JP2020185952A - Loading platform descent assist device and control method of the same - Google Patents

Abstract

To reduce a burden of an operator in work of descending a loading platform.SOLUTION: A loading platform descent assist device 1 assists descent operation of a loading platform 2 in a vehicle M which includes the loading platform 2 and a vehicle body 4 and in which the loading platform 2 moves to the rear relative to the vehicle body 4 according to descent of the loading platform 2. The loading platform descent assist device 1 includes an advance control part 113 which advances the vehicle body 4 in conjunction with the descent of the loading platform 2 so that a position of a rear end 21 of the loading platform 2 is not moved relative to a position of the rear end 21 of the loading platform 2 when the vehicle M is stopped as the loading platform 2 descends.SELECTED DRAWING: Figure 3

Description

The present invention relates to a loading platform lowering support device and a method for controlling the loading platform lowering support device.

Conventionally, various techniques for improving the safety of the work of unloading the loading platform of a transport vehicle have been disclosed.
For example, Patent Document 1 discloses a transport vehicle in which a warning display is provided on the loading platform of the transport vehicle, and when the loading platform is tilted during loading and unloading, it is easy to recognize that the loading and unloading operation is in progress from behind. ..

Japanese Unexamined Patent Publication No. 2009-154561

In the transport vehicle described in Patent Document 1, people in the vicinity of the transport vehicle can be aware that loading and unloading work is in progress when the loading platform is tilted. However, in the work of loading and unloading the loading platform, it is necessary for the driver to get off the vehicle and operate the loading platform using an operation lever, a remote controller, or the like while visually checking the space required for unloading the loading platform.

As described above, since the driver goes out of the vehicle and unloads the loading platform, there is a problem that the driver is burdened especially in stormy weather such as rainy weather. Further, in the conventional method, there is a possibility that an obstacle may enter the area where the loading platform is to be unloaded while the loading platform is being unloaded, and there is a problem that the driver must also confirm the safety of that area.

Therefore, an object of the present invention is to provide a loading platform lowering support device capable of reducing the burden on the driver in the work of lowering the loading platform, and a control method for the loading platform lowering support device.

The loading platform lowering support device according to the present invention includes a loading platform and a vehicle body, and supports the lowering operation of the loading platform in a vehicle in which the loading platform moves rearward with respect to the vehicle body in response to the lowering of the loading platform. The loading platform lowering support device is described so that the position of the rear end of the loading platform does not move in the front-rear direction with respect to the position of the rear end of the loading platform when the vehicle stops as the loading platform descends. It is characterized by including a forward control unit that advances the vehicle in conjunction with the lowering of the loading platform.

Further, in the loading platform lowering support device, when the forward control unit advances the vehicle, the loading platform has the distance detecting unit that detects the distance that the vehicle has advanced and the distance detected by the distance detecting unit. A lowering control unit for lowering the loading platform may be provided so as to move rearward with respect to the vehicle body.

Further, in the loading platform lowering support device, based on the first camera that captures the front of the vehicle and the image captured by the first camera, the loading platform is moved from the front end of the vehicle body when the vehicle is stopped. It is provided with a first detection unit that detects an obstacle on the route of the vehicle up to the completion position, which is the position of the front end of the vehicle body when the descent is completed, and the first detection unit detects the obstacle. When detected, the forward control unit may stop the vehicle at a position in front of the obstacle by a predetermined distance.

Further, in the loading platform lowering support device, when the first detection unit does not detect an obstacle between the time when the advance control unit stops the vehicle and the time when a predetermined time elapses, the advance The control unit may restart the advance of the vehicle.

Further, in the loading platform lowering support device, a second camera that photographs the rear of the vehicle and a second detection unit that detects an obstacle behind the vehicle based on an image captured by the second camera. When the predetermined time has elapsed from the time when the first detection unit detects the obstacle and the forward control unit stops the vehicle at a position in front of the obstacle by the predetermined distance, the said. The second detection unit is a lowering completion position which is a position of the rear end of the loading platform when the lowering of the loading platform is completed at the position where the vehicle is stopped from the position of the rear end of the loading platform at the position where the vehicle is stopped. If an obstacle on the path of the loading platform is detected and the second detecting unit does not detect the obstacle, the lowering control unit may restart the lowering of the loading platform.

Further, in the above configuration, when the second detection unit detects an obstacle, the notification unit may be provided to notify the user that the lowering of the loading platform cannot be completed due to the obstacle.

Further, the loading platform lowering support device may include a display arranged in the cabin of the vehicle body and a display unit for displaying an image taken by the first camera on the display.

Further, in the loading platform lowering support device, the display unit may display the completed position on the display by superimposing the completed position on the image taken by the first camera.

Further, in the loading platform lowering support device, when the first detection unit detects an obstacle, the display unit may indicate that the first detection unit has detected an obstacle.

Further, the loading platform lowering support device may include an operation unit that is arranged in the cabin of the vehicle body, receives an operation from the user, and stops the operation of each of the forward control unit and the lowering control unit.

The control method of the loading platform lowering support device according to the present invention includes a loading platform and a vehicle body, and in a vehicle in which the loading platform moves rearward with respect to the vehicle body in response to the lowering of the loading platform, the loading platform lowering operation is performed. It is a control method of the loading platform lowering support device that supports the lowering of the loading platform, and the position of the rear end of the loading platform is in the front-rear direction with respect to the position of the rear end of the loading platform when the vehicle is stopped. Includes a forward control step, which advances the vehicle in conjunction with the lowering of the loading platform so that it does not move.

According to the loading platform lowering support device and the control method of the loading platform lowering support device according to the present invention, the burden on the driver in the work of lowering the loading platform can be reduced.

It is a figure which shows an example of the method of lowering a loading platform in the vehicle which concerns on this embodiment. It is a figure which shows another example of the method of lowering a loading platform in the vehicle which concerns on this embodiment. It is a figure which shows an example of the structure of the loading platform lowering support device which concerns on this embodiment. It is a figure which shows an example of the attachment position of the image pickup part in the vehicle which concerns on this embodiment. It is a figure which shows an example of the operation of the vehicle body and the loading platform by the loading platform lowering support device which concerns on this embodiment. It is a figure which shows an example of the operation of the loading platform lowering support device when there is an obstacle on the path of a vehicle. It is a figure which shows an example of the operation of the loading platform lowering support device when there is an obstacle in front of a vehicle. It is a figure which shows an example of the lowering operation of a loading platform when there is an obstacle in front of a vehicle. It is a flowchart which shows an example of the processing of the loading platform lowering support device which concerns on this embodiment. It is a flowchart which shows an example of the processing of the loading platform lowering support device which concerns on this embodiment. It is a flowchart which shows an example of the processing of the loading platform lowering support device which concerns on this embodiment. It is a flowchart which shows an example of the processing of the loading platform lowering support device which concerns on this embodiment. It is a screen view which shows an example of the state display screen displayed on the display which concerns on this embodiment. It is a screen view which shows an example of the state display screen displayed on the display which concerns on this embodiment. It shows an example of the bulletin board arranged in the vehicle which concerns on this embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[1. How to lower the loading platform of the vehicle]
1 and 2 are diagrams showing an example of a method of lowering the loading platform 2 in the vehicle M according to the present embodiment.
As shown in FIG. 1, the vehicle M includes a vehicle body 4 and a loading platform 2a. In the vehicle M, the loading platform 2a moves rearward with respect to the vehicle body 4 in response to the lowering of the loading platform 2.
The vehicle body 4 includes wheels 3 and a loading platform support structure 41.

The vehicle body 4 moves forward and backward by driving the wheels 3 with the engine shown in the figure. Further, the loading platform support structure 41 supports the loading platform 2a so as to be able to move up and down.
The luggage shown in the figure is placed on the loading platform 2a. The luggage is fixed to the loading platform 2a so as not to move with respect to the loading platform 2a when the vehicle M travels.

The upper view of FIG. 1 is a diagram showing a state in which the loading platform 2a is raised. When the loading platform 2a is raised, the loading platform 2a is substantially parallel to the ground GL.
Further, the vehicle M is located within a distance L1 from the rear end of the vehicle M, that is, the rear end 21 of the loading platform 2a to the front end of the vehicle M. In other words, the distance L1 indicates a region where the vehicle M is stopped with the loading platform 2a raised.

The lower view of FIG. 1 is a diagram showing a state in which the loading platform 2a is lowered. When the loading platform 2a is lowered, the loading platform 2a is inclined with respect to the ground GL.
Further, the rear end 21 of the loading platform 2a protrudes rearward (on the right side in the figure) by the distance L21 with respect to the region corresponding to the distance L1. That is, as the loading platform 2a moves from the ascending position to the descending position, the rear end 21 of the loading platform 2a moves rearward by the distance L21.

The upper view of FIG. 2 is a view showing a state in which the loading platform 2b is raised, and is the same as the upper view of FIG.
Similar to the upper view of FIG. 1, the vehicle M is located within a distance L1 from the rear end of the vehicle M, that is, the rear end 21 of the loading platform 2b to the front end of the vehicle M.

The lower view of FIG. 2 is a diagram showing a state in which the loading platform 2b is lowered. When the loading platform 2b is lowered, the loading platform 2b becomes fully flat with respect to the ground GL. In other words, the loading platform 2b is placed on the ground GL in parallel with the ground GL.
The rear end 21 of the loading platform 2b projects rearward (on the right side in the figure) by the distance L22 with respect to the region corresponding to the distance L1. That is, as the loading platform 2b moves from the ascending position to the descending position, the rear end 21 of the loading platform 2b moves rearward by the distance L22. The distance L22 is larger than the distance L21 shown in FIG.

In the following description, the loading platform 2a and the loading platform 2b are collectively referred to as the loading platform 2. In this embodiment, the case where the loading platform 2 is the loading platform 2b shown in FIG. 2 will be described.

Further, as described with reference to FIGS. 1 and 2, when the loading platform 2 moves from the ascending position to the descending position, the loading platform 2 moves backward. Therefore, the driver needs to get off the vehicle M and lower the loading platform 2 while confirming the safety of the space where the loading platform 2 gets off, that is, the space corresponding to the distance L21 or the distance L22.

[2. Configuration of loading platform lowering support device]
[2-1. Overall configuration of loading platform lowering support device]
FIG. 3 is a diagram showing an example of the configuration of the loading platform lowering support device 1 according to the present embodiment.
The loading platform lowering support device 1 assists the driver in lowering the loading platform 2 in the vehicle M. As shown in FIGS. 1 and 2, the vehicle M includes a loading platform 2 and a vehicle body 4, and the loading platform 2 moves rearward with respect to the vehicle body 4 as the loading platform 2 descends. The loading platform lowering support device 1 is arranged at an appropriate position in the vehicle body 4.
As shown in FIG. 3, the loading platform lowering support device 1 includes a camera control unit 11, an HMI 13, a sensor unit 14, a vehicle traveling control unit 15, and a loading platform elevating control unit 16, which are included in an in-vehicle network. It is a device connected to CAN (Control Area Network) 17 which is an example so as to be able to communicate with each other.

The vehicle travel control unit 15 controls the travel of the vehicle M. The vehicle travel control unit 15 includes a drive power unit 152 that drives the wheels 3, a drive power unit 155 that drives the steering wheel 156, and a vehicle control control unit 151.
The vehicle control control unit 151 controls the driving of the wheels 3, that is, the running of the vehicle M via the driving power unit 152, and controls the driving of the steering 156, that is, the steering of the vehicle M via the driving power unit 155. Further, the vehicle control control unit 151 controls the braking of the vehicle M by the brake 154.

The loading platform elevating control unit 16 controls the elevating and lowering of the loading platform 2. The loading platform elevating control unit 16 includes a drive power unit 162 for driving the elevating and lowering of the loading platform 2 and a loading platform elevating control unit 161. The loading platform elevating control control unit 161 controls the elevating and lowering of the loading platform 2 via the drive power unit 162.

The sensor unit 14 has various sensors for detecting the state of the vehicle M. The sensor unit 14 includes a steering angle sensor 141, a wheel rotation speed sensor 142, an accelerator sensor 143, a vehicle speed sensor 144, a brake sensor 145, and a loading platform position sensor 146.
The steering angle sensor 141 detects the steering angle of the steering wheel, and the wheel rotation speed sensor 142 detects the rotation speed of the wheels. The accelerator sensor 143 detects the operating state of the accelerator, and the vehicle speed sensor 144 detects the vehicle speed of the vehicle M. The brake sensor 145 detects the operating state of the brake (braking device). The loading platform position sensor 146 detects the elevating position of the loading platform 2.

The HMI (Human Machine Interface) 13 provides an interface with a driver (user). The HMI 13 includes a display 131 for displaying various information, an operation unit 132 for receiving operations from the user, and a speaker 133 for outputting various sounds.
In the present embodiment, the operation unit 132 is composed of, for example, a touch sensor, and the touch sensor is arranged on the display 131. In other words, the display 131 functions as a touch panel.
The display 131 is arranged at a position in the cabin of the vehicle body 4 so that the driver can visually recognize and operate the display 131.

The loading platform lowering support device 1 includes an imaging unit 12.
The imaging unit 12 includes a front camera 121, a right side camera 122, a left side camera 123, a first rear camera 124, and a second rear camera 125. The front camera 121 photographs the front of the vehicle M. Each of the first rear camera 124 and the second rear camera 125 photographs the rear of the vehicle M. The front camera 121 corresponds to an example of the "first camera", and the first rear camera 124 and the second rear camera 125 correspond to an example of the "second camera".
The front camera 121, the right side camera 122, the left side camera 123, the first rear camera 124, and the second rear camera 125 will be described in detail later with reference to FIG.

The camera control unit 11 includes an image acquisition unit 111, an image processing unit 112, and a forward / downward control unit 110.
The image acquisition unit 111 acquires images captured by each of the front camera 121, the right side camera 122, the left side camera 123, the first rear camera 124, and the second rear camera 125.
The image processing unit 112 executes so-called image processing on the image acquired by the image acquisition unit 111 to detect obstacles and the like.

[2-2. Functional configuration of forward / downward control unit]
The forward / downward control unit 110 instructs the vehicle control control unit 151 to advance the vehicle body 4, and also instructs the cargo bed elevating control control unit 161 to lower the cargo bed 2.
The forward / downward control unit 110 includes a forward control unit 113, a downward control unit 114, a distance detection unit 115, a first detection unit 116, a second detection unit 117, a notification control unit 118, and a display control unit 119. To be equipped.

The forward control unit 113 prevents the position of the rear end 21 of the loading platform 2 from moving in the front-rear direction with respect to the position of the rear end 21 of the loading platform 2 when the vehicle M stops as the loading platform 2 descends. The vehicle body 4 is advanced in conjunction with the descent of 2. “When the vehicle M stops” is, for example, when the driver parks the vehicle M in order to lower the loading platform 2.
Specifically, the forward control unit 113 advances the vehicle body 4 via the vehicle control control unit 151. More specifically, the forward control unit 113 causes the vehicle control control unit 151 to steer the steering 156 so that the vehicle body 4 goes straight through the drive power unit 155, and the vehicle body 4 is steered via the drive power unit 152. , Instruct the wheel 3 to rotate so that the vehicle body 4 moves forward.

The distance detection unit 115 detects the distance that the vehicle body 4 has advanced when the forward control unit 113 advances the vehicle body 4. Specifically, the distance detection unit 115 detects the distance that the vehicle body 4 has advanced based on the detection result of the wheel rotation speed sensor 142.

The lowering control unit 114 lowers the loading platform 2 so that the loading platform 2 moves rearward with respect to the vehicle body 4 by the distance detected by the distance detecting unit 115.
Specifically, the lowering control unit 114 instructs the loading platform elevating control control unit 161 to lower the loading platform 2 via the drive power unit 162.

The first detection unit 116 is a position from the front end of the vehicle body 4 when the vehicle M is stopped to the front end of the vehicle body 4 when the lowering of the loading platform 2 is completed, based on the image taken by the front camera 121. Detects obstacles on the route of vehicle M up to the completion position PB. The completion position PB corresponds to the point B described with reference to FIG.
When the first detection unit 116 detects an obstacle, the forward control unit 113 stops the vehicle M at a position in front of the obstacle by a predetermined distance Xf. The predetermined distance Xf will be described with reference to FIG.
If the first detection unit 116 does not detect an obstacle between the time when the forward control unit 113 stops the vehicle M and the time when the predetermined time T1 elapses, the forward control unit 113 advances the vehicle M. To resume. The predetermined time T1 is a preset time, for example, 1 minute.

The second detection unit 117 detects an obstacle behind the vehicle M based on the images taken by the first rear camera 124 and the second rear camera 125.
Specifically, when the predetermined time T1 has elapsed from the time when the first detection unit 116 detects an obstacle and the forward control unit 113 stops the vehicle M at a position in front of the obstacle by a predetermined distance Xf. The second detection unit 117 executes the following processing. That is, the second detection unit 117 is the position of the rear end of the loading platform 2 when the lowering of the loading platform 2 is completed at the position where the vehicle M is stopped from the position of the rear end of the loading platform 2 at the position where the vehicle M is stopped. An obstacle on the path of the loading platform 2 up to the descent completion position PAD is detected. The descent completion position PAD corresponds to point A'described with reference to FIG.
When the second detection unit 117 does not detect an obstacle on the path of the loading platform 2 up to the lowering completion position PAD, the lowering control unit 114 restarts the lowering of the loading platform 2 until the lowering operation is completed. Lower the loading platform 2.

When the second detection unit 117 detects an obstacle, the notification control unit 118 notifies the user that the lowering of the loading platform 2 cannot be completed due to the obstacle. The notification control unit 118 corresponds to an example of the “notification unit”.
In the present embodiment, when the second detection unit 117 detects an obstacle, the display control unit 119 displays on the display 131 that the lowering of the loading platform 2 cannot be completed due to the obstacle to the user. To do. That is, in the present embodiment, the notification control unit 118 corresponds to a part of the display control unit 119.

The display control unit 119 displays the completed position PB on the display 131 by superimposing it on the image captured by the front camera 121.
Further, when the first detection unit 116 detects an obstacle, the display control unit 119 displays that the first detection unit 116 has detected the obstacle.
The display control unit 119 corresponds to an example of the “display unit”.

The operation mode in which the control for lowering the loading platform 2 is executed in the loading platform lowering support device 1 is hereinafter referred to as the “loading platform lowering mode”. Further, an operation mode in which the vehicle body 4 is moved forward, the loading platform 2 is raised and lowered, and the like are operated by the driver's operation instead of control is called a "manual operation mode".

[2-2. Camera placement]
FIG. 4 is a diagram showing an example of a mounting position of the imaging unit 12 in the vehicle M according to the present embodiment. FIG. 4 shows an example of the mounting position of the imaging unit 12 in the upper, middle, and lower stages, respectively. A front view of the vehicle M is shown on the left side, and a side view of the vehicle M is shown on the right side of each of the upper, middle, and lower stages.

The imaging unit 12 monitors the front, rear, left, and right around the vehicle M. The imaging unit 12 is installed at a position where the periphery of the vehicle M can be captured well.

As shown in the upper part of FIG. 4, the imaging unit 12 includes a front camera 121, a right side camera 122, a left side camera 123, and a first rear camera 124.
The front camera 121 captures an image in front of the vehicle M. The front camera 121 is arranged between the windshield and the headlights.
The right side camera 122 captures an image on the right side of the vehicle M. The right side camera 122 is arranged on the right side mirror.
The left side camera 123 captures an image on the left side of the vehicle M. The left side camera 123 is arranged on the left side mirror.
The first rear camera 124 captures an image of the rear of the vehicle M. The first rear camera 124 is arranged at the rear end of the roof of the vehicle body 4.

The mounting position of the imaging unit 12 shown in the middle of FIG. 4 is different from the mounting position of the imaging unit 12 shown in the upper part of FIG. 4 in the mounting positions of the front camera 121, the right side camera 122, and the left side camera 123. ing. Further, the imaging unit 12 is different in that the second rear camera 125 is provided instead of the first rear camera 124.

As shown in the middle of FIG. 4, the front camera 121 is arranged at the front end of the roof of the vehicle body 4.
Further, the right side camera 122 is arranged at the right rear end of the roof of the vehicle body 4, and the left side camera 123 is arranged at the left rear end of the roof of the vehicle body 4.

As described above, since the front camera 121, the right side camera 122, and the left side camera 123 are mounted at a higher position than the mounting position shown in the upper part of FIG. 4, a wide range of images can be captured.

Further, as shown in the middle part of FIG. 4, the second rear camera 125 is attached to the upper end of the frame 42 at the rear of the vehicle M. Since the second rear camera 125 is provided in place of the first rear camera 124, the loading platform 2 can be monitored satisfactorily.

The mounting position of the imaging unit 12 shown in the lower part of FIG. 4 is different from the mounting position of the imaging unit 12 shown in the middle part of FIG. 4 in the mounting position of the second rear camera 125. Further, the imaging unit 12 is different in that the first rear camera 124 and the second rear camera 125 are provided.

As shown in the lower part of FIG. 4, the second rear camera 125 is attached to the upper end of the frame 23 of the loading platform 2.
Further, the first rear camera 124 is arranged at the rear end of the roof of the vehicle body 4.
As described above, when the imaging unit 12 includes the first rear camera 124 and the second rear camera 125, the rear of the vehicle M can be satisfactorily monitored.
In the present embodiment, as shown in the lower part of FIG. 4, a case where the front camera 121, the first rear camera 124, and the second rear camera 125 are arranged will be described.

In the present embodiment, each of the front camera 121, the right side camera 122, the left side camera 123, the first rear camera 124, and the second rear camera 125 is a monocular camera.
Further, each of the front camera 121, the right side camera 122, the left side camera 123, the first rear camera 124, and the second rear camera 125 may be provided with a distance measuring sensor to measure the distance to an obstacle. ..

[3. Operation of vehicle body and loading platform]
[3-1. Basic operation of vehicle body and loading platform]
FIG. 5 is a diagram showing an example of the operation of the vehicle body 4 and the loading platform 2 by the loading platform lowering support device 1 according to the present embodiment.

The point A shown in FIG. 5 indicates the position of the rear end 21 of the vehicle M when the vehicle M is parked, that is, the rear end 21 of the loading platform 2. The point B indicates a position where the front end 43 of the vehicle M should move when the loading platform 2 is lowered.
The point B is a position determined by the configuration of the vehicle M. Further, the distance LD indicates the distance in front of the vehicle M in which an obstacle can be detected based on the image captured by the front camera 121. The distance LD is longer than the distance from the point S to the point B at the front end 43 of the vehicle M when the vehicle M is parked. That is, when the loading platform 2 is lowered, the range AD is configured to enable detection of obstacles. The range AD is wider than the range from the front end 43 of the vehicle M when the vehicle M is parked to the point B where the vehicle M moves.

First, as shown in the uppermost figure of FIG. 5, the driver confirms the safety and parks the vehicle M at a position where the loading platform 2 is desired to be unloaded.
Next, the loading platform lowering support device 1 executes an operation of lowering the loading platform 2. As shown from the second step to the lowest step from the top of FIG. 5, the vehicle body 4 advances from the parking position corresponding to the distance L1, so that the rear end 21 of the loading platform 2 moves in the front-rear direction from directly above the point A. The loading platform 2 is lowered so as not to move.
Specifically, the forward control unit 113 advances the vehicle body 4 from the parking position corresponding to the distance L1 so that the rear end 21 of the loading platform 2 does not move in the front-rear direction from the position directly above the point A. 114 lowers the loading platform 2.
In addition, "advancing" means moving in the direction DF. The direction DF indicates the moving direction of the vehicle body 4 when the vehicle body 4 moves forward.
While the vehicle body 4 is moving forward, the first detection unit 116 monitors the front of the vehicle M based on the image of the front camera 121. Then, when the first detection unit 116 detects an obstacle, the lowering control unit 114 stops the operation of lowering the loading platform 2. This point will be described with reference to FIG.

The position where the driver parks the vehicle M is a position where it has already been confirmed that it is safe. By not moving the position of the rear end 21 of the loading platform 2 from that location, the vehicle body 4 is advanced while ensuring a safe area. By monitoring the front of the vehicle M by the first detection unit 116, the loading platform 2 can be lowered without imposing a burden on the driver.

In order to realize the lowering of the loading platform 2 as shown in FIG. 5, it is necessary for the forward control unit 113 to advance the vehicle body 4 and at the same time, the lowering control unit 114 to lower the loading platform 2. Therefore, it is necessary to simultaneously move the power for moving the vehicle body 4 forward and the power for lowering the loading platform 2.
The vehicle body 4 is driven by an engine or a motor. This engine or motor corresponds to an example of the drive power unit 152 of the wheel 3 shown in FIG.
Further, in the present embodiment, a motor for operating the loading platform 2 is arranged, and the loading platform 2 is driven by this motor. This motor corresponds to an example of the drive power unit 162 of the loading platform 2 shown in FIG.

Although the loading platform 2 may be driven by a winch motor mounted on the safety loader, the present embodiment is used as a power source for the loading platform 2 because there are cases where the winch is used to tow the vehicle M when mounted on a vehicle. Is desirable.

Many trucks such as safety loaders have manual transmissions, but recently, the number of automatic transmissions is increasing. The present invention is an invention relating to automatic control of the vehicle M. Specifically, since the vehicle body 4 is advanced without being operated by the driver, in the present embodiment, it is assumed that the vehicle M is an automatic transmission vehicle. And.

In FIG. 5, the rear end 21 of the loading platform 2 is always located directly above the point A, but the embodiment of the present invention is not limited to this. For example, after the forward control unit 113 moves the vehicle body 4 forward by 5 cm, the lowering control unit 114 may repeatedly move the rear end 21 of the loading platform 2 backward by 5 cm. In the present embodiment, the case where the vehicle body 4 is moved forward and the loading platform 2 is lowered repeatedly is described.
Also in this case, since the rear end 21 of the loading platform 2 does not move behind the point directly above the point A, a safe area for lowering the loading platform 2 can be secured.

[3-2. If there is an obstacle up to point B]
FIG. 6 is a diagram showing an example of the operation of the loading platform lowering support device 1 when there is an obstacle BS on the path of the vehicle M.
Point C shown in FIG. 6 indicates a point separated from point B by a predetermined distance Xf. Specifically, the point C indicates a point separated from the point B in front of the vehicle M by a predetermined distance Xf. The point B corresponds to the completion position PB. That is, the point B indicates the position of the front end 43 of the vehicle body 4 when the lowering of the loading platform 2 is completed. The predetermined distance Xf is a preset distance according to the vehicle M.

The first detection unit 116 detects an obstacle BS on the path of the vehicle M between the front end 43 of the vehicle body 4 and the point C based on the image taken by the front camera 121. In FIG. 6, the obstacle BS is located between the front end 43 of the vehicle body 4 and the point B.
Since the first detection unit 116 detects the obstacle BS, the forward control unit 113 stops the vehicle M at a position in front of the obstacle BS by a predetermined distance Xf, and the lowering control unit 114 stops the lowering of the loading platform 2. Let me. In FIG. 6, the obstacle BS is a human being.

[3-3. When there is an obstacle in front of point C]
FIG. 7 is a diagram showing an example of the operation of the loading platform lowering support device 1 when there is an obstacle BS in front of the vehicle M.
FIG. 7 is different from FIG. 6 in that the obstacle BS is located in front of the point C. Further, in FIG. 7, the obstacle BS is another vehicle.

As shown in FIG. 7, when the obstacle BS is located in front of the point C, the forward control unit 113 advances the vehicle body 4 to the completion position PB, and the lowering control unit 114 moves the loading platform. Complete the descent of 2. That is, as shown in FIG. 7, when the obstacle BS is located in front of the point C, the loading platform lowering support device 1 executes the operation described with reference to FIG.

[3-4. When there is an obstacle between point B and point C]
FIG. 8 is a diagram showing an example of a lowering operation of the loading platform 2 when there is an obstacle BS in front of the vehicle M.
In FIG. 8, the obstacle BS is located between the point B and the point C. Specifically, the obstacle BS is another vehicle, and the rear end of this vehicle is located at point D. Further, the point D is located between the point B and the point C. The point D corresponds to the obstacle position PD.

In this case, as shown in the second row from the top of FIG. 8, the forward control unit 113 advances the vehicle body 4 until the front end 43 of the vehicle body 4 is located at the point B', and the lower control unit 113 advances the vehicle body 4. 114 lowers the loading platform 2.
The point B'indicates a point separated from the point D on the vehicle M side by a predetermined distance Xf. The point B'corresponds to the target position PBD.
Then, when the front end 43 of the vehicle body 4 is located at the point B', the forward control unit 113 stops the forward movement of the vehicle main body 4, and the lowering control unit 114 stops the lowering of the loading platform 2.
In this state, as shown in the second row from the top of FIG. 8, the lowering of the loading platform 2 is not completed.

Next, the loading platform lowering support device 1 executes an operation of lowering the loading platform 2 while checking the obstacle BS behind the loading platform 2 on each of the first rear camera 124 and the second rear camera 125.
Specifically, the second detection unit 117 detects the obstacle BS between the vehicle M and the point E by using the first rear camera 124 and the second rear camera 125. Further, when the second detection unit 117 detects that there is no obstacle BS between the vehicle M and the point E, the second detection unit 117 goes through the state of the third row from the top of FIG. As shown in the lower figure, the lowering control unit 114 restarts the lowering of the loading platform 2 and moves the loading platform 2 backward to the position of the point A'to complete the lowering operation of the loading platform 2. That is, the lowering control unit 114 lowers the loading platform 2 until the lowering operation is completed.

Point A'corresponds to the descent completion position PAD. That is, the descent completion position PAD is the position where the forward control unit 113 stops advancing the vehicle body 4 because there is an obstacle BS in front of the vehicle M, and the descent complete position PAD is after the loading platform 2 when the descent of the loading platform 2 is completed. The position of the end 21 is shown.
The point E indicates a point separated from the point A'by a predetermined distance Xr behind the vehicle M.
The predetermined distance Xr is a preset distance according to the vehicle M.
When lowering the loading platform 2, the second detection unit 117 is configured to be capable of detecting obstacles in the range AE. The range AE is wider than the range from the vehicle body 4 to the point A'. The range AE corresponds to the range between the vehicle body 4 and the point E.

When the loading platform 2 is raised again after the loading platform 2 is lowered, the area corresponding to the vehicle body 4 and the area corresponding to the loading platform 2 are already secured as safe areas. Therefore, only the loading platform 2 may be raised, or the position of the rear end 21 of the loading platform 2 is fixed, the operation of the loading platform lowering support device 1 is executed in reverse, and the loading platform 2 is raised while retracting the vehicle body 4. You may let me.

In the present embodiment, the case where the vehicle M uses the safety loader (loading vehicle) as the loading platform 2 is described, but the embodiment of the present invention is a type of vehicle in which the loading platform can be attached and detached as in the garbage collection and transporting vehicle. It can also be applied to.

[3-5. Processing of loading platform lowering support device]
9 to 12 are flowcharts showing an example of processing of the loading platform lowering support device 1 according to the present embodiment.
In addition, in FIGS. 9 to 11, the mark in which the character a is written in the rhombus indicates that the “cancellation process” can be accepted as shown in FIG. The "cancellation process" indicates a process of stopping the forward movement of the vehicle body 4 and the lowering of the loading platform 2 by the loading platform lowering support device 1 in response to an operation from the user. The “cancellation process” will be described in detail with reference to FIG.

As shown in FIG. 9, in step S1, the loading platform lowering support device 1 is activated. For example, when the vehicle M is parked and the user performs a predetermined operation, the loading platform lowering support device 1 is activated.
Next, in step S2, the image acquisition unit 111 acquires images captured by each of the front camera 121, the first rear camera 124, and the second rear camera 125.
Next, in step S3, the forward / downward control unit 110 sets the operation mode of the loading platform lowering support device 1 to the “manual operation mode”.
Next, in step S4, the forward / downward control unit 110 detects that the driver has touched the “loading platform automatic lowering button”. The “loading platform automatic lowering button” corresponds to the loading platform automatic lowering button 603, which will be described later with reference to FIG.

Next, in step S5, the forward / downward control unit 110 sets the operation mode of the loading platform lowering support device 1 to the “loading platform lowering mode”.
Next, in step S6, the first detection unit 116 sets the stop position PA. The stop position PA corresponds to the point A shown in FIG. The point A indicates the position of the rear end 21 of the vehicle M, that is, the rear end 21 of the loading platform 2 when the vehicle M is parked.
Next, in step S7, the first detection unit 116 sets the completion position PB. The completion position PB corresponds to the point B shown in FIG. The point B indicates a position where the front end 43 of the vehicle body 4 should move when the lowering of the loading platform 2 is completed.
Next, in step S8, the first detection unit 116 sets the point C and sets the range AD for detecting the obstacle BS. As shown in FIG. 6, the point C indicates a point separated from the point B in front of the vehicle M by a predetermined distance Xf.
Next, in step S9, the forward / downward control unit 110 starts executing the “loading platform automatic lowering process”. The “loading platform automatic lowering process” indicates a process of executing the forward movement of the vehicle body 4 and the lowering of the loading platform 2 under the control of the forward / downward control unit 110.

Next, in step S10, the first detection unit 116 determines whether or not the obstacle BS is detected within the range AD for detecting the obstacle BS.
When the first detection unit 116 determines that the obstacle BS has been detected (step S10; NO), the process proceeds to step S21. If the first detection unit 116 determines that the obstacle BS has not been detected (step S10; YES), the process proceeds to step S11.
Then, in step S11, the forward control unit 113 advances the vehicle body 4.
Next, in step S12, the distance detection unit 115 detects the distance that the vehicle body 4 has advanced based on the detection result of the wheel rotation speed sensor 142.
Next, in step S13, the lowering control unit 114 calculates the lowering amount of the loading platform 2. Specifically, the lowering control unit 114 calculates the amount of lowering of the loading platform 2 in which the loading platform 2 moves rearward with respect to the vehicle body 4 by the distance detected by the distance detecting unit 115.

Next, in step S14, the lowering control unit 114 lowers the loading platform 2 by the amount of lowering calculated in step S13. Specifically, the lowering control unit 114 instructs the loading platform elevating control control unit 161 to lower the loading platform 2 by the amount of lowering calculated in step S13.
In step S15, the forward control unit 113 determines whether or not the vehicle body 4 has reached the point B.
When the forward control unit 113 determines that the vehicle body 4 has reached the point B (step S15; YES), the process proceeds to step S16 of FIG. When the forward control unit 113 determines that the vehicle body 4 has not reached the point B (step S15; NO), the process returns to step S10.

If NO in step S10, the forward control unit 113 suspends the forward operation of the vehicle body 4 in step S21.
Next, in step S22, the forward / downward control unit 110 determines whether or not a predetermined time T1 has elapsed from the time when the forward operation of the vehicle body 4 is stopped in step S21.
When the forward / downward control unit 110 determines that the predetermined time T1 has not elapsed (step S22; NO), the process returns to step S10. When the forward / downward control unit 110 determines that the predetermined time T1 has elapsed (step S22; YES), the process proceeds to step S23.
Then, in step S23, the forward / downward control unit 110 sets the obstacle position PD. The obstacle position PD corresponds to the point D shown in FIG.
Next, in step S24, the forward / downward control unit 110 sets the target position PBD. The target position PBD corresponds to the point B'shown in FIG.

Next, as shown in FIG. 10, in step S25, the first detection unit 116 determines whether or not the obstacle BS has been detected before the obstacle position PD in front.
When the first detection unit 116 determines that the obstacle BS has been detected (step S25; NO), the process proceeds to step S41. If the first detection unit 116 determines that the obstacle BS has not been detected (step S25; YES), the process proceeds to step S26.
Then, in step S26, the forward control unit 113 advances the vehicle body 4.
Next, in step S27, the distance detection unit 115 detects the distance that the vehicle body 4 has advanced based on the detection result of the wheel rotation speed sensor 142.
Next, in step S28, the lowering control unit 114 calculates the lowering amount of the loading platform 2. Specifically, the lowering control unit 114 calculates the amount of lowering of the loading platform 2 in which the loading platform 2 moves rearward with respect to the vehicle body 4 by the distance detected by the distance detecting unit 115.

Next, in step S29, the lowering control unit 114 lowers the loading platform 2 by the amount of lowering calculated in step S28. Specifically, the lowering control unit 114 instructs the loading platform elevating control control unit 161 to lower the loading platform 2 by the amount of lowering calculated in step S28.
In step S30, the forward control unit 113 determines whether or not the vehicle body 4 has reached the point B'.
When the forward control unit 113 determines that the vehicle body 4 has not reached the point B'(step S30; NO), the process returns to step S25. When the forward control unit 113 determines that the vehicle body 4 has reached the point B'(step S30; YES), the process proceeds to step S31.
Then, in step S31, the forward / downward control unit 110 sets the descending completion position PAD. The descent completion position PAD corresponds to the point A'shown in FIG.
Next, in step S32, the second detection unit 117 sets the point E, sets the range AE for detecting the obstacle BS, and the process proceeds to step S33 in FIG. The point E indicates a point separated from the point A'by a predetermined distance Xr behind the vehicle M. The predetermined distance Xr is a preset distance according to the vehicle M.

If NO in step S25, in step S41, the forward control unit 113 temporarily stops the forward operation of the vehicle body 4.
Next, in step S42, the forward / downward control unit 110 determines whether or not a predetermined time T1 has elapsed from the time when the forward operation of the vehicle body 4 is stopped in step S41.
When the forward / downward control unit 110 determines that the predetermined time T1 has not elapsed (step S42; NO), the process returns to step S25. When the forward / downward control unit 110 determines that the predetermined time T1 has elapsed (step S42; YES), the process proceeds to step S17 in FIG.

When the process of step S32 is completed, as shown in FIG. 11, in step S33, the second detection unit 117 determines whether or not the obstacle BS has been detected up to the point E.
When the second detection unit 117 determines that the obstacle BS has been detected (step S33; NO), the process proceeds to step S51. If the second detection unit 117 determines that the obstacle BS has not been detected (step S33; NO), the process proceeds to step S34.
Then, in step S34, the forward / downward control unit 110 calculates the cumulative value of the distance that the vehicle body 4 has advanced by the forward control unit 113 by step S30.
Next, in step S35, the forward / descending control unit 110 calculates the cumulative value of the amount of the loading platform 2 lowered by the descending control unit 114 by step S30, and further lowers the loading platform 2 to complete the lowering. Calculate the amount.

Next, in step S36, the lowering control unit 114 instructs the loading platform elevating control control unit 161 to lower the loading platform 2 by the amount of lowering calculated in step S35.
Then, in step S37, the forward / downward control unit 110 determines whether or not the loading platform 2 has reached the point A'. Point A'corresponds to the descent completion position PAD.
When the forward / downward control unit 110 determines that the loading platform 2 has not reached the point A'(step S37; NO), the process returns to step S33. When the forward / downward control unit 110 determines that the loading platform 2 has reached the point A'(step S37; YES), the process proceeds to step S16.
Then, in step S16, the forward / downward control unit 110 ends the lowering process of the loading platform 2, and the process ends.

If NO in step S33, the forward control unit 113 suspends the forward operation of the vehicle body 4 in step S51.
Next, in step S52, the forward / downward control unit 110 determines whether or not a predetermined time T1 has elapsed from the time when the forward operation of the vehicle body 4 is stopped in step S51.
When the forward / downward control unit 110 determines that the predetermined time T1 has not elapsed (step S52; NO), the process returns to step S33. When the forward / downward control unit 110 determines that the predetermined time T1 has elapsed (step S52; YES), the process proceeds to step S17.
Then, in step S17, the forward / downward control unit 110 stops the lowering process of the loading platform 2, and the process ends.

In FIGS. 9 to 11, the "cancellation process" is executed at the mark where the character a is written in the rhombus, as shown in FIG.
That is, in step S61, the forward / downward control unit 110 determines whether or not the cancel button is pressed. The "cancel button" corresponds to the cancel button 605, which will be described later with reference to FIG.
If the forward / downward control unit 110 determines that the cancel button has not been pressed (step S61; YES), the process proceeds to the next process. When the forward / downward control unit 110 determines that the cancel button has been pressed (step S61; NO), the process proceeds to step S17 in FIG.
Then, in step S17, the forward / downward control unit 110 stops the lowering process of the loading platform 2, and the process ends.

Note that steps S11 to S14 in FIG. 9 correspond to an example of the "forward control step".
Further, in steps S34 to S36 of FIG. 11, the amount of descent of the loading platform 2 is calculated from the forward distance of the vehicle body 4, but the embodiment of the present invention is not limited to this. The amount of descent of the loading platform 2 may be calculated based on the output of the loading platform position sensor 146 shown in FIG.

[3-6. Display screen displayed by the display control unit]
Next, with reference to FIGS. 13 and 14, it is a screen view which shows an example of the state display screen 600 displayed on the display 131 which concerns on this embodiment. The status display screen 600 is displayed by the display control unit 119.
On the status display screen 600, a status display unit 601, an image display unit 602, an automatic loading platform lowering button 603, a loading platform lowering start button 604, and a cancel button 605 are displayed.

The status display unit 601 displays the status of the forward / downward control unit 110.
The image taken by the front camera 121 is displayed on the image display unit 602.
The loading platform automatic lowering button 603 indicates a button touched by the driver when the loading platform 2 is lowered by the forward / lowering control unit 110.
The loading platform lowering start button 604 indicates a button touched by the driver when starting lowering of the loading platform 2.
The cancel button 605 indicates a button touched by the driver when the forward processing of the vehicle body 4 and the lowering processing of the loading platform 2 are stopped.
The cancel button 605 corresponds to an example of the "operation unit".

The upper left figure of FIG. 13 shows an example of the state display screen 600 displayed on the display 131 in step S3 of FIG.
The status display unit 601 displays "manual operation mode", and it can be seen that the operation mode of the loading platform lowering support device 1 is the "manual operation mode". The "manual operation mode" indicates an operation mode in which the forward movement of the vehicle M, the lowering of the loading platform 2, and the like are operated by the driver's operation instead of the automatic control.
In addition, hatching is added to the loading platform lowering start button 604, indicating that the loading platform lowering start button 604 cannot be operated. That is, in the "manual operation mode", the loading platform 2 cannot be lowered by touching the loading platform lowering start button 604.

The lower left figure of FIG. 13 shows an example of the state display screen 600 displayed on the display 131 in step S5 of FIG.

The status display unit 601 displays "loading platform lowering mode", and it can be seen that the operation mode of the loading platform lowering support device 1 is the "loading platform lowering mode". In the "loading platform lowering mode", the loading platform lowering support device 1 executes control for lowering the loading platform 2.
In step S5 of FIG. 9, the driver touches the loading platform automatic lowering button 603 to transition from the “manual operation mode” to the “loading platform lowering mode”.
In addition, hatching is provided to the loading platform automatic lowering button 603, indicating that the loading platform automatic lowering button 603 cannot be operated.
Since the loading platform lowering start button 604 is not provided with hatching, the driver can operate the loading platform lowering start button 604.

The lower right figure of FIG. 13 shows an example of the state display screen 600 displayed on the display 131 in step S7 of FIG.
On the status display screen 600, the completion position mark 606 is displayed superimposed on the image captured by the front camera 121. The completion position mark 606 indicates the completion position PB.
Since the completion position mark 606 is displayed in this way, the driver can easily visually recognize the completion position PB.

The upper left figure of FIG. 14 shows an example of the state display screen 600 displayed on the display 131 in steps S11 to S14 of FIG.
The status display unit 601 displays "Descent of the loading platform", indicating that the loading platform 2 is being lowered by the loading platform lowering support device 1.
Further, the loading platform lowering start button 604 is provided with hatching to indicate that the loading platform lowering start button 604 cannot be operated.

The upper right figure of FIG. 14 shows an example of the state display screen 600 displayed on the display 131 in step S21 of FIG. 9 and step S41 of FIG.
The status display unit 601 displays "Descent of the loading platform is stopped. An obstacle has been detected.", And the driver indicates that the descending operation of the loading platform 2 has been stopped because the obstacle BS has been detected. It is visible.
Further, an image of the obstacle BS is displayed on the image display unit 602. Therefore, the driver can visually recognize what kind of object has been detected as the obstacle BS.

The lower left figure of FIG. 14 shows an example of the state display screen 600 displayed on the display 131 in step S17 of FIG.
The status display unit 601 displays "Stop lowering the loading platform. There is a possibility that the loading platform has not been lowered. Please check.", And the driver cancels the lowering process of the loading platform 2 by the loading platform lowering support device 1. You can see that. Further, the driver can visually recognize that it is necessary to confirm the lowered state of the loading platform 2 because the lowering of the loading platform 2 may not be completed.

The lower right figure of FIG. 14 shows an example of the state display screen 600 displayed on the display 131 in step S16 of FIG.
The status display unit 601 displays "loading platform lowering completed", and the driver can visually recognize that the loading platform 2 lowering process by the loading platform lowering support device 1 has been completed.

In the state display screen 600 shown in FIGS. 13 and 14, the case where the loading platform automatic lowering button 603, the loading platform lowering start button 604, and the cancel button 605 are displayed has been described, but the embodiment of the present invention is limited to this. Not done. For example, only the buttons that can be operated by the driver may be displayed on the status display screen 600. Further, the loading platform lowering support device 1 may accept an operation from the operation unit 132 shown in FIG.

Further, when displaying the state display screen 600 shown in the upper right of FIG. 14, the state display screen 600 shown in the lower left of FIG. 14, and the state display screen 600 shown in the lower right of FIG. 14, guidance is given from the speaker 133 shown in FIG. A voice, a beep sound, or the like may be output.

In the present embodiment, the case where the driver touches the cancel button 605 to stop the forward processing of the vehicle body 4 and the lowering processing of the loading platform 2 by the forward / downward control unit 110 has been described. However, the embodiment of the present invention has been described. Is not limited to this. The operation unit 132 shown in FIG. 3 may include an operation end such as a switch or a hardware key for stopping the forward processing of the vehicle body 4 and the lowering processing of the loading platform 2.

[4. Bulletin board]
FIG. 15 shows an example of a bulletin board 5 arranged on the vehicle M according to the present embodiment.
When loading luggage, it is common to stop the vehicle M in front of the loaded luggage to perform the work, but in some cases, the vehicle M is stopped and the loading platform 2 is unloaded with no luggage to be loaded. There is a possibility.
In this case, it is conceivable that another vehicle may stop behind the vehicle M before or during the work of unloading the loading platform 2.
Therefore, by installing the bulletin board 5, the vehicle behind the vehicle M is warned not to stop behind the vehicle M.

The bulletin board 5 may be an electric bulletin board, or may be in another form as long as it can call attention to the rear.
On the bulletin board 5, for example, the characters "☆ Vehicle loading work ☆ ☆ Please open a space ☆" are displayed.

In the upper diagram of FIG. 15, the bulletin board 51 is arranged behind the cabin of the vehicle M, in the middle diagram of FIG. 15, the bulletin board 52 is arranged in the front portion of the loading platform 2, and in the lower diagram of FIG. 15, the bulletin board is arranged. 53 is arranged in the rear portion of the loading platform 2. The bulletin board 51, the bulletin board 52, and the bulletin board 53 correspond to an example of the bulletin board 5.
Further, in the lower part of FIG. 15, the gate 6 is arranged at the rear portion of the loading platform 2, and the bulletin board 53 is arranged at the upper part of the gate 6.

[5. Configuration and effect of loading platform lowering support device]
As described above with reference to the drawings, the loading platform lowering support device 1 according to the present embodiment includes the loading platform 2 and the vehicle body 4, and the loading platform 2 refers to the vehicle body 4 in response to the lowering of the loading platform 2. In the vehicle M moving rearward, the loading platform lowering support device 1 that supports the lowering operation of the loading platform 2 is located at the rear end 21 of the loading platform 2 when the vehicle M stops as the loading platform 2 descends. On the other hand, a forward control unit 113 is provided to advance the vehicle body 4 in conjunction with the lowering of the loading platform 2 so that the position of the rear end 21 of the loading platform 2 does not move in the front-rear direction.
According to this configuration, the position of the rear end 21 of the loading platform 2 does not move in the front-rear direction with respect to the position of the rear end 21 of the loading platform 2 when the vehicle M stops as the loading platform 2 descends. Since the vehicle body 4 is advanced in conjunction with the descent of 2, it is not necessary to monitor the rear of the loading platform 2. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.

Specifically, instead of moving the position of the loading platform 2 to lower the loading platform 2, the loading platform 2 is lowered by moving the vehicle body 4 without moving the position of the loading platform 2 from the position where the vehicle M is parked. .. The vehicle body 4 is equipped with an image pickup unit 12 for recognizing the outside world, and when the vehicle body 4 is moving, it is possible to confirm the presence or absence of pedestrians or obstacles by image recognition around the vehicle M and lower the loading platform 2. it can. Since the safety is confirmed by the image pickup unit 12, the driver can lower the loading platform 2 even when he / she is in the vehicle M, and the work load of the driver can be reduced. Further, the vehicle body 4 moves forward while lowering the loading platform 2 based on the position where the vehicle M is first stopped, so that the position where the driver first determines that the vehicle is safe and stops is set as the safety area, and the safety area is set as the safety area. You can unload the loading platform while securing it.

Moreover, in the automobile industry, automation such as automatic driving and parking support is progressing. Automation is expected to be applied not only to passenger cars but also to commercial vehicles.
Due to the recent labor shortage and work style reform, it is an urgent task to reduce the work load on commercial vehicle drivers, and it is desired to introduce driving support and work support technology that support the drivers as much as possible.
According to the present invention, the image recognition of the imaging unit 12 makes it possible to safely carry out the work of unloading the loading platform 2 without imposing a work load on the driver as much as possible during the work of unloading the loading platform 2.

Further, when the forward control unit 113 advances the vehicle body 4, the distance detection unit 115 that detects the distance that the vehicle body 4 has advanced, and the loading platform 2 with respect to the vehicle body 4 by the distance detected by the distance detection unit 115. A lowering control unit 114 for lowering the loading platform 2 is provided so as to move backward.
According to this configuration, the loading platform 2 is lowered so that the loading platform 2 moves rearward with respect to the vehicle body 4 by the distance detected by the distance detecting unit 115. Therefore, the operation in the work of loading and unloading the loading platform 2 with a simple configuration. The burden on the person can be reduced.

Further, based on the front camera 121 that captures the front of the vehicle M and the image captured by the front camera 121, the vehicle when the loading platform 2 is completely lowered from the front end 43 of the vehicle body 4 when the vehicle M is stopped. A first detection unit 116 for detecting an obstacle BS on the route of the vehicle M up to the completion position PB, which is the position of the front end 43 of the main body 4, is provided, and the first detection unit 116 detects the obstacle BS. In this case, the forward control unit 113 stops the vehicle M at a position in front of the obstacle BS by a predetermined distance Xf.
According to this configuration, when the obstacle BS is detected, the vehicle M is stopped at a position in front of the obstacle BS by a predetermined distance Xf. Therefore, by setting the predetermined distance Xf to an appropriate value, an appropriate position is obtained. The vehicle M can be stopped.

Further, when the first detection unit 116 does not detect the obstacle BS between the time when the forward control unit 113 stops the vehicle M and the time when the predetermined time T1 elapses, the forward control unit 113 uses the vehicle. Resume M's advance.
According to this configuration, if the obstacle BS is not detected before the predetermined time T1 elapses after the obstacle BS is detected and the vehicle M is stopped, the forward control unit 113 uses the vehicle. Since the advance of M is restarted, the descent of the loading platform 2 can be completed. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.

Further, based on the images taken by the first rear camera 124 and the second rear camera 125 and the first rear camera 124 and the second rear camera 125 that photograph the rear of the vehicle M, the obstacle BS behind the vehicle M is displayed. From the time when the second detection unit 117 and the detection unit 117 are provided, the first detection unit 116 detects the obstacle BS, and the forward control unit 113 stops the vehicle M at a position Xf in front of the obstacle BS by a predetermined distance Xf. When the predetermined time T1 has elapsed, the second detection unit 117 performs the loading platform when the descent of the loading platform 2 is completed at the position where the vehicle M has stopped from the position of the rear end 21 of the loading platform 2 at the position where the vehicle M has stopped. When the obstacle BS on the path of the loading platform 2 up to the descent completion position PAD, which is the position of the rear end 21 of 2, is detected and the second detection unit 117 does not detect the obstacle BS, the descent control is performed. The unit 114 restarts the lowering of the loading platform 2.

According to this configuration, when the obstacle BS on the path of the loading platform 2 is not detected, the lowering control unit 114 restarts the lowering of the loading platform 2, so that the vehicle M is moved to the front position by a predetermined distance Xf. Even when the predetermined time T1 has elapsed from the time of stopping, the lowering of the loading platform 2 can be completed. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.

Further, when the second detection unit 117 detects the obstacle BS, the notification control unit 118 is provided to notify the user that the lowering of the loading platform 2 cannot be completed due to the presence of the obstacle BS.
According to this configuration, the user can easily confirm that the lowering of the loading platform 2 cannot be completed due to the presence of the obstacle BS. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.
Further, for example, when the obstacle BS is another vehicle, the descent of the loading platform 2 can be completed by having the other vehicle move.

In addition, a display 131 arranged in the cabin of the vehicle body 4 and a display control unit 119 for displaying an image taken by the front camera 121 on the display 131 are provided.
According to this configuration, since the image taken by the front camera 121 is displayed on the display 131, the driver can easily visually recognize the obstacle BS or the like. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.

Further, the display control unit 119 displays the completed position PB on the display 131 by superimposing it on the image captured by the front camera 121.
According to this configuration, the completed position PB is superimposed and displayed on the image taken by the front camera 121, so that the driver can easily visually recognize the completed position PB. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.
For example, if there is another vehicle trying to enter in front of the completion position PB, the descent of the loading platform 2 can be completed by having this vehicle stop entering in front of the completion position PB.

Further, when the first detection unit 116 detects the obstacle BS, the display control unit 119 displays that the first detection unit 116 has detected the obstacle BS.
According to this configuration, since the display 131 shows that the first detection unit 116 has detected the obstacle BS, the driver can easily visually recognize that the first detection unit 116 has detected the obstacle BS. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.

Further, it is provided in the cabin of the vehicle body 4 and includes an operation unit 132 that receives an operation from the user and stops the operation of each of the forward control unit 113 and the downward control unit 114.
According to this configuration, the operations of the forward control unit 113 and the downward control unit 114 are stopped in response to an operation from the user. Therefore, for example, when some abnormality occurs, the forward control unit 113 and the forward control unit 113 and Each operation of the lowering control unit 114 can be stopped.

The control method of the loading platform lowering support device 1 according to the present embodiment includes a loading platform 2 and a vehicle body 4, and in a vehicle M in which the loading platform 2 moves rearward with respect to the vehicle body 4 in response to the lowering of the loading platform 2. It is a control method of the loading platform lowering support device that supports the lowering operation of the loading platform 2, and is the rear end of the loading platform 2 with respect to the position of the rear end 21 of the loading platform 2 when the vehicle M stops as the vehicle M stops. Includes a forward control step that advances the vehicle body 4 in conjunction with the lowering of the loading platform 2 so that the position of 21 does not move in the front-rear direction.
According to this configuration, the position of the rear end 21 of the loading platform 2 does not move in the front-rear direction with respect to the position of the rear end 21 of the loading platform 2 when the vehicle M stops as the loading platform 2 descends. Since the vehicle body 4 is advanced in conjunction with the descent of 2, it is not necessary to monitor the rear of the loading platform 2. Therefore, the burden on the driver in the work of loading and unloading the loading platform 2 can be reduced.

[6. Other Embodiments of the loading platform lowering support device]
The above-described embodiment shows only one aspect of the present invention, and can be arbitrarily modified and applied without departing from the gist of the present invention.
In the present embodiment, the forward control unit 113 lowers the loading platform 2 so that the position of the rear end 21 of the loading platform 2 does not move in the front-rear direction with respect to the position of the rear end 21 of the loading platform 2 when the vehicle M is stopped. The vehicle body 4 is advanced in conjunction with the above, but the embodiment of the present invention is not limited to this. For example, after the forward control unit 113 moves the vehicle body 4 forward by 5 cm, the lowering control unit 114 may repeatedly move the rear end 21 of the loading platform 2 backward by 5 cm.
In this case, it is not necessary to control the lowering of the loading platform 2 and the forward movement of the vehicle M at the same time, so that the process is simplified. Further, in this case, the amount of movement of the position of the rear end 21 of the loading platform 2 in the forward direction with respect to the position of the rear end 21 of the loading platform 2 when the vehicle M is stopped can be regulated to a predetermined value or less. The predetermined value is, for example, 5 cm.

In the present embodiment, the first detection unit 116 detects the obstacle BS based on the image taken by the front camera 121, but the embodiment of the present invention is not limited to this. The first detection unit 116 may detect the obstacle BS based on the detection signal of a sensor such as an ultrasonic sensor. Further, the first detection unit 116 may detect the obstacle BS based on the image taken by the front camera 121 and the detection signal of a sensor such as an ultrasonic sensor.

In the present embodiment, the second detection unit 117 detects the obstacle BS based on the image taken by the first rear camera 124, but the embodiment of the present invention is not limited to this. The second detection unit 117 may detect the obstacle BS based on the detection signal of a sensor such as an ultrasonic sensor. Further, the second detection unit 117 may detect the obstacle BS based on the image taken by the first rear camera 124 and the detection signal of a sensor such as an ultrasonic sensor.

Further, FIG. 3 is a schematic view showing the functional configurations of the camera control unit 11 classified according to the main processing contents in order to facilitate understanding of the present invention, and the configuration of the camera control unit 11 is processed. Depending on the content, it can be classified into more components. It can also be categorized so that one component performs more processing. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware. Further, the processing of each component may be realized by one program or may be realized by a plurality of programs.

Further, the processing units of the flowcharts shown in FIGS. 9 to 12 are divided according to the main processing contents in order to make the processing of the forward / downward control unit 110 easy to understand. The present invention is not limited by the method of dividing the processing unit and the name. The processing of the forward / downward control unit 110 can be divided into more processing units according to the processing content. Further, one processing unit can be divided so as to include more processing. Further, the processing order of the flowchart is not limited to the illustrated example.

1 Loading platform lowering support device 2, 2a, 2b Loading platform 3 Wheels 4 Vehicle body 5, 51, 52, 53 Bulletin board 11 Camera control unit 12 Shooting unit 13 HMI
14 Sensor unit 15 Vehicle travel control unit 16 Loading platform elevating control unit 17 CAN
110 Forward / descending control unit 111 Image acquisition unit 112 Image processing unit 113 Forward control unit 114 Downward control unit 115 Distance detection unit 116 1st detection unit 117 2nd detection unit 118 Notification control unit 119 Display control unit (display unit, notification unit)
121 Front camera (1st camera)
122 Right side camera 123 Left side camera 124 1st rear camera (2nd camera)
125 2nd rear camera (2nd camera)
131 Display 132 Operation unit 133 Speaker 141 Steering angle sensor 142 Wheel rotation speed sensor 143 Accelerator sensor 144 Vehicle speed sensor 145 Brake sensor 146 Loading platform position sensor 151 Vehicle control control unit 152 Driving power unit 154 Brake 155 Driving power unit 156 Steering 161 Control unit 162 Drive power unit 600 Status display screen 601 Status display unit 602 Image display unit 603 Loading platform automatic lowering button 604 Loading platform lowering start button 605 Cancel button (operation unit)
606 Completion Position Mark A Point AD Range AE Range B Point BS Obstacle C Point D Point DF Direction E Point GL Ground M Vehicle PA Stop Position PAD Descent Completion Position PB Completion Position PBD Target Position PD Obstacle Position T1 Predetermined Time Xf Xr predetermined distance

Claims (11)

A loading platform lowering support device that includes a loading platform and a vehicle body and supports the lowering operation of the loading platform in a vehicle in which the loading platform moves rearward with respect to the vehicle body in response to the lowering of the loading platform.
With the lowering of the loading platform, the position of the rear end of the loading platform does not move in the front-rear direction with respect to the position of the rear end of the loading platform when the vehicle is stopped. A loading platform lowering support device provided with a forward control unit that advances the vehicle. When the forward control unit advances the vehicle, the distance detection unit that detects the distance that the vehicle has advanced and
It is provided with a lowering control unit that lowers the loading platform so that the loading platform moves rearward with respect to the vehicle body by the distance detected by the distance detecting unit.
The loading platform lowering support device according to claim 1. The first camera that shoots the front of the vehicle and
Based on the image taken by the first camera, the distance from the front end of the vehicle body when the vehicle is stopped to the completion position which is the position of the front end of the vehicle body when the lowering of the loading platform is completed. A first detection unit for detecting an obstacle on the route of the vehicle is provided.
When the first detection unit detects an obstacle, the forward control unit stops the vehicle at a position in front of the obstacle by a predetermined distance.
The loading platform lowering support device according to claim 2. If the first detection unit does not detect an obstacle between the time when the forward control unit stops the vehicle and the time when a predetermined time elapses, the forward control unit moves the vehicle forward. The loading platform lowering support device according to claim 3, which is restarted. A second camera that captures the rear of the vehicle,
A second detection unit that detects an obstacle behind the vehicle based on an image taken by the second camera is provided.
When a predetermined time has elapsed from the time when the first detection unit detects the obstacle and the forward control unit stops the vehicle at a position in front of the obstacle by the predetermined distance.
The second detection unit is the position of the rear end of the loading platform when the lowering of the loading platform is completed at the position where the vehicle is stopped from the position of the rear end of the loading platform at the position where the vehicle is stopped. Detecting obstacles on the path of the loading platform to the position,
If the second detection unit does not detect an obstacle, the lowering control unit restarts the lowering of the loading platform.
The loading platform lowering support device according to claim 3. When the second detection unit detects an obstacle, the notification unit is provided to notify the user that the lowering of the loading platform cannot be completed due to the obstacle.
The loading platform lowering support device according to claim 5. The display arranged in the cabin of the vehicle body and
A display unit that displays an image taken by the first camera on the display,
The loading platform lowering support device according to any one of claims 3 to 6, further comprising. The display unit superimposes the completed position on the display and displays the image taken by the first camera.
The loading platform lowering support device according to claim 7. The loading platform lowering support device according to claim 7 or 8, wherein when the first detection unit detects an obstacle, the display unit displays that the first detection unit has detected an obstacle. The invention according to any one of claims 3 to 9, wherein the operation unit is arranged in the cabin of the vehicle body and includes an operation unit that receives an operation from a user and stops the operation of each of the forward control unit and the downward control unit. Loading platform descent support device. It is a control method of a loading platform lowering support device that includes a loading platform and a vehicle body and supports the lowering operation of the loading platform in a vehicle in which the loading platform moves rearward with respect to the vehicle body in response to the lowering of the loading platform. ,
With the lowering of the loading platform, the position of the rear end of the loading platform does not move in the front-rear direction with respect to the position of the rear end of the loading platform when the vehicle is stopped. A method of controlling a loading platform lowering support device, including a forward control step for moving the vehicle forward.

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