1. A transporter vehicle comprising: an automotive vehicle body with front wheels and rear wheels; a loading platform tiltably provided on said vehicle body to load an object to be transported; a hoist cylinder telescopically provided between said loading platform and said vehicle body and tilting said loading platform backward by extending a piston rod of the hoist cylinder in an extension direction at the time of dumping said object to be transported from said loading platform; a rear suspension provided between a rear side of said vehicle body and said rear wheels; and a controller for controlling a motion of said hoist cylinder, further including:
a pressure sensor provided in said rear suspension for detecting an inner pressure in said rear suspension, and
said controller, in a case where the inner pressure in said rear suspension detected by said pressure sensor is lowered in the course of extending said hoist cylinder for tilting said loading platform backward being configured to perform control of stopping the motion of said hoist cylinder in the extension direction.
2. A transporter vehicle according to claim 1, wherein said controller is further configured to output a signal for indicating that said vehicle body is in a jack-up state when the inner pressure in said rear suspension is lower than a predetermined pressure value.
3. A transporter vehicle according to claim 2, wherein said predetermined pressure value is set to a value lower than the inner pressure in said rear suspension detected by said pressure sensor in an unloading state where said loading platform is empty.
4. A transporter vehicle according to claim 1, further comprising: a hydraulic source supplying and discharging pressurized oil to and from said hoist cylinder for extending and contracting said hoist cylinder; and a valve device provided between said hydraulic source and said hoist cylinder to control the supply and discharge of said pressurized oil to and from said hoist cylinder,
wherein said valve device has plural switching positions including a raising position of raising said loading platform by extending said hoist cylinder with the supply and discharge of said pressurized oil, a lowering position of rotating said loading platform downward by contracting said hoist cylinder with the supply and discharge of said pressurized oil, a floating position that allows said loading platform after, being raised, to be lowered by its own weight to contract said hoist cylinder, and a neutral position of stopping a motion of said hoist cylinder by stopping the supply and discharge of said pressurized oil.
5. A transporter vehicle according to claim 4, wherein said controller is further configured such that, at the time of extending said hoist cylinder by switching said valve device to said raising position according to the operation for tilting said loading platform backward, when the inner pressure of said rear suspension is lowered, said valve device is switched from said raising position to said neutral position.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for monitoring a detection region of a working element, the method comprising the following steps:
monitoring continuously a detection region with at least one camera;
reading image information, in the form of color values, generated in the camera during the monitoring into an evaluation unit wherein the image generated by the camera is read into the evaluation unit in the form of a pixel matrix with different color values;
distinguishing endangered objects from non-endangered objects with the evaluation unit based on the color values;
disabling the working element with the evaluation unit, if at least one endangered object is detected within at least one protection zone in the detection region; and
enabling the working element with the evaluation unit if no endangered object is located in the protection zone,
wherein the distinguishing step includes assessing the color values with a threshold-value unit; and creating binary images based on the assessment with the threshold-value unit and wherein the assessing step comprises:
associating three color values of the base colors of red, green and blue with each pixel of the image read into the evaluation unit;
assigning the color values predetermined weight factors;
creating a linear combination from the color values using the weight factors; and assessing the linear combination of color values with the threshold-value unit using a threshold value.
2. The method according to claim 1, wherein the threshold-value unit is a component of a neural network.
3. The method according to claim 1, further comprising, determining at least one of the threshold value and the weight factors through a learning process, in which colors of the endangered objects are established.
4. The method according to claim 1, wherein the endangered object are of a predetermined color, with the threshold value being adapted to the predetermined color.
5. A method for monitoring a detection region of a working element, the method comprising the following steps:
monitoring continuously a detection region with at least one camera;
reading image information, in the form of color values, generated in the camera during the monitoring into an evaluation unit wherein the image generated by the camera is read into the evaluation unit in the form of a pixel matrix with different color values;
distinguishing endangered objects from non-endangered objects with the evaluation unit based on the color values;
disabling the working element with the evaluation unit, if at least one endangered object is detected within at least one protection zone in the detection region;
enabling the working element with the evaluation unit if no endangered object is located in the protection zone;
forming a connected region of foreground pixels in the binary images generated by the threshold-value unit to represent the endangered objects; and
eliminating individual foreground pixels in a background around the connected region using morphological operators, wherein the distinguishing step includes assessing the color values with a threshold-value unit; and creating binary images based on the assessment with the threshold-value unit.