulic pressure and other waveforms acquired by the load measuring device according to the embodiment of the present invention. FIG. 15 is a diagram illustrating the execution of the load measuring device according to the embodiment of the present invention. FIG. 15A is a seventh diagram illustrating the processing contents executed by the load measuring device according to the embodiment of the present invention, and FIG. 16 is obtained by the load measuring device according to the embodiment of the present invention. FIG. 17 is an eighth diagram showing the contents of processing executed by the load measuring device in the embodiment of the present invention, and FIG. 18 is a load measurement in the embodiment of the present invention. To the hydraulic waveform of the device Is a flowchart showing the operation of the processing for measuring the load Zui.

  First, the load measuring device 10 acquires a hydraulic waveform from the load detector 21. At the same time, information indicating whether the forklift 30 is moving forward or backward, that is, information indicating whether the forklift 30 is moving forward or backward is acquired from the vehicle speed detector 22, and the cargo handling lever 35 is detected from the cargo handling lever operation detector 23. Get the opening of. The load measuring device 10 performs temporary storage for temporarily storing information, and temporarily stores the hydraulic pressure waveform, the vehicle speed, and the opening degree of the cargo handling lever 35 in the temporary storage unit 13 a of the memory 13.

Subsequently, the load measuring device 10 deletes the lift pressure noise from the hydraulic waveform stored in the temporary storage unit 13a. In FIG. 4, a hydraulic pressure waveform in a predetermined period is indicated by a waveform 41. The waveform 42 is the opening degree of the cargo handling lever 35. In FIG. 4, the horizontal axis indicates time (unit [second]), the left vertical axis indicates a value obtained by converting the hydraulic pressure into a load (hereinafter referred to as hydraulic pressure) (unit [kg]), and the right vertical axis. The axis indicates the opening degree (unit [%]) of the cargo handling lever 35. Moreover, in the waveform 41, the part shown with a dotted line is noise, and a continuous line is a hydraulic pressure waveform after removing noise. Furthermore, the noise in the portion surrounded by the enclosure 43 is an increase in hydraulic pressure at the time of lift-up in an empty state, and is eliminated by the following equation (4).
Hydraulic pressure-lever opening x constant (4)
In order to remove the noise, even if the opening degree of the cargo handling lever 35 is not obtained in detail, only the fact that the cargo handling lever 35 is on or off is obtained and calculated as 0 or 100 [%]. You can also. In this case, the hydraulic pressure is excessively increased, but the accuracy is improved as compared to misidentifying lift-up in an empty state as a loaded state.

  Subsequently, the load measuring device 10 determines whether or not the forklift 30 is in operation, and whether the forklift 30 is in operation or not, is a threshold that is applied during operation. The process of load state detection 1 for detecting the first load state based on the threshold value 1 that is a value is executed, and noise removal is performed on the basis of 5 [seconds] based on the detected first load state. Thus, the process of the load state detection 2 for detecting the second load state is executed. In FIG. 5, the hydraulic pressure waveform in a predetermined period is indicated by a waveform 41, and the threshold value 1 is indicated by a line 44. A waveform 45 indicates the first load state, and a waveform 46 indicates the second load state. In FIG. 5, the horizontal axis indicates time (unit [second]), the left vertical axis indicates hydraulic pressure (unit [kg]), and the right vertical axis indicates values of waveform 45 and waveform 46 (no unit). Show. Here, it is assumed that the threshold value 1 is 50 [kg].

  The waveform 45 is a result of executing the process of load state detection 1 and binarizing the waveform 41 by the threshold value 1. When the hydraulic pressure exceeds the threshold value 1, the value becomes 1 and the load state is in the first load state. When the threshold value is 1 or less, the value is 0, indicating that the load is not in the first load state. The waveform 46 is a result of executing the process of load state detection 2 and removing noise from the waveform 45 with reference to 5 [seconds] as the reference period. The value is 2 in the second case. A load state is indicated, and a value of 1 indicates that the load state is not present. In FIG. 5, in order to be shown side by side with the waveform 45, the image is horizontally moved upward by one and displayed. In FIG. 5, a box 47 a indicates a portion that is removed as noise because the period of continuous 1 in the waveform 45 is less than 5 [seconds]. An enclosure 47b indicates a portion reflected in the waveform 46 because the period of continuous 1 in the waveform 45 is 5 [seconds] or more. The numerical value of the reference period differs depending on the sampling time, system configuration, type of measuring instrument, and the like. Under the conditions in which the inventors of the present invention conducted experiments, the sampling time was 1 [second]. As described above, the time is 5 seconds.

  FIG. 6 shows the process of load state detection 2. Here, FIG. 6A is an enlarged view of a part of the waveform 45, and the portion where the value is 1 is in a loaded state with the hydraulic pressure exceeding the threshold value 1, that is, the fork 31 and the mast 37 are loaded. The portion having a value of 0 indicates that the hydraulic pressure is equal to or less than the threshold value 1 and no load is applied, that is, no load is applied to the fork 31 and the mast 37. First, continuous 5 [second] correction is performed, and only a portion where the period of continuous 1 in the waveform 45 is 5 [seconds] or more is adopted to set the value to 1 and the period of continuous 1 to 5 [second]. ] Is not adopted and the value is 0. Thereby, the waveform 46a which shows a load state (2) as shown in FIG.6 (b) can be obtained. Next, gap gap correction is performed, and the period in which the waveform is continuously zero in the waveform 46a is a portion of 5 [seconds] or less, that is, a space is filled by a space of 5 [seconds] or less to set the value to 1, A portion where the period of continuous 0 exceeds 5 [seconds], that is, a blank exceeding 5 [seconds] is set to 0 without filling a gap. Thereby, the waveform 46 which shows the load state 2 as shown in FIG.6 (c) can be obtained.

  Subsequently, the load measuring device 10 detects a lowering that lowers the fork 31 and executes a load state detection 3 process for correcting the lowering state. In FIG. 7, a hydraulic pressure waveform in a predetermined period is indicated by a waveform 41, and a waveform 46 indicates a second load state. Further, the waveform 48 shows the detected lowering, and the waveform 49 shows the third load state, that is, the state in which the load state detection 3 is executed and the second load state is corrected for lowering. In FIG. 7, the horizontal axis indicates time (unit [second]), the left vertical axis indicates hydraulic pressure (unit [kg]), and the right vertical axis indicates values of waveform 46, waveform 48, and waveform 49 (none). Unit). In FIG. 7, in order to show the waveform 46 side by side, the waveform 48 and the waveform 49 are horizontally moved upward by 1 and 2, respectively. In the waveform 46, a value of 1 indicates that the load is in the second load state, and a value of 0 indicates that the load is not in the second load state. In the waveform 48, a value of 2 indicates a state of lowering, and a value of 1 indicates that the state is not in a lowering state. Furthermore, a value of 3 in the waveform 49 indicates that the load is in the third load state, and a value of 2 indicates that the load is not in the third load state.

  Here, if there is a hydraulic trough as shown by the box 51a, the load is in the state, and the forklift 30 has moved backward within the past 3 [seconds], that is, if it has returned, the lowering is detected. Thus, the value of the waveform 48 is increased from 1 to 2. Whether or not the forklift 30 is backed is determined based on information from the vehicle speed detector 22. That is, the conditions for determining the lowering are that a hydraulic trough exists, the forklift 30 is backed, and the load state 2 is started within the future 7 seconds. This is in order to avoid misunderstanding of lowering if the fork 31 is lifted immediately after the fork 31 is grounded and immediately in an empty state. Then, the lowering correction is performed on the load state 2 indicated by the waveform 46, and the portion corresponding to the portion where the lowering is detected is corrected so as to be in the load state, thereby obtaining the waveform 49 indicating the load state detection 3. Can do. As shown by the box 51b, if the lowering continues for 5 seconds or more, the load state is interrupted in the waveform 46. Therefore, when the second load state or the lowering state is established, the third state It is assumed that there is a load condition.

  FIG. 8 shows a relatively short time lowering, that is, a process for detecting the state of a short load lower. Here, FIG. 8A shows the vehicle speed. Although it is desirable to directly detect whether the vehicle speed is positive or negative by a sensor having two or more phases, it is also possible to detect negative by detecting that the reverse lever is reverse. In the case of a reach vehicle, the reach-in signal is treated as a signal indicating that the load has been taken out of the shelf as in the reverse. Note that the current time T is the current time, and in the range A in FIG. 8A, there is a trace that the reverse operation has been performed in the past 3 seconds, including the current time T.

  FIG. 8B shows the load change. The load change is a differential value of the load. For example, when the sampling time is 1 [second], as shown by the waveform 42 in FIG. 4, the value of the current hydraulic pressure T from which the lift pressure noise has been deleted is shown. To which the value of T-1 is subtracted can be used. In FIG. 8B, it can be seen that when the load change for the past 2 seconds is calculated, it is below the hydraulic pressure dropout threshold value, and when the load change for the future 2 seconds is calculated, it is above the hydraulic pressure entry threshold value. As a characteristic at the time of lowering, first, since a state in which the hydraulic pressure suddenly drops occurs, it is determined by analyzing over the past several seconds whether or not the state has occurred. . In addition, since a state in which the oil pressure rapidly increases is generated next, whether or not the state has occurred is analyzed and determined over the next few seconds.

  Further, FIG. 8C shows the load state 2, and in this case, the load state 2 is started within the future 7 [seconds]. In the case of determining the lowering, the load state 2 may be ended at any time as long as it starts within the future 7 [seconds], for example, within the future 7 [second].

FIG. 8D shows the lowering state, and since it was determined that the oil pressure valley was detected at the current time T indicated by the arrow C, it was determined that the state was in the lowering state. Assume that the lowering state is established before and after the current time T, that is, in the range B from the past to the future. Further, since the determination condition for the short load lower state is satisfied at the current time T, the current time T is set to a relatively short lowering state, that is, a short load lower state. Here, the conditions for determining the state of the short load lower are the following conditions (1) to (4), and when all of the following conditions (1) to (4) are satisfied, or in the past, for example, When the following conditions (1) to (4) are satisfied from 6 [seconds] to the future, for example, 6 [seconds], it is determined that the state is a short load lower state.
(1) The vehicle speed has become negative (reverse) in the past 3 seconds including the current T.
(2) The average value of the load change for the next 2 seconds became equal to or greater than the hydraulic pressure threshold.
(3) The average value of the load change in the past 2 seconds is equal to or less than the hydraulic pressure dropout threshold.
(4) Load state 2 is started within the future 7 seconds.

  Next, FIG. 9 shows a process for detecting a relatively long time lowering, that is, a process for detecting a state of a long load lower, in particular, a process for detecting a long time lowering from a high height. Here, FIG. 9A shows the vehicle speed. Although it is desirable to directly detect whether the vehicle speed is positive or negative by a sensor having two or more phases, it is also possible to detect negative by detecting that the reverse lever is reverse. Further, in the case of a reach vehicle, the reach-in signal can be treated as a signal indicating that the vehicle speed is negative as in the case of reverse. Note that the current time T is the current time, and in the range D in FIG. 9A, there is a trace that the reverse operation has been performed in the past 3 seconds, including the current time T.

  FIG. 9B shows the load. The load is a hydraulic pressure from which lift pressure noise has been deleted, as indicated by a waveform 41 in FIG. In FIG. 9B, the load from the past 2 [seconds] to the future 2 [seconds] is calculated and compared with the long load lower threshold.

  FIG. 9C shows the load state 2, where the second load state is at least 1 second in the past 2 to 4 seconds and the second load state is at least 2 seconds in the future 2 to 4 seconds. It is determined whether or not there is one second.

Further, FIG. 9 (d) shows the lowering state, and since it was determined that the oil pressure valley was detected at the current time T indicated by the arrow F as a trigger, the lowering state was experienced. Assume that the lowering state is established before and after the current time T, that is, in the range E from the past to the future. Further, since the determination condition for the state of the long load lower is established at the current time T, the current time T is set to a relatively long lowering state, that is, a long load lower state. Here, the conditions for determining the state of the long load lower are the following conditions (5) to (7), and when all of the following conditions (5) to (7) are satisfied, or in the past, for example, When the following conditions (5) to (7) are satisfied from 6 [seconds] to the future, for example, 6 [seconds], it is determined that the state is a long load lower state.
(5) The vehicle speed has become negative (reverse) in the past 3 seconds including the current T.
(6) The average value of the load from the past 2 [seconds] to the future 2 [seconds] was below the long load lower threshold.
(7) The second load state is at least 1 second in the past 2-4 seconds and at least 1 second in the future 2-4 seconds.

  The determination condition for the third load state is a short load lower or a long load lower state and a second load state.

  Subsequently, the load measuring device 10 executes a load measurement section detection process. In this case, relief state correction, lowering state correction, and rise / fall correction are performed. In FIG. 10, a hydraulic pressure waveform in a predetermined period is indicated by a waveform 41, a waveform 48 indicates detected lowering, and a waveform 49 indicates a third load state. A waveform 52 shows 4 seconds after the rise and 4 seconds after the fall of the waveform 49, a waveform 53 shows a detected relief state, and a waveform 54 shows a detected load measurement section. Note that when the relief valve disposed in the hydraulic circuit is opened at a predetermined set pressure, the relief state is established. 10, the horizontal axis indicates time (unit [second]), the left vertical axis indicates hydraulic pressure (unit [kg]), and the right vertical axis indicates waveform 48, waveform 49, waveform 52, waveform 53, and The value (no unit) of the waveform 54 is shown. In FIG. 10, the waveform 48, the waveform 52, the waveform 53, and the waveform 54 are horizontally moved upward by 1, 2, 3, and 4 to display the waveform 49 side by side. In the waveform 49, a value of 1 indicates that the load is in the third load state, and a value of 0 indicates that the load is not in the third load state. In the waveform 48, a value of 2 indicates a state of lowering, and a value of 1 indicates that the state is not in a lowering state. Furthermore, a value of 3 in the waveform 52 indicates that the waveform 49 is in a rising and falling state, and a value of 2 indicates that the waveform 49 is not in a rising and falling state. Is shown. Further, a value of 4 in the waveform 53 indicates that the hydraulic pressure is in a relief state, and a value of 3 indicates that the hydraulic pressure is not in a relief state. Furthermore, a value of 5 in the waveform 54 indicates a load measurement interval, and a value of 4 indicates that it is not a load measurement interval.

  Here, the hydraulic pressure in a state excluding lowering, relief, rise and fall from the third load state is time-averaged, and the load per load state is calculated. For example, the load is calculated by averaging the oil pressure included in the load measurement section as indicated by the box 55a over time. In this case, the load can be calculated by dividing the integrated value of the hydraulic waveform by the measurement time. It can be seen from FIG. 10 that when the cargo handling operation is performed at the upper limit of lifting height, the hydraulic pressure increases to the relief pressure. Further, as indicated by a box 55b, even if there is a break in one load state, they are integrated and time-averaged.

  FIG. 11 shows a relief state correction process. Here, FIG. 11 (a) shows the third load state, and from the current T, the transition from the state not in the third load state to the state in the third load state is shown. I understand. Note that the third load state is not necessary for relief determination. FIG. 11 (b) shows the opening ratio of the cargo handling lever 35. In the past 3 seconds including the current time T shown as the range G, the opening ratio of any cargo handling lever 35 is greater than or equal to the threshold value. It is determined whether or not. Further, FIG. 11C shows the load from which the lift pressure noise has been deleted. Whether or not the load average value for the future 1 second including the current time T shown as the range H is equal to or greater than the relief threshold value. Is judged. Further, FIG. 11D shows the load change, which is obtained by subtracting the value of T-1 from the current value of the hydraulic pressure from which the lift pressure noise has been deleted. As indicated by an arrow I, it is determined whether or not the load change at the current time T is equal to or less than the hydraulic pressure dropout threshold value.

FIG. 11E shows the relief state. In the range J, since the relief state is established, the current time T is set as the beginning of the relief state. Here, the determination condition of the relief state is the following conditions (8) to (10), and when the following conditions (8) to (10) are satisfied, the relief state is determined.
(8) The opening ratio of the cargo handling lever 35 has exceeded the threshold value in any of the past 3 seconds including the current T.
(9) The load average value for the future 1 second including the current time T is equal to or greater than the relief threshold value.
(10) From the time when the conditions of (8) and (9) are satisfied until the first load change becomes equal to or less than the hydraulic pressure loss threshold.

Subsequently, the load measuring device 10 calculates a load, calculates a load time, calculates a load travel distance, calculates a load operation time, and adds the number of times of handling work. FIG. 12 shows a method for calculating the load. In this case, in the load state, the measurement section is set in a section where the load is considered to be stable in a region where lowering and relief are omitted. Then, in the measurement section, the load in one load state, that is, the weight of the load when the fork 31 is lifted / lowered by the fork 31 is calculated by the average value of the load from which the lift pressure noise has been deleted. . The determination conditions for the load measurement section are the following conditions (11) to (16). When all the following conditions (11) to (16) are satisfied, it is determined that the load measurement section is the load measurement section. .
(11) The load state.
(12) Not in a relief state.
(13) Not in a short load lower state.
(14) It is not a long load lower state.
(15) It is not 4 seconds before and after the load state.
(16) A section in which the conditions of (11) to (15) are continuous for 4 seconds or more.

  Here, FIG. 12A shows the third load state, and an ignoring region for 4 seconds is set at the beginning and the end of the section T in one load state, respectively. In addition, a relief state, a short load lower state, and a long load lower state are shown, respectively. In FIG. 12 (a), the short load lower state is shown in a simplified manner, and its length is meaningless. Normally, the short load lower state and the long load lower state do not occur at the same time, but both are shown in FIG. 12A for illustration.

  FIG. 12B shows a load measurement section, and it can be seen that there are load measurement sections each having a measurement time of T1, T2, and T3. In addition, since the range K-1 is the first 4 seconds of the section T in the loaded state, the load measurement section is not set, and since the range K-2 is the last 4 seconds of the section T in the loaded state, the load measurement section is not set. It is like that. One measurement time T1, T2, and T3 is from the beginning to the end of the load measurement section in one load state.

  Further, FIG. 12C shows the load from which the lift pressure noise has been deleted, and the range L-1 and the range L-2 corresponding to each of the load measurement sections shown in FIG. In the range L-3, the measurement interval integral loads ΣL1, ΣL2, and ΣL3 are calculated, respectively. The measurement interval integral load is calculated by integrating the loads from which the lift pressure noise has been deleted within the time of one measurement interval. Here, one load is an estimated load from the beginning to the end of the loading time, and is calculated by the following equation (5).

また、１回の積分荷重は、次の式（６）によって算出される。
１回の積分荷重＝１回の荷重×１回の負荷時間（Ｔ） ・・・式（６）
一方、フォークリフト３０が稼働中であるか否かを判断して稼働中でない場合、前記荷重測定装置１０は、稼働中でない無稼働である場合に適用される閾値である閾値Ａに基づいて第１の無稼働時の負荷状態を検出する負荷状態検出Ａの処理を実行し、検出された第１の無稼働時の負荷状態に基づき、５〔秒〕を基準とするノイズ除去を行うことによって、第２の無稼働時の負荷状態を検出する負荷状態検出Ｂの処理を実行する。図１３には、所定の期間における油圧波形が波形４１によって示され、稼働状態が波形５６によって示され、閾値Ａが線５７によって示されている。また、波形５８は第１の無稼働時の負荷状態を示し、波形５９は第２の無稼働時の負荷状態を示している。そして、図１３において横軸は時間（単位〔秒〕）を示し、左側の縦軸は油圧（単位〔ｋｇ〕）を示し、右側の縦軸は波形５６、波形５８及び波形５９の値（無単位）を示している。ここで、前記閾値Ａは２５〔ｋｇ〕であるとする。

One integral load is calculated by the following equation (6).
One integral load = one load × one load time (T) (6)
On the other hand, if it is determined whether or not the forklift 30 is in operation, and it is not in operation, the load measuring device 10 is based on the threshold A that is a threshold applied when the forklift 30 is not in operation and is not in operation. By performing the process of load state detection A for detecting the load state during non-operation, and performing noise removal based on 5 [seconds] based on the detected first load state during non-operation, The process of the load state detection B which detects the load state at the time of the 2nd non-operation is performed. In FIG. 13, the hydraulic pressure waveform in a predetermined period is indicated by a waveform 41, the operating state is indicated by a waveform 56, and the threshold A is indicated by a line 57. A waveform 58 shows a load state during the first non-operation, and a waveform 59 shows a load state during the second non-operation. In FIG. 13, the horizontal axis indicates time (unit [second]), the left vertical axis indicates hydraulic pressure (unit [kg]), and the right vertical axis indicates values of waveform 56, waveform 58, and waveform 59 (none). Unit). Here, it is assumed that the threshold A is 25 [kg].

  The waveform 58 is a result of executing the process of the load state detection A. When the hydraulic pressure exceeds the threshold A, the value becomes 2, indicating that the load state is in the first non-operating state, and below the threshold A. If there is, the value becomes 1, indicating that there is no load state during the first non-operation. A waveform 59 is a result of executing the process of the load state detection B and removing noise from the waveform 58 with reference to 5 [seconds] as a reference period. The value of 3 is the second. A value of 2 indicates that the vehicle is in a non-operating load state, and a value of 2 indicates that the load is not in a second non-operating state.

  In the example shown in FIG. 13, the waveform 41 is a hydraulic waveform after noise is removed, and a total of 123 kg of luggage is manually loaded, traveled with the luggage loaded, and the luggage. This is a case where the vehicle is unloaded and traveled, that is, traveling with an empty load, then traveling with a load loaded again, and then manually unloading. The box 61a indicates a portion that is removed as noise because the period in which the value of 1 in the waveform 58 is less than 4 [seconds]. Furthermore, since the operation state is started, the box 61b shows a portion where the first non-operation load state ends even when the hydraulic pressure exceeds the threshold A.

  Subsequently, the load measuring device 10 determines whether or not a manual work condition is satisfied, and if so, executes a manual load measurement section detection process. In this case, rising / falling correction is performed. In FIG. 14, a hydraulic pressure waveform in a predetermined period is indicated by a waveform 41, and a load state during the second non-operation is indicated by a waveform 59. A waveform 62 indicates the manual load measurement section, and a hatched line 63 indicates the inclination of the waveform 41. In FIG. 14, the horizontal axis indicates time (unit [second]), the left vertical axis indicates hydraulic pressure (unit [kg]), and the right vertical axis indicates values of waveform 59 and waveform 62 (no unit). Show.

  Here, the waveform 62 is a result of executing the manual work load measurement section detection process, and a value of 2 indicates that it is a manual work load measurement section, and the value of 1 is 1. This indicates that it is not a manual work load measurement interval. The manual load measurement section is a section obtained by excluding 4 seconds after the rise and 4 seconds before the fall from the section in the second non-operating load state. When the slope of the oblique line 63 in the manual load measuring section, that is, the absolute value of the change amount of the hydraulic pressure exceeds the threshold value, it is determined that the work is manual.

  Subsequently, the load measuring device 10 calculates a manual work load and a manual work time. FIG. 15 shows a method for calculating the manual work load and calculating the manual work time. Here, FIG. 15A shows the load from which the lift pressure noise has been deleted. When the load tends to increase, the load is a loading operation, and when the load tends to decrease, the load is a lowering operation. I know that there is. When the load increase value and the slope of the increase in the manual load measurement section exceed the threshold value, it is determined that the state is the manual operation state. The manual work load and the manual work time are determined after performing the leak correction. FIG. 15B shows the absolute value of the load change, and shows the absolute value of the change in hydraulic pressure from which the lift pressure noise has been deleted, which is below the threshold value of the change in hydraulic waveform. It is determined whether or not. Further, FIG. 15C shows a second load state during non-operation. Further, FIG. 15D shows an operating state, where a value of 1 indicates an operating state, and a value of 0 indicates that the operating state is not active. Show.

And the determination conditions that it is the load state at the time of 2nd non-operation are conditions of following (17)-(21), and when the conditions of (21) are satisfy | filled, it is 2nd non-operation. It is determined that the current load state.
(17) Non-operating state.
(18) The load change absolute value is less than or equal to the threshold value.
(19) The load is equal to or greater than threshold A, which is a non-operation threshold.
(20) The conditions (17) to (19) are satisfied continuously for the next 4 seconds from the present time.
(21) The conditions (17) to (20) are satisfied between the present time and the future 5 to 8 [seconds].

  One estimated manual operation time is the time from the start to the end of the load state during the second non-operation. Furthermore, one manual load measurement time is a time that ignores 4 seconds from the start of the estimated manual work state and 4 seconds before the end of the estimated manual work state. Further, the estimated manual work load is a value obtained by integrating the load change in the measurement section, that is, a cumulative value, or a value obtained by subtracting the load at the start of the manual work load measurement from the load at the end of the manual work load measurement.

For estimated manual load correction, that is, leak correction, the following equation (7) is calculated with a correction point as a point when one manual load measurement interval ends.
Estimated manual work load correction = Estimated manual work load + (Average of load for 1 second before and after the end of manual work load measurement (total 3 seconds) x Leak correction coefficient) (7)
In addition, since the value proportional to the load is naturally reduced, the value obtained by adding the oil pressure is a change in the actual load.

The change in manual work load is calculated by dividing the estimated manual work load correction by one manual work load measurement section time. Furthermore, with respect to one hand load, when one manual work load measurement section time ends, when the following conditions (22) and (23) are satisfied, one hand load = Estimated manual load correction.
(22) The manual work load change is equal to or greater than the threshold value of the processing load per unit time of manual work.
(23) The estimated manual work load correction is equal to or greater than the threshold value of the manual process load.

  The same applies to the hand-down load.

Furthermore, for one hand-loading time, when the following estimated conditions (24) and (25) are satisfied when one estimated manual work state is completed, one hand-loading time = 1 Times estimated manual work time (second non-operating load state).
(24) The manual work load change is equal to or greater than the threshold value of the processing load per manual unit time.
(25) The estimated manual work load correction is equal to or greater than the threshold value of the manual process load.
The same applies to the hand-off time.

  However, the measurement of these manual work loads requires that the fork is lifted during manual work. For this reason, when performing manual work after grounding, the manual work load is measured by the difference in load for each load state in one baggage state. FIG. 15A shows a change in the load state when the same load is placed, that is, when the fork 31 is grounded in a single load state. FIG. 15A (a) shows a load, and FIG. 15A (b) shows a single load state. Here, there are multiple load states in one package. The change in the load in one load is a result of manual work performed while the fork 31 is grounded. In this case, the time for manual work is unknown, but the load on hand and the load on hand down can be grasped. This manual work load is counted together with the aforementioned manual work load.

  Then, the load measuring device 10 again returns to the load detector 21 when the calculation of the manual work load and the calculation of the manual work time are completed, and when the manual work condition is determined and not satisfied. The hydraulic waveform is acquired from the above and the above-described operation is repeated. In addition, the load measuring device 10 may calculate the third load state and the second load when the calculation of the load, the calculation of the load time, the calculation of the load travel distance, the calculation of the load operation time, and the addition of the number of times of handling work are completed. The load state detection 4 process of detecting the fourth load state by adding the load state during operation is executed.

  In FIG. 16, the hydraulic pressure waveform in a predetermined period is indicated by a waveform 41, the third load state is indicated by a waveform 49, the second non-operating load state is indicated by a waveform 59, and the fourth load The state is shown by waveform 65. Also, threshold 1 is indicated by line 44 and threshold A is indicated by line 57. In FIG. 16, the horizontal axis indicates time (unit [second]), the left vertical axis indicates hydraulic pressure (unit [kg]), and the right vertical axis indicates values of waveform 49, waveform 59, and waveform 65 (none). Unit).

  Here, the waveform 65 is a result of executing the process of the load state detection 4. A value of 3 indicates that the load state is the fourth load state, and a value of 2 indicates that the value is 2. 4 is not in the load state.

  Subsequently, the load measuring device 10 calculates the load time and determines whether or not the load has been replaced, that is, whether or not the load has been changed. When the load is changed, the total per bag is counted, and then the hydraulic pressure waveform is acquired from the load detector 21 again, and the above-described operation is repeated. If the load is not changed, the hydraulic waveform is acquired from the load detector 21 as it is, and the above-described operation is repeated.

  Note that FIG. 17 shows totalization and section time. In the present embodiment, the load measuring device 10 stores information in the temporary storage unit 13a every time of a predetermined length set in advance. The section of the predetermined length of time is referred to as section time. In FIG. 17, the section time A and the section time B are shown. Also, the time that becomes the boundary of the section is referred to as section time. Here, FIG. 17 (a) shows the third load state, and FIG. 17 (b) shows the second non-operating load state. FIG. 17C shows the fourth load state. When the load state is the third load state or the second non-operating load state, the fourth load state is assumed. The If the fourth load state is ignored, the second non-operating load state is used only for manual determination, and is not used for analyzing the load state per baggage. FIG. 17D shows a load change signal, which is detected when the forklift 30 moves backward after the end of the load state. In addition, when the pallet detector is attached, the said load change signal can be acquired from this pallet detector. FIG. 17 (e) shows that they are the same baggage, and when the vehicle enters the fourth load state, it rises and falls according to a load change signal.

  Items counted at the end of the section time are a load time, an integrated load, a load travel distance, a hand load or a hand down time, and a hand load or a hand down load. The load time is calculated based on a fourth load state, and the integral load is calculated based on a third load state. The hand loading or hand-down time is determined by manual work determination based on the second non-operating load state.

  The items counted at the end of one load state are the total load, work load, 1 load state time, 1 load state travel distance, load frequency, 1 load time frequency, and 1 load state travel distance frequency. is there. The one load state time is the same as the load time if it is counted in one day, and the one load state travel distance is the same as the load travel distance if it is counted in one day. And about the said load frequency, when measurement is impossible, the measurement impossibility is counted. Further, 0 [second] cannot be set for the 1 load time frequency, and 0 [km] is not counted for the 1 load state travel distance frequency.

  Further, items counted at the end of one baggage state are: baggage holding time, baggage load time, baggage travel distance, baggage hold time frequency, baggage load time frequency, baggage travel distance frequency, and baggage Installation frequency. The one load time is the same as the load time if it is counted in one day, but the addition timing is different from the one load state time. Moreover, although the said 1 baggage mileage is the same as a load mileage if it totals in one day, the timing of addition differs from the said 1 load state mileage. Further, 0 [seconds] cannot exist for the load holding time frequency and the one load load time frequency, and 0 [km] is not counted for the one load travel distance frequency. In addition, the frequency of the number of times of setting one package cannot be zero.

  Data relating to matters counted at the end of the section time, items counted at the end of one load state, and items counted at the end of one load state are stored in the memory 13 for each section time and necessary. In response to

Next, a flowchart will be described.
Step S11: Obtain a hydraulic waveform from the load detector 21, obtain a vehicle speed from the vehicle speed detector 22, and obtain an opening degree of the cargo handling lever 35 from the cargo handling lever operation detector 23.
Step S12: Temporary storage is performed.
Step S13: Lift pressure noise is deleted.
Step S14: It is determined whether or not the forklift 30 is in operation. If the forklift 30 is in operation or not, the process proceeds to step S15. If the forklift 30 is not in operation, the process proceeds to step S22.
Step S15 The process of load state detection 1 is executed.
Step S16 The process of load state detection 2 is executed.
Step S17 The process of load state detection 3 is executed.
Step S18: The load measurement section is detected, and the relief state correction, the lowering correction, and the rising / falling correction are performed.
Step S19: The load is calculated, the load time is calculated, the load travel distance is calculated, the load operation time is calculated, and the number of cargo handling operations is added.
Step S20: It is determined whether the load has been changed. If the load is changed, the process proceeds to step SS28. If the load is not changed, the process returns to step S11.
Step S21: Totaling per package is performed.
Step S22 The process of load state detection A is executed.
Step S23 The process of load state detection B is executed.
Step S24: It is determined whether or not a manual work condition is satisfied. If the manual work condition is satisfied, the process proceeds to step S25. If the manual work condition is not satisfied, the process returns to step S11.
Step S25: Manual work load measurement section detection is executed, and rising / falling correction is performed.
Step S26: Calculate the manual work load and the manual work time.

  As described above, in the present embodiment, the load measuring device 10 mounted on the forklift 30 temporarily stores information indicating a load such as a hydraulic waveform acquired from the load detector 21, that is, raw load data. The load is measured by temporarily storing and executing waveform processing on the raw data of the load. Therefore, even when the forklift 30 is traveling, highly accurate load measurement can be performed.

  The load measuring device 10 executes waveform processing with reference to data such as vehicle speed, lever operation, presence / absence of a pallet, etc. acquired from the vehicle speed detector 22, a cargo handling lever operation detector 23, a pallet detector 24, and the like. Therefore, it is possible to accurately discriminate noise associated with hydraulic pressure fluctuation due to cargo handling and load vibration due to traveling, and the load can be measured with high accuracy.

  Further, the load measuring device 10 stores information such as the measured load and the determination result of the load state in the memory 13 along with other operation information for each section time. Therefore, the amount of data stored in the memory 13 can be reduced, and memory resources can be saved. In addition, the data stored in the memory 13 is transmitted to an external device such as a management server as necessary. Therefore, since the amount of data transmitted to the external device is small, the communication time can be shortened and the communication cost can be reduced.

  Furthermore, in an external device such as a management server, various types of information regarding each forklift 30 received from the load measuring device 10 can be accumulated and managed. In this case, the state of each forklift 30 can be accurately grasped based on the load measured with high accuracy.

  Further, the load measuring apparatus 10 can display information such as the measured load and the determination result of the load state on the display unit 14 provided on the instrument panel 33. In this case, an operator who operates the forklift 30 can accurately understand the state of the forklift 30 and operate it.

  Furthermore, since the load measuring apparatus 10 can automatically calibrate parameters used for waveform processing, it is not necessary to carry out the calibration manually, thereby saving labor.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a conceptual diagram of the work vehicle management system in embodiment of this invention. 1 is a side view of a work vehicle in an embodiment of the present invention. It is a flowchart which shows the operation | movement of the automatic calibration of the load measuring device in embodiment of this invention. It is a 1st figure which shows the oil_pressure | hydraulic and other waveform which the load measuring device in embodiment of this invention acquires. It is a 2nd figure which shows the hydraulic pressure and other waveforms which the load measuring device in embodiment of this invention acquires. It is a 1st figure which shows the processing content which the load measuring device in embodiment of this invention performs. It is a 3rd figure which shows the oil_pressure | hydraulic and other waveform which the load measuring device in embodiment of this invention acquires. It is a 2nd figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a 3rd figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a 4th figure which shows the oil_pressure | hydraulic and other waveform which the load measuring device in embodiment of this invention acquires. It is a 4th figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a 5th figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a 5th figure which shows the oil_pressure | hydraulic and other waveform which the load measuring device in embodiment of this invention acquires. It is a 6th figure which shows the oil_pressure | hydraulic and other waveform which the load measuring device in embodiment of this invention acquires. It is a 6th figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a 7th figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a 7th figure which shows the oil_pressure | hydraulic and other waveform which the load measuring device in embodiment of this invention acquires. It is an 8th figure which shows the processing content which the load measuring apparatus in embodiment of this invention performs. It is a flowchart which shows the operation | movement of the process for measuring a load based on the hydraulic waveform of the load measuring device in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Load measuring device 11 Control part 13 Memory 13a Temporary memory | storage part 17 Interface 21 Load detector 22 Vehicle speed detector 23 Handling lever operation detector 24 Pallet detector 30 Forklift 31 Fork 35 Handling lever

Claims (8)

(A) an information acquisition unit that acquires information indicating a load from a load detector that detects a load applied to a load receiving unit of the work vehicle;
(B) a temporary storage unit that temporarily stores information acquired by the information acquisition unit;
(C) having a control unit that acquires information stored in the temporary storage unit and executes waveform processing on the information;
(D) A load measuring apparatus for a work vehicle, which measures a load applied to the load receiving portion during traveling of the work vehicle. (A) an information acquisition unit that acquires information indicating a load from a load detector that detects a load applied to a load receiving unit of the work vehicle;
(B) a temporary storage unit that temporarily stores information acquired by the information acquisition unit;
(C) having a control unit that acquires information stored in the temporary storage unit and executes waveform processing on the information;
(D) A load measuring device for a work vehicle, wherein the load state of the work vehicle is determined. (A) The information acquisition unit acquires information indicating forward and backward travel of the work vehicle, and information indicating an operating state of the work vehicle,
(B) The control unit performs waveform processing on the information indicating the load with reference to information indicating forward / backward travel of the work vehicle and information indicating an operating state of the work vehicle. Or the load measuring apparatus for work vehicles of 2. 4. The work vehicle load measuring device according to claim 1, wherein the control unit determines that the load is released when the work vehicle changes from a loaded state to a no-load state and moves backward. 5. (A) The information indicating the load is information indicating the hydraulic pressure,
(B) The control unit according to any one of claims 1 to 4, wherein the control unit discriminates a hydraulic pressure fluctuation caused by a cargo handling and a noise associated with a vibration of a load caused by traveling of the work vehicle. . The work vehicle load measuring device according to claim 1, further comprising a storage unit that stores the load applied to the load receiving unit measured for each section time. The control unit determines a load state of the work vehicle, acquires operation information of the work vehicle, and stores the load state and operation information for each section time together with the measured load applied to the load receiving unit. The work vehicle load measuring device according to claim 6, which is stored in the unit. The work vehicle load measuring device according to claim 1, wherein the control unit automatically calibrates a parameter used for the waveform processing.

Images