JP2018001903A - Control device and connection information display method for connection vehicle provided with slide-type connection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display detailed information about traveling enable conditions of a connection vehicle.SOLUTION: A control device 14 for a connection vehicle provided with a slide-type connection device has: an offset moving amount calculation unit 19 that calculates a moving amount up to an offset position, which satisfies all the traveling enable conditions of the axle load of a tractor, the total connection length of the connection vehicle, the front radius of a trailer, the sleeve radius, and a limit pitching angle with the current position of a coupler set as a reference, or an offset movable range which satisfies all the traveling enable conditions with the current position of the coupler set as the reference on the basis of the detection results of an axle load detection unit 16 and a coupler position detection unit 18 and the stored information of an each-vehicle item storage unit 17; and a display control unit 20 and a display unit 15 that display the offset movable amount or the offset movable range calculated by the offset moving amount calculation unit 19.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a connected vehicle control device including a slide type connecting device and a connection information display method.

  The connected vehicle is a vehicle in which a trailer is connected to a tractor. In the articulated vehicle, a king pin as a trailer coupling portion is inserted (that is, coupled) to the coupler of the tractor, and the tractor and the trailer are coupled. At this time, there is a tractor including a slide-type connecting and pulling device that can change the position of the coupler on the tractor along the straight traveling direction (that is, the front-rear direction) of the tractor (see, for example, Patent Document 1). By using the slide type connecting and pulling device, the degree of freedom with respect to the restriction of the structure of the trailer that one tractor can pull can be increased. Therefore, it is possible to pull various types of trailers by connecting them to one tractor.

  In such a slide type connecting and pulling device, the position of the coupler is variously determined for each type of trailer. The driver of the tractor (or the driving assistant) needs to set the coupler position determined for each trailer model according to the trailer model. At this time, if the position of the coupler that does not match the trailer vehicle type is set by mistake, when the tractor turns, the front corner of the trailer hits the rear of the tractor cab or the tractor pitches. There is a possibility that inconveniences such as narrowing the allowable pitching range may occur.

  Therefore, the applicant of the present application has proposed a device for displaying information on whether or not the coupler is located at a position suitable for the vehicle type of the trailer when the trailer is connected to the tractor and the axle weight of the tractor is appropriate. (See Patent Document 2).

JP-A-5-162663 JP 2014-240254 A

  In the device of the above-mentioned Patent Document 2, it can be seen whether the tractor axle load and other travelable conditions such as the total length of connection, the forward radius, the skirt radius, and the limit pitching angle are appropriate or inappropriate. The driver could not know whether he / she had a margin of or exceeded. Therefore, in the apparatus of Patent Document 2, information that can be used as a reference when the driver considers what measures should be taken in order to make the travelable conditions of the connected vehicle appropriate. could not.

  The present invention has been made under such a background, and the control device and the connection information of the connected vehicle provided with the slide-type connection device capable of displaying the detailed information of the travelable condition of the connected vehicle. An object is to provide a display method.

  According to a first aspect of the present invention, there is provided a coupler that is coupled to a trailer coupling portion when coupling a trailer to a tractor, and a position adjusting means capable of changing the position of the coupler along the straight traveling direction of the tractor, and a shaft Axle weight detection means for detecting the weight, vehicle type specification storage means for storing parameters for calculating the total length, front radius, skirt radius, and limit pitching angle for each trailer model, and current coupler status In a control apparatus for a connected vehicle having a slide type connecting device having a coupler position detecting means for detecting a position, the detection result of the axle load detecting means and the coupler position detecting means, and the stored information of the vehicle type specification storing means, Based on the current position of the coupler, the tractor axle weight, the total length of the connected vehicle, the forward radius, the hem radius and the critical pitching angle must be satisfied. The offset movement amount calculation means for calculating the offset movement range that satisfies all the travelable conditions with reference to the current position of the coupler or the current position of the coupler, and the offset movement calculated by the offset movement amount calculation means Display means for displaying the possible amount or the offset movable range.

  Alternatively, the present invention includes a coupler that is coupled to the trailer coupling portion when the trailer is coupled to the tractor, the position adjusting means capable of changing the position of the coupler along the straight traveling direction of the tractor, and the axial load of the tractor. A shaft weight detection means for detecting the vehicle type, a vehicle type specification storage means for storing parameters for calculating the total length, front radius, hem radius and limit pitching angle for each trailer vehicle type, and the current position of the coupler And determining whether or not the axle weight detected by the axle weight detecting means is equal to or less than a predetermined set value in a connected vehicle control device having a slide type coupling device. When the axle weight determined by the axle weight determining means and the axle weight determining means is less than or equal to a predetermined set value, a margin for the predetermined set value is displayed, and the axle weight determined by the axle weight determining means is A shaft load display means for displaying an excess amount with respect to a predetermined set value when exceeding a predetermined set value, and a coupler position detecting means when the shaft load determined by the shaft load determining means is less than or equal to a predetermined set value. Based on the detection result and the storage information of the vehicle type specification storage means, based on the current position of the coupler as a reference, satisfy the driveable condition relating to the total length of the connected vehicle, the forward radius, the skirt radius and the limit pitching angle. Offset movement amount calculation means for calculating an offset movement amount range that satisfies a travelable condition that satisfies the travelable distance based on the movement amount to the offset position or the current position of the coupler, and the offset movement calculated by the offset movement amount calculation means Display means for displaying an amount or offset movable range.

  At this time, when the determination display process by the axle load determination means and the axle load display means is the first process, and the calculation display process by the offset movement amount calculation means and the display means is the second process, the first process A changeover switch for starting the second process after the end can be provided.

  According to a second aspect of the present invention, there is provided a coupler that is coupled to a trailer coupling portion when coupling the trailer to the tractor, and a position adjusting means capable of changing the position of the coupler along the straight traveling direction of the tractor, and a shaft Axle weight detection means for detecting the weight, vehicle type specification storage means for storing parameters for calculating the total length, front radius, skirt radius, and limit pitching angle for each trailer model, and current coupler status In the connection information display method executed by the connected vehicle control device having the slide type connecting device, the position detection means for detecting the position, the detection result of the axle load detecting means and the coupler position detecting means, and the vehicle type Based on the information stored in the original storage means, the tractor axle load, the total length of the connected vehicle, the forward radius, the hem radius and the limit pitching angle are all calculated based on the current position of the coupler. An offset movement amount calculating step for calculating an amount of movement up to an offset position that satisfies the travel enable condition, or an offset travel range that satisfies all the travel enable conditions based on the current position of the coupler, and an offset travel amount calculation And a display step for displaying the offset movable amount or the offset movable range calculated by the processing of the step.

  Alternatively, the present invention includes a coupler that is coupled to the trailer coupling portion when the trailer is coupled to the tractor, the position adjusting means capable of changing the position of the coupler along the straight traveling direction of the tractor, and the axial load of the tractor. A shaft weight detection means for detecting the vehicle type, a vehicle type specification storage means for storing parameters for calculating the total length, front radius, hem radius and limit pitching angle for each trailer vehicle type, and the current position of the coupler In a connection information display method executed by a connected vehicle control device having a slide type connecting device, the shaft weight detected by the shaft weight detecting means is less than a predetermined set value. A shaft weight determination step for determining whether or not there is present, and when the shaft weight determined by the processing of the shaft weight determination step is equal to or less than a predetermined set value, a margin for the predetermined set value is displayed. When the axle weight determined by the axle weight determining step exceeds a predetermined set value, the axle weight display step for displaying an excess amount with respect to the predetermined set value and the axis determined by the axle weight determining step processing When the weight is equal to or less than a predetermined set value, based on the detection result of the coupler position detection means and the storage information of the vehicle type specification storage means, the connected total length of the connected vehicle, the previous Offset movement that calculates the amount of travel to the offset position that satisfies the travelable conditions related to the turning radius, skirt radius, and limit pitching angle, or the offset movable range that satisfies the travelable condition based on the current position of the coupler Displays the offset movable amount or offset movable range calculated by the amount calculating step and the offset moving amount calculating step. Those having, a display step.

  At this time, the determination display process by the process of the axial load determination step and the process of the axial load display step is the first process, and the calculation display process by the process of the offset movement amount calculation step and the process of the display step is the second process. In this case, a switching step for starting the second process after the end of the first process can be provided.

  According to the present invention, it is possible to display detailed information on the travelable conditions of the connected vehicle.

1 is an overall configuration diagram of a connecting vehicle according to an embodiment of the present invention. It is a whole block diagram of the tractor of FIG. It is a figure for demonstrating a front periphery radius and a skirt periphery radius. It is a block block diagram of the control apparatus of FIG. 2, and a display part, and is a figure which also shows the example of a display of a display part. It is a flowchart which shows operation | movement of the control apparatus of FIG. It is a block block diagram of the control apparatus and display part which concern on other embodiment, and is a figure which also shows the example of a display of a display part. It is a flowchart which shows operation | movement of the control apparatus of FIG.

(About the outline of the connected vehicle 1)
As shown in FIG. 1, a connecting vehicle 1 according to an embodiment of the present invention is configured by connecting a tractor 2 and a trailer 3. The tractor 2 includes a coupler 4 into which a king pin 3a (see FIG. 3) as a connecting portion of the trailer 3 is inserted when the trailer 3 is connected to the tractor 2. As shown in FIG. 2, the tractor 2 includes a control device 14 and a display unit 15 that displays output information of the control device 14. In addition, the direction of the arrow X in FIG.

  Here, the terms of the front radius, the bottom radius, the total connection length, and the limit pitching angle of the tractor 2 described below will be described. As shown in FIG. 3, the forward radius of the tractor 2 is the shortest distance from the vertical line passing through the center C of the coupler 4 to the structure 12a at the rear of the cab of the tractor 2 above the horizontal plane of the coupler 4. The horizontal distance Fr1 is called the forward radius. Further, the horizontal distance Br1 from the vertical line passing through the center C of the coupler 4 of the tractor 2 to the rear outermost part of the tractor 2 is referred to as a skirt radius.

  The forward radius of the trailer 3 is a horizontal distance Fr2 from the vertical line passing through the center of the king pin 3a of the trailer 3 to the outermost front surface of the trailer 3 is called the forward radius. The shortest horizontal distance Br2 from the vertical line passing through the center of the king pin 3a of the trailer 3 to the corresponding structure 3c such as the gooseneck of the trailer 3 is referred to as a skirt radius.

  Further, the distance from the front part of the tractor 2 to the rear part of the trailer 3 when the vehicle is in the straight traveling state is referred to as a total connecting length.

  Further, when the tractor 2 is pitched while the trailer 3 is in a straight traveling state, the angle at which the lower edge of the front part of the trailer 3 does not contact the tractor 2 is referred to as a limit pitching angle. . The limit pitching angle can be obtained from parameters such as the shape of the trailer 2 at the front and bottom, the height of the coupler 4, and the height of the position adjusting mechanism 5 (platform) of the tractor 2 (Japanese Patent No. 4283030). reference).

  Here, the forward radius affects the maximum value of the steering angle when the articulated vehicle 1 turns. That is, if the forward radius is not appropriate, the front angle of the trailer 3 comes into contact with the structure of the tractor 2 before the maximum steering angle normally permitted for the articulated vehicle 1 is reached, and is normally permitted. The turning operation at the maximum rudder angle becomes impossible. Therefore, it is important that the forward radius is appropriate. Similarly, if the skirt radius is inadequate, the structure at the bottom of the trailer 3 comes into contact with the outermost rear portion of the tractor 2 before the maximum steering angle normally allowed for the articulated vehicle 1 is reached. The turning operation at the maximum rudder angle normally permitted becomes impossible. Therefore, it is important that the skirt radius is appropriate. Further, the limit pitching angle affects the maximum value of the pitching angle of the tractor 2. That is, if the critical pitching angle is inappropriate, the lower edge of the front part of the trailer 3 comes into contact with the tractor 2 before the maximum pitching angle normally allowed for the articulated vehicle 1 is reached. It becomes impossible to run at the maximum pitching angle. Therefore, it is important that the critical pitching angle is appropriate. Moreover, about a connection full length, it cannot exceed a specification.

(About coupler 4)
As shown in FIG. 2, the coupler 4 is placed on a position adjusting mechanism 5 whose position can be changed along a direction along the straight traveling direction of the tractor 2 (in the drawing, the left-right direction, hereinafter referred to as the front-rear direction). Installed. The coupler 4 is installed on the position adjustment mechanism 5 so as to move freely within a range of a predetermined angle at least in the pitching direction of the tractor 2. The coupler 4 and the position adjusting mechanism 5 constitute a slide type connecting and pulling device 6 as shown in the upper broken line frame in FIG. In addition, in order to explain the upper structure, the slide type connecting and pulling device 6 in the upper broken line frame in FIG. According to the slide type connecting and pulling device 6, the position of the coupler 4 can be changed, so that it is possible to deal with various types of trailers 3. The distance between the vertical line L1 passing through the center of rotation of the rear wheel r and the vertical line L2 passing through the center C of the coupler 4 (see the upper left figure in FIG. 3) is defined as a coupler offset.

(About the slide type connecting and pulling device 6)
As shown in the top structural diagram in the broken-line frame at the top of FIG. 2, the slide-type connecting and pulling device 6 has a coupler 4 along which a coupler 4 is provided along a pair of rails 7 provided on a planar position adjusting mechanism 5. 2 is configured to be slidable within a predetermined range in the front-rear direction. The coupler 4 is inserted with a king pin 3a (see FIG. 3) as a connecting portion of the trailer 3 (not shown). The coupler 4 is provided with a mechanism for fixing the slide position. This is formed in a mechanism in which a pair of lock portions 8 provided on the coupler 4 side protrudes outward by a pneumatic cylinder 9 and is fitted to the unevenness of the rail 7 at an appropriate position in the front-rear direction. In the following description, one set of projections and depressions on the rail 7 is referred to as one frame, and is used when the movement amount of the coupler 4 is described. Further, movement of the coupler 4 in the rear direction of the tractor 2 is defined as movement in the plus direction, and movement of the coupler 4 in the front direction of the tractor 2 is defined as movement in the minus direction. For example, when the coupler 4 is moved four frames to the rear of the tractor 2, the movement amount is “+4”.

  The pneumatic cylinder 9 is arranged on the back surface of the coupler 4 when viewed from the top structural diagram in the broken line frame at the top of FIG. Since this is in a position that cannot be seen from above, it is originally drawn with a broken line, but in FIG. 2, this is drawn with a solid line instead of a broken line for easy understanding. Air pressure is sent to the pneumatic cylinder 9 from an air tank (not shown) via an air valve (not shown). When air pressure is sent to the pneumatic cylinder 9, the lock portion 8 is disengaged from the rail 7, and the coupler 4 can slide along the rail 7. On the other hand, when the air pressure of the pneumatic cylinder 9 is lost, the lock portion 8 is engaged with the rail 7 by a spring force (not shown), and the coupler 4 is fixed on the rail 7. As described above, the lock unit 8 turns on / off an air valve (not shown), so that the coupler 4 enters the unlocked state or the locked state. For this reason, a switch (not shown) for turning on / off an air valve (not shown) will be referred to as a lock switch in the following description. Further, the slide type connecting and pulling device 6 is generally well known, and may have a structure other than that illustrated in FIG.

(About hose 12 and air valve 13)
As shown in FIG. 2, the hose 12 is a conduit for sending brake air pressure to the trailer 3 connected to the tractor 2. The hose 12 is provided with a sufficient length so as not to hinder the connection even if the mutual position of the tractor 2 and the trailer 3 changes. The brake air pressure is controlled by the air valve 13. A plurality of electric signal lines are connected between the tractor 2 and the trailer 3 in parallel with or around the hose 12. Various signals are transmitted to the electrical signal line in addition to signals for the tail lamp and direction indicator lamp circuits of the trailer 3 that have been conventionally used. A structure 12a for supporting the hose 12 is provided at the rear of the cab.

(About the axle load of the tractor 2)
As shown in FIG. 2, the tractor 2 has a front wheel f and a rear wheel r, each having an axle (not shown). The weight applied to the axle is referred to as axle weight, and the maximum value per axle is defined by law. The tractor 2 has a shaft weight sensor fa on the front wheel f and a shaft weight sensor ra on the rear wheel r. In the state where the trailer 3 is connected to the slide type connecting and pulling device 6, the distribution of the axial weight of the front wheel f and the axial weight of the rear wheel r can be adjusted by moving the position of the coupler 4 back and forth.

  For example, when the axle weight of the front wheel f is lighter than that of the rear wheel r, the difference between the axle weight of the front wheel f and the axle weight of the rear wheel r is reduced by moving the position of the coupler 4 forward. be able to. At this time, if the axle weight of the rear wheel r exceeds the maximum value stipulated by law, the axle weight of the rear wheel r may be reduced below the maximum value by moving the position of the coupler 4 forward. It becomes possible. Further, also from the viewpoint of the steering stability of the tractor 2, it is preferable that the difference between the axial weight of the front wheel f and the axial weight of the rear wheel r is small.

(About display unit 15)
As shown in FIG. 4, the display unit 15 includes a monitor screen 15a on which image information is displayed, an alarm buzzer 15b, and an alarm lamp 15c. When the trailer 3 is connected to the tractor 2 on the monitor screen 15a under the control of the display control unit 20, the display unit 15 displays an image “unknown trailer” when the vehicle type information of the trailer 3 is still not input. Display information. Alternatively, the display unit 15 stores the vehicle type information in the vehicle type specification storage unit 17 although the trailer 3 is connected to the tractor 2 and the vehicle type information is input to the monitor screen 15 a by the control of the display control unit 20. If not, the image information “trailer unknown” is displayed. In FIG. 4, the display example of “unknown trailer” is not shown.

  Further, the display unit 15 controls the display control unit 20 to control the monitor screen 15a to store the axle load of the rear wheel r when the trailer 3 is connected to the tractor 2 in the axle load detection unit 16. The amount of deviation from the set value is displayed as image information (display example of −200 to +200 in FIG. 4). At this time, the display color is changed and displayed so that it can be seen at a glance how much the axial weight of the rear wheel r exceeds the predetermined set value. For example, red is displayed when the axle weight of the rear wheel r exceeds the set value, and green is displayed when there is a margin with respect to the predetermined set value. Here, the above-mentioned set value is the maximum value of the axle load defined by law.

  Further, the display unit 15 controls the monitor screen 15a to display on the monitor screen 15a within a range of appropriate values for the forward radius, the hem radius, the total connection length, and the limit pitching angle of the connected vehicle 1. Whether or not it exists is displayed as image information. At this time, the display color can be changed and displayed so that it can be seen at a glance whether the forward radius, the skirt radius, the total connection length, and the limit pitching angle are appropriate values. For example, if any of the forward radius, the skirt radius, the total connection length, and the limit pitching angle is not an appropriate value, red is displayed, and if it is an appropriate value, green is displayed. In the display example of FIG. 4, the total connection length, the skirt radius, and the limit pitching angle are appropriate (green is OK), and the forward radius is displayed as inappropriate (red and NG). Furthermore, NG characters may be blinked. Further, an offset movable amount (display example of “+2” in FIG. 4) or an offset movable range (display examples of horizontal scales of “+2 to +4” and −5 to +5 in FIG. 4) described later is displayed on the monitor screen 15a. Is displayed.

  The alarm buzzer 15b and the alarm lamp 15c are controlled by the display control unit 20 when the axle weight of the rear wheel r of the tractor 2 due to the connection of the trailer 3 to the tractor 2 exceeds a predetermined set value. When the trailer 3 is connected to the trailer 3 and the vehicle type information of the trailer 3 is not yet input, the trailer 3 is connected to the tractor 2 and the vehicle type information is input, but the vehicle type information is stored in the vehicle type specification memory. Sounds and flashes when not stored in the unit 17.

(Regarding the configuration of the control device 14)
The configuration of the control device 14 will be described with reference to FIG. As shown in FIG. 4, the control device 14 includes a shaft weight detection unit 16 that detects the shaft weight of the tractor 2, a total length, a forward radius, a skirt radius, and a limit pitching angle of the trailer 3 for each vehicle type of the trailer 3. Vehicle type specification storage unit 17 for storing parameters for calculating the value, coupler position detection unit 18 for detecting the current position of the coupler 4, detection results of the axle load detection unit 16 and the coupler position detection unit 18 and the vehicle Based on the information stored in the type specification storage unit 17, all of the axle load of the tractor 2, the total connection length of the connecting vehicle 1, the forward radius, the skirt radius and the limit pitching angle are based on the current position of the coupler 4. The amount of movement up to the offset position that satisfies the travel enable condition, or the offset travel distance that calculates the offset travel possible range that satisfies all the travel enable conditions based on the current position of the coupler 4 The display unit 20 that displays the offset movement possible amount or offset movable range calculated by the offset unit 19, the offset movement amount calculation unit 19 on the display unit 15, and the lock switch (not shown) of the slide type connecting and pulling device 6 And a lock state detector 21 for detecting the ON / OFF state of the. Note that the axial weight referred to here is the axial weight detected by the axial weight sensor ra of the rear wheel r of the tractor 2.

(About operation | movement of the control apparatus 14)
Next, the operation of the control device 14 will be described with reference to the flowchart of FIG. In the flowchart of FIG. 5, the START condition is that the key switch of the tractor 2 is in the ON state, the control device 14 and the display unit 15 are in operation, and the trailer 3 is connected to the tractor 2. is there. Note that whether or not the trailer 3 is connected to the tractor 2 can be determined, for example, by detecting a sudden increase in axle load. If the START condition is satisfied, the process proceeds to step S0.

  In step S0, when the vehicle type information is input to the control device 14 and the control device 14 acquires the position information of the coupler 4, the process proceeds to step S1. The vehicle type information is input by a keyboard such as a driver connected to the control device 14 by an operator such as a driver. The position information of the coupler 4 is transmitted to the control device 14 by a sensor (not shown) attached to the position adjustment mechanism 5.

  In step S <b> 1, the lock state detection unit 21 determines whether or not the lock of the slide type connecting and pulling device 6 is completed. This determination can be made based on whether or not a lock switch (not shown) that turns ON / OFF the supply of air pressure to the air cylinder 9 and locks the lock portion 8 is in the locked state or not. . If it is determined as Yes in step S1, the process proceeds to step S2. On the other hand, if it is determined No in step S1, the process repeats step S1.

  In step S <b> 2, the offset movement amount calculation unit 19 calculates the current shaft weight of the tractor 2, the total connection length of the connecting vehicle 1, the forward radius, the skirt radius, and the limit pitching angle.

  In the offset movement amount calculation unit 19, the current connection total length is detected by the total length of the trailer 3 stored in the vehicle type specification storage unit 17, the total length of the tractor 2 known in advance, and the coupler position detection unit 18. Calculated based on the position information of the coupler 4. For example, the distance from the foremost part of the tractor 2 to the center part of the coupler 4 can be obtained, the distance from the rearmost part of the trailer 3 to the kingpin 3a can be obtained, and these distances can be added.

  In the offset movement amount calculation unit 19, the current forward radius is the forward radius of the trailer 3 stored in the vehicle type specification storage unit 17 in the case of the trailer 3, and in the case of the tractor 2, This is the forward radius of the tractor 2 calculated based on the position information of the coupler 4 detected by the coupler position detector 18.

  In the offset movement amount calculation unit 19, the current skirt radius is the skirt radius of the trailer 3 stored in the vehicle type specification storage unit 17 in the case of the trailer 3, and in the case of the tractor 2, This is the skirt radius of the tractor 2 calculated based on the position information of the coupler 4 detected by the coupler position detector 18.

  In the offset movement amount calculation unit 19, the current limit pitching angle is calculated based on the front and skirt shape of the trailer 2 stored in the vehicle type specification storage unit 17, the height of the coupler 4, and the position adjustment mechanism of the tractor 2. It can be obtained by a parameter such as a height of 5 (platform). The details of the calculation method of the limit pitching angle are the same as the calculation method of the maximum pitching angle described in Japanese Patent No. 4283030.

  In step S2, when the calculation of the current axle load of the tractor 2, the total length of the connecting vehicle 1, the forward radius, the skirt radius, and the limit pitching angle is completed, the process proceeds to step S3.

  In step S3, the offset movement amount calculation unit 19 moves the movement amount to the offset position that satisfies all the travelable conditions of the axle load of the tractor 2, the total connection length of the connecting vehicle 1, the forward radius, the skirt radius, and the critical pitching angle. Alternatively, the movable range is calculated. As an example, the current axle load calculated in step S2 conforms to the standard, and the coupler 4 is moved from the current position to the rear (this is referred to as the plus direction) by 4 frames with the number of uneven projections on the rail 7. It shall conform to the standard up to the position. Further, even if the coupler 4 is moved four frames in the plus direction from the current position, there is no problem with respect to the total length of connection, the skirt radius, and the limit pitching angle. Here, it is assumed that it is necessary to move two frames or more in the plus direction in order for the current forward radius calculated in step S2 to satisfy the travelable condition. In such a case, the offset movement amount calculation unit 19 calculates “+2” as the offset movement amount. Alternatively, the offset movement amount calculation unit 19 calculates “+2 to +4” as the offset movable range.

  In step S3, the amount of movement or the movable range up to the offset position that satisfies all the travelable conditions of the axial weight of the tractor 2, the total length of the coupled vehicle 1, the forward radius, the skirt radius, and the critical pitching angle is calculated. Then, the process proceeds to step S4.

  In step S4, the offset movement amount calculation unit 19 moves to the offset position that satisfies all the travelable conditions of the axle load of the tractor 2, the total connection length of the connected vehicle 1, the forward radius, the skirt radius, and the critical pitching angle. Alternatively, it is determined whether or not the movable range can be calculated. If it is determined as Yes in step S4, the process proceeds to step S5. On the other hand, if it is determined No in step S4, the process proceeds to step S9.

  In step S <b> 5, the display control unit 20 displays the movement amount or the movable range calculated by the offset movement amount calculation unit 19 on the monitor screen 15 a of the display unit 15. In other words, in the above example, the display control unit 20 displays “+2” as the offset movement amount on the monitor screen 15 a of the display unit 15. Alternatively, the display control unit 20 displays “+2 to +4” as the offset movable range. Alternatively, the display control unit 20 displays a band-like display in parallel above the +2 to +4 range in the horizontal scale display indicating the range of −5 to +5 as the offset movable range, or +2 to +4. Change the color of the range or change the brightness. In step S5, when the offset movement amount or the offset movable range is displayed on the monitor screen 15a of the display unit 15, the process proceeds to step S6.

  In step S <b> 6, the lock state detection unit 21 determines whether or not the slide type connecting and pulling device 6 is unlocked. If it is determined as Yes in step S6, the process proceeds to step S8. On the other hand, if it is determined No in step S6, the process proceeds to step S7. Note that the situation where the lock is released in step S6 means that the driver recognizes the movement amount “+2” or the movable range “+2 to +4” displayed on the monitor screen 15a of the display unit 15, and the current offset. This is a situation where the lock is released in order to change the position.

  In step S7, the control device 14 sets the tractor 2 to the normal travel mode and ends the processing (END). That is, in the case of No in step S6, all the travelable conditions of the connected vehicle 1 are satisfied, and it can be determined that the driver has no intention to change the current offset position. Therefore, the control device 14 instructs an ECU (Electric Control Unit) that controls the engine, the brake, and the like of the tractor 2 to set the normal travel mode so that the connected vehicle 1 can travel normally.

  Step S <b> 8 is a process different from the operation of the control device 14, and is a process in which the driver manually changes the coupler offset of the slide type connecting and pulling device 6. When the driver finishes changing the coupler offset in step S8, the process returns to step S1.

  In step S <b> 9, the display control unit 20 sounds the alarm buzzer 15 b and blinks the alarm lamp 15 c to issue an alarm, and displays the overload amount on the monitor screen 15 a of the display unit 15. In step S9, when an alarm is issued and an excess amount of axle load is displayed, the process proceeds to step S10.

  In step S <b> 10, the lock state detection unit 21 determines whether or not the slide type connecting and pulling device 6 is unlocked. If it is determined as Yes in step S10, the process proceeds to step S11. On the other hand, if it is determined No in step S10, the process proceeds to step S12. It should be noted that the situation where the lock is released in step S10 means that the driver recognizes the excess amount of the axle load displayed on the monitor screen 15a of the display unit 15 and the current situation in order to eliminate the excess axle load state. This is a situation where the lock is released in order to change the offset.

  Step S <b> 11 is a process different from the operation of the control device 14, and is a process in which the driver manually changes the coupler offset of the slide type connecting and pulling device 6. When the driver finishes changing the coupler offset in step S11, the process returns to step S0.

  In step S12, the control device 14 sets a mode for prohibiting traveling in a state where the trailer 3 is connected to the ECU that controls the engine, the brake, and the like of the tractor 2, and ends the processing (END). That is, the articulated vehicle 1 is controlled so as not to travel because the axle load exceeds the value stipulated by law. At this time, if the trailer 3 can be unpacked, the driver takes measures such as reducing the load or changing the position of the load.

(About the effect by the control apparatus 14 which concerns on this Embodiment)
According to the control device 14, it is possible to display detailed information on the travelable conditions of the connected vehicle 1. According to this, the offset movement amount or the offset movable range for satisfying all the travelable conditions of the axle load of the tractor 2, the total length of the coupled vehicle 1, the forward radius, the skirt radius and the limit pitching angle can be seen at a glance. Since the determination can be made, the driver can easily recognize an appropriate offset position.

(About the control apparatus 14a which concerns on other embodiment)
The above-described embodiments of the present invention can be variously modified without departing from the gist thereof. For example, it may be confirmed whether or not the axle load defined by the law is preferentially adapted. A control device 14a having an offset movement amount calculation unit 19a that executes such processing will be described with reference to FIGS.

  The offset movement amount calculation unit 19a shown in FIG. 6 is determined by an axle load determination unit that determines whether the axle load detected by the axle load detection unit 16 is equal to or less than a predetermined set value, and an axle load determination unit. When the axle load is less than or equal to the predetermined set value, the display control unit 20 is instructed to display a margin for the predetermined set value, and the axle weight determined by the axle load determining means exceeds the predetermined set value. Sometimes, when the axle load display means for instructing the display control unit 20 to display an excess amount with respect to the predetermined set value and the axle load determined by the axle load determination means is equal to or less than the predetermined set value, the coupler position Based on the detection result of the detection unit 18 and the storage information of the vehicle type specification storage unit 17, the total connection length, the forward radius, the skirt radius and the limit pitching angle of the connected vehicle 1 with the current position of the coupler 4 as a reference. Driving conditions related to Offset movement amount calculation means for calculating an offset movement amount range that satisfies a travelable condition that satisfies the travelable amount based on the current amount of the coupler 4 or the current position of the coupler 4, and the calculated offset movement amount or offset movement Display means for instructing the display control unit 20 to display the possible range.

  Further, when the determination display process by the axle load determination means and the axle load display means is the first process, and the calculation display process by the offset movement amount calculation means and the display means is the second process, the first process ends. A changeover switch 22 for starting the second process later is provided. The changeover switch 22 may be any type of switch as long as it can switch between the determination 1 and the determination 2. For example, the changeover switch 22 is a seesaw switch provided at a position where the driver near the display unit 15 can easily operate. Alternatively, the changeover switch 22 may be arranged as a touch panel switch in the monitor screen 15 a of the display unit 15.

  The control device 14 a is different from the control device 14 in that the offset movement amount calculation unit 19 a acquires ON / OFF information of the changeover switch 22. The changeover switch 22 is a switch for switching between the determination 1 and the determination 2, and the determination 1 is selected in the initial state. In the determination 1, the determination and display of the conditions relating to the axle load of the tractor 2 among the travelable conditions is performed. In the determination 2, the determination and display are made for the total length of connection of the connected vehicle 1, the forward radius, the skirt radius, and the limit pitching angle among the travelable conditions.

(About operation | movement of the control apparatus 14a)
The operation of the control device 14a will be described with reference to the flowchart of FIG. In the flowchart of FIG. 7, the processing from START to step S1 is the same as the processing of the flowchart of FIG.

  In step S20, the offset movement amount calculation unit 19a determines whether or not the current axial load of the tractor 2 is equal to or less than a set value (maximum value). If it is determined as Yes in step S20, the process proceeds to step S21. On the other hand, if it is determined No in step S20, the process proceeds to step S29.

  In step S21, the offset movement amount calculation unit 19a instructs the display control unit 20 to display the margin of the axial load on the display unit 15, and the process proceeds to step S22.

  In step S22, the offset movement amount calculation unit 19a determines whether or not the changeover switch 22 has been switched to determination 2. If it is determined as Yes in step S22, the process proceeds to step S23. On the other hand, if it is determined No in step S22, the process repeats step S22.

  In step S <b> 23, the offset movement amount calculation unit 19 a calculates the total connection length, the forward radius, the skirt radius, and the limit pitching angle of the current coupled vehicle 1. In step S23, when the calculation of the total connection length, the forward radius, the skirt radius, and the limit pitching angle of the current coupled vehicle 1 is completed, the process proceeds to step S24. Note that the calculation method of the total length, the front radius, the hem radius, and the limit pitching angle of the current connecting vehicle 1 is as already described in the explanation of the slow chart of FIG.

  In step S24, the offset movement amount calculation unit 19a moves to the offset position that satisfies all the travelable conditions of the axle load of the tractor 2, the total connection length of the connecting vehicle 1, the forward radius, the skirt radius, and the critical pitching angle. Alternatively, the movable range is calculated. In step S24, the amount of movement or the movable range up to an offset position that satisfies all the travelable conditions of the axial weight of the tractor 2, the total length of the coupled vehicle 1, the forward radius, the skirt radius, and the limit pitching angle is calculated. Then, the process proceeds to step S25. In addition, the calculation method of the movement amount or the movable range to the offset position satisfying all the travelable conditions of the axial weight of the tractor 2, the total length of the coupled vehicle 1, the forward radius, the skirt radius, and the limit pitching angle is shown in FIG. This is as already described in the description of the flowchart of FIG.

  In step S25, the offset movement amount calculating unit 19a moves to the offset position that satisfies all the travelable conditions of the axial weight of the tractor 2, the total connection length of the connecting vehicle 1, the forward radius, the skirt radius, and the limit pitching angle. Alternatively, it is determined whether or not the movable range can be calculated. If it is determined as Yes in step S25, the process proceeds to step S26. On the other hand, if it is determined No in step S25, the process proceeds to step S33.

  In step S26, the display control unit 20 displays the movement amount or the movable range calculated by the offset movement amount calculation unit 19a on the monitor screen 15a of the display unit 15. In step S16, when the offset movement amount or the offset movable range is displayed on the monitor screen 15a of the display unit 15, the process proceeds to step S27.

  In step S <b> 27, the lock state detection unit 21 determines whether or not the slide type connecting and pulling device 6 is unlocked. If it is determined as Yes in step S27, the process proceeds to step S31. On the other hand, if it is determined No in step S27, the process proceeds to step S28. Note that the situation in which the lock is released in step S27 means that the driver recognizes the movement amount or the movable range displayed on the monitor screen 15a of the display unit 15 and changes the current offset as described above. It is a situation where the lock is released to try.

  In step S28, the control device 14a instructs the ECU that controls the engine, the brake, and the like of the tractor 2 to set the normal travel mode, and ends the processing (END).

  In step S29, the offset movement amount calculation unit 19a instructs the display control unit 20 to display the excess amount of the axial load on the monitor screen 15a of the display unit 15, and the process proceeds to step S30.

  In step S <b> 30, the lock state detection unit 21 determines whether or not the slide type connecting and pulling device 6 is unlocked. If it is determined as Yes in step S30, the process proceeds to step S31. On the other hand, if it is determined No in step S30, the process proceeds to step S32. It should be noted that the situation where the lock is released in step S30 means that the driver recognizes the excess amount of the axle load displayed on the monitor screen 15a of the display unit 15 and cancels the excess axle load state. This is a situation where the lock is released in order to change the offset.

  Step S31 is a process different from the operation of the control device 14a, and is a process in which the driver manually changes the coupler offset of the slide type connecting and pulling device 6. When the driver finishes changing the coupler offset in step S31, the process returns to step S0.

  In step S32, the offset movement amount calculation unit 19a instructs the display control unit 20 to sound the alarm buzzer 15b and blink the alarm lamp 15c to issue an alarm. A mode for prohibiting traveling in a state where the trailer 3 is connected is set for the ECU that controls the engine, the brake, and the like, and the process ends (END). That is, the articulated vehicle 1 is controlled so as not to travel because the axle load exceeds the value stipulated by law. At this time, if the trailer 3 can be unpacked, the driver takes measures such as reducing the load or changing the position of the load.

  In step S33, the control device 14 sets a limited travel mode for the ECU that controls the engine, the brake, and the like of the tractor 2, and ends the process (END). In other words, the connected vehicle 1 satisfies the standards stipulated by law for axle load, but does not satisfy the travelable conditions other than axle load. For this reason, the articulated vehicle 1 is set to a restricted travel mode in which movement at a low speed in the parking lot is possible. As a result, the driver can perform the offset changing operation by moving the connecting vehicle 1 to a place that does not interfere with the operation of the other vehicle.

(About the effect of the control apparatus 14a which concerns on other embodiment)
According to the control device 14a, since the determination and display of the travelable condition related to the axle load is performed in the decision 1, the driver first recognizes whether the axle weight is suitable and whether the axle weight is marginal or excessive. can do. If the travelable condition related to the axle load is not satisfied at the stage of determination 1, the driver can immediately take measures to satisfy the travelable condition related to the axle load.

  In addition, when the driver operates the changeover switch 22 with his / her own intention, the driver can clearly confirm the suitability of the travelable condition related to the axle load.

  At this time, the display control unit 20 causes the display unit 15 to display information corresponding to the difference values stepwise in the positive direction and the negative direction (displaying −200 to +200 in FIG. 6) with a predetermined set value as the center. Therefore, the driver can grasp the detailed information of the axial load of the tractor 2 in an easily understandable manner visually.

(Other embodiments)
The display example of the display unit 15 may be variously changed in addition to the above example. For example, the alarm lamp 15c may be omitted by displaying image information corresponding to the alarm lamp 15c on the monitor screen 15a. Alternatively, if the display unit 15 is a type having a speaker for producing sound corresponding to the image information displayed on the monitor screen 15a, the alarm buzzer 15b can be omitted and the function of the alarm buzzer 15b can be substituted by the speaker. . According to this, the display part 15 can be made into only the monitor screen 15a. Also, the alarm buzzer 15b and the alarm lamp 15c may be assigned different roles individually without linking their operations.

  Moreover, you may connect between the control apparatuses 14 and 14a and the display part 15 by radio | wireless communication. According to this, the display of the display part 15 can be confirmed in the place away from the connecting vehicle 1.

  Further, the display unit 15 may be provided with an input function (keyboard or the like) of vehicle type information (not shown).

  The vehicle type information may be input by reading a bar code, QR code, IC tag or the like attached to the trailer 3 instead of manually by an operator such as a driver. In this case, a reading function such as a barcode, QR code, or IC tag is provided on the side of the control devices 14 and 14a.

  The control devices 14 and 14a can be realized by executing a predetermined program in which the information processing device is installed in advance. Such an information processing apparatus has, for example, a memory, a CPU (Central Processing Unit), an input / output port, and the like. The CPU of the information processing apparatus reads and executes a control program as a predetermined program from a memory or the like. Thereby, the functions of the control devices 14 and 14a are realized in the information processing device. An ASIC (Application Specific Integrated Circuit), a microprocessor (microcomputer), a DSP (Digital Signal Processor), or the like may be used instead of the CPU.

  Further, even if the predetermined program described above is stored in the memory of the information processing apparatus before shipment of the control devices 14 and 14a, the memory of the information processing device and the like after shipment of the control devices 14 and 14a. May be stored in the memory. A part of the program may be stored in the memory of the information processing apparatus after the control devices 14 and 14a are shipped. The program stored in the memory of the information processing apparatus after the shipment of the control devices 14 and 14a may be, for example, an installed program stored in a computer-readable recording medium such as a CD-ROM. What was downloaded via transmission media, such as the internet, may be installed.

  The predetermined program described above includes not only a program that can be directly executed by the information processing apparatus but also a program that can be executed by being installed on a hard disk or the like. Also included are those that are compressed or encrypted.

  Thus, by realizing the control devices 14 and 14a by the information processing device and the program, it becomes possible to flexibly cope with mass production and specification change (or design change).

  Note that the program executed by the information processing apparatus may be a program that is processed in time series in the order described in this specification, or may be necessary in parallel or when a call is made. It may be a program that performs processing at timing.

  In addition, for the information on the axle load applied to the front wheel f and the rear wheel r of the tractor 2 described above, the axle load sensors fa and ra are omitted. For example, when the tractor 2 is equipped with an air suspension, the tractor 2 has a trailer. 3 can be obtained by detecting a change in air pressure of the air suspension before and after connecting the three.

DESCRIPTION OF SYMBOLS 1 ... Connection vehicle, 2 ... Tractor, 3 ... Trailer, 4 ... Coupler, 5 ... Position adjustment mechanism (position adjustment means), 6 ... Slide-type connection pulling device, 14, 14a ... Control device, 15 ... Display part (Display means) , Axle load display means), 16... Axle load detection section (axle weight detection means), 17... Vehicle type specification storage section (vehicle type specification storage means), 18... Coupler position detection section (coupler position detection means), 19, 19a ... Offset movement amount calculation unit (offset movement amount calculation means, axle load determination means), 20 ... Display control unit (display means, axle load display means), 22 ... Changeover switch, fa, ra ... Axle weight sensor ( Axle load detection means)

Claims (6)

A position adjusting means that has a coupler that is coupled to a trailer connecting portion when connecting the trailer to the tractor, and is capable of changing the position of the coupler along the straight traveling direction of the tractor;
Axle load detecting means for detecting the axle weight of the tractor;
Vehicle type specification storage means for storing parameters for calculating the total length, front radius, hem radius, and limit pitching angle for each vehicle type of the trailer;
Coupler position detecting means for detecting the current position of the coupler;
Having
In a control device for a connected vehicle provided with a slide type connecting device,
Based on the detection results of the axle load detection means and the coupler position detection means and the storage information of the vehicle type specification storage means, the axle weight, the total connection length of the connected vehicles, based on the current position of the coupler. , The amount of movement to the offset position that satisfies all the travelable conditions of the front radius, the skirt radius and the limit pitching angle, or the offset movement that satisfies all the travelable conditions based on the current position of the coupler An offset movement amount calculating means for calculating a possible range;
Display means for displaying the offset movable amount or the offset movable range calculated by the offset moving amount calculating means;
Having
A control device characterized by that. A position adjusting means that has a coupler that is coupled to a trailer connecting portion when connecting the trailer to the tractor, and is capable of changing the position of the coupler along the straight traveling direction of the tractor;
Axle load detecting means for detecting the axle weight of the tractor;
Vehicle type specification storage means for storing parameters for calculating the total length, front radius, hem radius, and limit pitching angle for each model of the trailer,
Coupler position detecting means for detecting the current position of the coupler;
Having
In a control device for a connected vehicle provided with a slide type connecting device,
Axle weight determining means for determining whether or not the axle weight detected by the axle weight detecting means is equal to or less than a predetermined set value;
When the axle weight determined by the axle weight determining means is less than or equal to a predetermined set value, a margin for the predetermined set value is displayed, and the axle weight determined by the axle weight determining means is set to a predetermined set value. When it exceeds, the axle load display means for displaying the excess amount with respect to the predetermined set value;
When the axle load determined by the axle load determining means is less than or equal to a predetermined set value, the current position of the coupler is determined based on the detection result of the coupler position detecting means and the stored information of the vehicle type specification storing means. As a reference, the amount of movement to the offset position that satisfies the driveable condition related to the total connecting length, forward radius, skirt radius and limit pitching angle of the connected vehicle, or the current position of the coupler is used as a reference. Offset movement amount calculating means for calculating an offset movable range that satisfies the travelable condition as
Display means for displaying the offset movable amount or the offset movable range calculated by the offset moving amount calculating means;
Having
A control device characterized by that. The control device according to claim 2, wherein
When the determination display process by the axle load determination means and the axle load display means is a first process, and the calculation display process by the offset movement amount calculation means and the display means is a second process,
A changeover switch for starting the second process after the end of the first process;
A control device characterized by that. A position adjusting means that has a coupler that is coupled to a trailer connecting portion when connecting the trailer to the tractor, and is capable of changing the position of the coupler along the straight traveling direction of the tractor;
Axle load detecting means for detecting the axle weight of the tractor;
Vehicle type specification storage means for storing parameters for calculating the total length, front radius, hem radius, and limit pitching angle for each vehicle type of the trailer;
Coupler position detecting means for detecting the current position of the coupler;
Having
In a connection information display method executed by a connected vehicle control device including a slide type connection device,
Based on the detection results of the axle load detection means and the coupler position detection means and the storage information of the vehicle type specification storage means, the axle weight, the total connection length of the connected vehicles, based on the current position of the coupler. , The amount of movement to the offset position that satisfies all the driving conditions of the front radius, the skirt radius and the limit pitching angle, or the offset movement that satisfies all the driving conditions based on the current position of the coupler An offset movement amount calculating step for calculating a possible range;
A display step for displaying the offset movable amount or the offset movable range calculated by the offset moving amount calculating step;
Having
A connected information display method characterized by the above. A position adjusting means that has a coupler that is coupled to a trailer connecting portion when connecting the trailer to the tractor, and is capable of changing the position of the coupler along the straight traveling direction of the tractor;
Axle load detecting means for detecting the axle weight of the tractor;
Vehicle type specification storage means for storing parameters for calculating the total length of the trailer, the forward radius, the skirt radius, and the limit pitching angle for each type of trailer,
Coupler position detecting means for detecting the current position of the coupler;
Having
In a connection information display method executed by a connected vehicle control device including a slide type connection device,
An axle weight determination step for determining whether or not the axle weight detected by the axle weight detector is equal to or less than a predetermined set value;
When the axle weight determined by the processing of the axle weight determining step is less than or equal to a predetermined set value, a margin for the predetermined setting value is displayed, and the axle weight determined by the processing of the axle weight determining step is predetermined. When the set value is exceeded, an axle load display step for displaying an excess amount with respect to the predetermined set value;
When the axle load determined by the axle load determining step is less than or equal to a predetermined set value, based on the detection result of the coupler position detector and the stored information of the vehicle type specification storage device, the coupler On the basis of the current position of the coupled vehicle, the travel distance to the offset position that satisfies the travelable condition relating to the total length of the coupled vehicle, the forward radius, the skirt radius and the limit pitching angle, or the current position of the coupler Offset movement amount calculating step for calculating an offset movable range that satisfies the travelable condition with reference to
A display step for displaying the offset movable amount or the offset movable range calculated by the offset moving amount calculating step;
Having
A connected information display method characterized by the above. In the connection information display method according to claim 5,
The determination display process by the process of the axle load determination step and the process of the axle load display step is a first process, and the calculation display process by the process of the offset movement amount calculation step and the process of the display step is a second process. When
A switching step for starting the second process after the end of the first process;
A connected information display method characterized by the above.

Images