JP5591145B2 - Amphibious vehicle control system - Google Patents

Description

  The present invention relates to a vehicle control device for an amphibious vehicle.

  FIG. 9 is a diagram showing a state of a conventional amphibious vehicle during land travel, during water navigation and during coastal travel, and FIG. 10 is a block diagram showing a power system of the amphibious vehicle.

  As shown in FIG. 9, the amphibious vehicle 1 travels on the land 3 by the track 2 equipped on the amphibious vehicle 1 and the water jet 4 installed on the amphibious vehicle 1 It is possible to navigate and travel along the shore 6 by both the track 2 and the water jet 4. And these land driving | running | working, surface navigation, and waterside driving | running | working are implemented by the mode switching of the power system of the amphibious vehicle 1 by manual operation.

  More specifically, as shown in FIG. 10, the amphibious vehicle 1 includes an engine 11 that is a power source and an engine output distributor 12. The engine output distributor 12 outputs the output of the engine 11 in accordance with the mode switching operation of the land mode (land travel), the water mode (water navigation) and the intermediate mode (border travel) by the operator of the amphibious vehicle 1. Switch the transmission destination.

  That is, when switched to the land mode, the engine output distributor 12 transmits the output of the engine 11 to the transmission 13 provided in the amphibious vehicle 1. Therefore, the output of the engine 11 is transmitted via the transmission 13 to a sprocket (wheel drive) 14 provided in the amphibious vehicle 1. As a result, the sprocket 14 is rotationally driven by the engine 11, and the track 2 is rotationally driven by the sprocket 14. For this reason, the amphibious vehicle 1 can travel on land with the track 2.

  When switched to the water mode, the engine output distributor 12 transmits the output of the engine 11 to the water jet 4. For this reason, the amphibious vehicle 1 can sail on the water by the water jet 4.

  When switched to the intermediate mode, the engine output distributor 12 transmits the output of the engine 11 to both the transmission 13 (that is, the track 2) and the water jet 4. For this reason, the amphibious vehicle 1 can travel along the water by both the track 2 and the water jet 4.

Special table 2010-509110 gazette

  As described above, since the operator has manually switched the mode of the amphibious vehicle 1, an operator who is not familiar with the operation of the amphibious vehicle 1 operates the amphibious vehicle 1. If the field of view during operation of the vehicle 1 is poor, there is a possibility that the timing for switching the mode of the amphibious vehicle 1 may be mistaken.

Therefore, in view of the above circumstances, an object of the present invention is to provide a vehicle control device for an amphibious vehicle capable of automatically switching the mode of an amphibious vehicle.
In addition, although the above-mentioned patent document 1 describes an amphibious vehicle, it does not describe mode switching.

The vehicle control device for an amphibious vehicle according to the first aspect of the present invention for solving the above-described problems is an on-land vehicle that travels on land by the track by the engine output distributor transmitting the output of the engine to the track based on the land mode signal. The engine output distributor transmits the engine output to the water jet based on the water mode signal, and the water output travels on the water by the water jet, and the engine output distributor transmits the engine based on the intermediate mode signal. An amphibious vehicle control device capable of performing a coastal run that travels on the waterfront with the track and the water jet by transmitting the output of the track to the water jet,
The intermediate mode signal for performing mode switching from the land mode to the coastal mode when the amphibious vehicle heads from the land to the water, and the surface mode signal for performing mode switching from the coastal mode to the surface mode, Or the intermediate mode signal for switching the mode from the surface mode to the coastal mode when going from the surface to the land and the land mode signal for switching the mode from the coastal mode to the land mode. It outputs to the engine output distributor based on the load value applied to the vehicle for both vehicles.

According to a second aspect of the present invention, there is provided a vehicle control apparatus for an amphibious vehicle, in which the engine output distributor transmits the engine output to the track based on the land mode signal, and the land run that travels on the land by the track and the surface mode. Based on the signal, the engine output distributor transmits the engine output to the water jet, so that the water jet navigates over the water by the water jet, and the engine output distributor outputs the engine output based on the intermediate mode signal. An amphibious vehicle control device capable of performing coastal travel that travels along the waterfront with the railing and the water jet by transmitting to the railing and the water jet,
The intermediate mode signal for performing mode switching from the land mode to the coastal mode when the amphibious vehicle heads from the land to the water, and the surface mode signal for performing mode switching from the coastal mode to the surface mode, Alternatively, the intermediate mode signal for switching the mode from the surface mode to the shore mode when moving from the surface to the land and the terrestrial mode signal for switching the mode from the shore mode to the shore mode are It outputs to the said engine output distributor based on the measured value regarding a shoreline.

Further, the vehicle control device for an amphibious vehicle of the third invention is the vehicle control device for an amphibious vehicle of any one of the first or second invention,
When the amphibious vehicle is in an intermediate mode, the output of a rotational torque sensor for detecting the rotational torque of the engine or the rotational torque of a transmission interposed between the engine output distributor and the track, A rotational torque threshold set according to the output of the vehicle speed sensor for detecting the vehicle speed of the dual-purpose vehicle is compared, and the output of the rotational torque sensor is equal to or less than the rotational torque threshold value corresponding to the output of the vehicle speed sensor. When it is determined that the track is idle, an engine output increase signal is output to the engine or a reduction ratio change signal is output to the transmission.

According to the vehicle control device for an amphibious vehicle of the first invention, the engine output distributor transmits the output of the engine to the track based on the land mode signal, and the land travel that travels on the land by the track, the surface mode Based on the signal, the engine output distributor transmits the engine output to the water jet, so that the water jet navigates over the water by the water jet, and the engine output distributor outputs the engine output based on the intermediate mode signal. An amphibious vehicle control device capable of performing a coastal run that travels on the shore with the track and the water jet by transmitting to the rail and the water jet, wherein the amphibious vehicle is the land The intermediate for switching the mode from the land mode to the waterside mode when heading from the water to the water Mode signal and the intermediate mode signal for switching the mode from the water mode to the coast mode when going from the water to the land. And the land mode signal for switching the mode from the coastal mode to the land mode is output to the engine output distributor based on a load value applied to the amphibious vehicle. Switching between amphibious vehicles can be done automatically.
For this reason, even when an operator who is not familiar with amphibious vehicles operates an amphibious vehicle or when visibility is low while operating an amphibious vehicle, the timing for switching the amphibious vehicle mode is incorrect. There is no fear of it.

According to the vehicle control apparatus for an amphibious vehicle according to the second invention, the engine output distributor transmits the output of the engine to the track based on the land mode signal, and the land travel traveling on the land by the track, Based on the signal, the engine output distributor transmits the engine output to the water jet, so that the water jet navigates over the water by the water jet, and the engine output distributor outputs the engine output based on the intermediate mode signal. An amphibious vehicle control device capable of performing a coastal run that travels on the shore with the track and the water jet by transmitting to the rail and the water jet, wherein the amphibious vehicle is the land The intermediate for switching the mode from the land mode to the waterside mode when heading from the water to the water Mode signal and the intermediate mode signal for switching the mode from the water mode to the coast mode when going from the water to the land. And the land mode signal for switching the mode from the coastal mode to the land mode is output to the engine output distributor based on the measurement value related to the coast or the coastline. It is possible to automatically switch the mode of both vehicles.
For this reason, even when an operator who is not familiar with amphibious vehicles operates an amphibious vehicle or when visibility is low while operating an amphibious vehicle, the timing for switching the amphibious vehicle mode is incorrect. There is no fear of it.

  According to the vehicle control device for an amphibious vehicle of the third invention, in the vehicle control device for an amphibious vehicle of any one of the first or second invention, when the amphibious vehicle is in an intermediate mode, the rotational torque of the engine Or according to the output of a rotational torque sensor for detecting the rotational torque of a transmission interposed between the engine output distributor and the railing and the output of a vehicle speed sensor for detecting the vehicle speed of the amphibious vehicle. And the output of the rotational torque sensor is equal to or less than the rotational torque threshold value corresponding to the output of the vehicle speed sensor, and it is determined that the track is idle. Is characterized by outputting an engine output increase signal to the engine or a reduction ratio change signal to the transmission. Even tracklaying amphibious vehicle idles to come, it is possible to stabilize the vehicle speed of the amphibian.

(A) is a figure which shows the mode at the time of the land driving | running | working of the amphibious vehicle provided with the vehicle control apparatus which concerns on Example 1 of this invention at the time of a water navigation, and a waterside driving | running | working, (b) It is a graph which shows the relationship between a driving | running | working / navigation position and the output of the load sensor provided in the said amphibious vehicle. It is a block diagram which shows the said vehicle control apparatus and the power system of the said amphibious vehicle. It is a figure which shows a mode that the said load sensor is mounted | worn with the said amphibious vehicle. It is a graph which shows the relationship between the vehicle speed of the said amphibious vehicle, and an engine rotational torque. It is a block diagram which shows the vehicle control apparatus and power system of an amphibious vehicle which concern on Embodiment 2 of this invention. It is a block diagram which shows the vehicle control apparatus and power system of an amphibious vehicle which concern on Example 3 of Embodiment of this invention. It is a block diagram which shows the vehicle control apparatus and power system of an amphibious vehicle which concern on Example 4 of this invention. It is a block diagram which shows the vehicle control apparatus and power system of an amphibious vehicle which concern on Example 5 of this invention. It is a figure which shows the mode at the time of the land driving | running | working of the conventional amphibious vehicle, the surface of water navigation, and the waterside driving | running | working. It is a block diagram which shows the power system of the said amphibious vehicle.

  Embodiments of the present invention will be described below in detail with reference to the drawings.

<Embodiment 1>
A vehicle control apparatus for an amphibious vehicle according to Embodiment 1 of the present invention will be described with reference to FIGS.

  As shown in FIG. 1A, the amphibious vehicle 21 travels on the land 23 by a track 22 equipped on the amphibious vehicle 21, and by a water jet 24 equipped on the amphibious vehicle 21. It is possible to navigate the water surface 25 and to travel along the shore 26 by both the track 22 and the water jet 24. These land travel, surface navigation, and coastal travel are performed not only by manual switching of the power system of the amphibious vehicle 21 as in the prior art, but also automatically by the vehicle control device 27 equipped in the amphibious vehicle 21. It can also be implemented by switching the mode of the power system of the amphibious vehicle 1. The vehicle control device 27 is constituted by a personal computer or the like.

  Specifically, as shown in FIG. 2, the amphibious vehicle 21 includes an engine 31 that is a power source and an engine output distributor 32. In the engine output distributor 32, not only the mode switching operation between the land mode (land travel), the water mode (water navigation), and the intermediate mode (border travel) as in the conventional case, but also the land output from the vehicle control device 27. The destination to which the output of the engine 11 is transmitted can also be switched by an automatic mode switching operation based on the mode signal a, the water mode signal b, and the intermediate mode signal c.

  Although details will be described later, the vehicle control device 27 switches the mode based on the output (load detection value) of the load sensor 41 provided in the amphibious vehicle 21 (that is, based on the load value applied to the amphibious vehicle). The terrestrial mode signal a, the surface mode signal b or the intermediate mode signal c is output to the engine output distributor 32.

  When the land mode signal a is output from the vehicle control device 27, the engine output distributor 32 that receives the land mode signal a transmits the output of the engine 31 to the transmission 33 provided in the amphibious vehicle 21. Therefore, the output of the engine 31 is transmitted via the transmission 33 to a sprocket (wheel drive) 34 provided in the amphibious vehicle 21. As a result, the sprocket 34 is rotationally driven by the engine 31, and the track 22 is rotationally driven by the sprocket 34. For this reason, the amphibious vehicle 21 can travel on land by the track 22.

  When the water mode signal b is output from the vehicle control device 27, the engine output distributor 32 receiving the water mode signal b transmits the output of the engine 31 to the water jet 24. Therefore, the amphibious vehicle 21 can sail on the water jet 24.

  When the intermediate mode signal c is output from the vehicle control device 27, the engine output distributor 12 to which the intermediate mode signal c is input sends the output of the engine 31 to both the transmission 33 (that is, the track 22) and the water jet 24. Tell. For this reason, the amphibious vehicle 21 can travel along the water by both the track 22 and the water jet 24.

  Next, mode switching (output of each mode signal a, b, c) of the vehicle control device 27 performed based on the output (load detection value) of the load sensor 41 will be described in detail.

  As shown in FIG. 3, the load sensor 41 used in the first embodiment is a strain gauge and is attached to a torsion bar 42 provided as a suspension in the amphibious vehicle 21. One end of a connecting member 43 is fixed to the tip of the torsion bar 42, and the wheel 34 of the amphibious vehicle 21 is coupled to the other end of the connecting member 43 via a bearing 44 so as to be rotatable. A load sensor (strain gauge) 41 detects torsion (ie, strain) of the torsion bar. Accordingly, when the load of the amphibious vehicle 21 acting on the torsion bar 42 changes, the torsion (ie, strain) of the torsion bar 42 changes, and the output of the load sensor (strain gauge) 41 changes accordingly. In other words, the load sensor 41 detects the load of the amphibious vehicle 21 on the track 22 (wheels 34) during land travel, surface navigation, and water travel.

  Referring to FIGS. 1A and 1B, buoyancy is exerted on the amphibious vehicle 21 at the surface 25 and the shore 26, so that the load sensor according to the travel / navigation position of the amphibious vehicle 21. The output (load detection value) 41 changes as illustrated in FIG. That is, when the amphibious vehicle 21 reaches the shore 26 from the land 26, buoyancy acts on the amphibious vehicle 21, and the output of the load sensor 41 decreases. Thereafter, the volume of the amphibious vehicle 21 entering the water increases on the water surface 25, and a larger buoyancy acts on the amphibious vehicle 21, so that the output of the load sensor 41 further decreases. On the other hand, when the amphibious vehicle 21 reaches the shore 26 from the surface 25 (when the volume of the amphibious vehicle 21 entering the water decreases), the buoyancy acting on the amphibious vehicle 21 decreases, so the output of the load sensor 41 increases. . Thereafter, buoyancy does not work on the amphibious vehicle 21 on the land 23, so the output of the load sensor 41 further increases.

  The output of such a load sensor 41 is input to the vehicle control device 27 as shown in FIG.

  Then, the vehicle control device 27 includes a first load threshold value S1, a second load threshold value S2, a third load threshold value S3, and a fourth load threshold value S4 as indicated by a dotted line in FIG. And the mode signals a, b, and c are output based on the comparison result between the load threshold values S1 to S4 and the output of the load sensor 41. The first load threshold S1 and the second load threshold S2 are thresholds for mode switching when the amphibious vehicle 21 heads from the land 23 to the surface 25 as shown on the left side of FIG. The second load threshold S2 is a value smaller than the first load threshold S1. The third load threshold S3 and the fourth load threshold S4 are thresholds for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23 as shown on the right side of FIG. The fourth load threshold value S4 is a larger value than the third load threshold value S3. In the first embodiment, as shown in FIG. 1B, the first load threshold S1 and the fourth load threshold S4 are the same, and the second load threshold S2 and the third load threshold S3. However, the present invention is not limited to this, and the first load threshold S1 and the fourth load threshold S4 may be different, and the second load threshold S2 and the third load threshold S3 are different. It may be a value.

  As shown in FIGS. 1 (a) and 1 (b), the vehicle control device 27 has a load sensor in which the load of the amphibious vehicle 21 is reduced by buoyancy when the amphibious vehicle 21 is in a land mode (land travel). When it is determined that the output of 41 has become equal to or less than the first load threshold value S1 (that is, the water reaches 26), the intermediate mode signal c is used to switch the mode from the land mode to the intermediate mode. Output to the output distributor 32. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the transmission 33 (track 22) and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 is connected to the track 22 and the water jet. By running along the shore with both jets 24, it goes down the shore 26 toward the surface 25.

  In addition, when the amphibious vehicle 21 is in the intermediate mode (border travel), the vehicle control device 27 further reduces the load of the amphibious vehicle 21 due to the greater buoyancy, and the output of the load sensor 41 is the second load threshold value S2. When it is determined that the following condition has been reached (that is, the water level 25 has been reached), the water mode signal b is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the water mode. As a result, the engine output distributor 32 transmits the output of the engine 31 to the water jet 24 based on the water mode signal b, so that the amphibious vehicle 21 performs water navigation by the water jet 24.

  Further, when the amphibious vehicle 21 is in the surface mode (surface navigation), the vehicle control device 27 reduces the buoyancy and increases the load of the amphibious vehicle 21 so that the output of the load sensor 41 exceeds the third load threshold S3. When it is determined that the water level has reached (that is, the water level 26 has been reached), an intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the water mode to the intermediate mode. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the transmission 33 (track 22) and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 is connected to the track 22 and the water jet. By running along the shore with both jets 24, it goes up the shore 26 toward the land 23.

  Further, when the amphibious vehicle 21 is in the intermediate mode (border running), the vehicle control device 27 further reduces the buoyancy and further increases the load of the amphibious vehicle 21 so that the output of the load sensor 41 is the fourth load threshold value. When it is determined that S4 or more has been reached (that is, land 23 has been reached), the land mode signal a is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the land mode. As a result, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, so that the amphibious vehicle 21 travels on the ground with the track 22.

  Next, the engine output control by the vehicle control device 27 when the idle rotation of the track 22 occurs in the intermediate mode (border running) will be described.

  As shown in FIG. 2, in the vehicle control device 27, the output (vehicle speed detection value) of the vehicle speed sensor 51 equipped on the amphibious vehicle 21 and the engine rotational torque sensor 52 equipped on the amphibious vehicle 21. Is also input (engine rotation torque detection value). The vehicle control device 27 also stores an engine rotation torque threshold value S as shown by a dotted line in FIG. As indicated by the solid line in FIG. 4, the rotational torque of the engine 31 decreases as the vehicle speed of the amphibious vehicle 21 increases. For this reason, the engine rotational torque threshold value S stored in the vehicle control device 27 also decreases as the vehicle speed of the amphibious vehicle 21 (the output of the vehicle speed sensor 51) increases as shown by the dotted line in FIG. Is set to

  In the vehicle control device 27, when the amphibious vehicle 21 is in the intermediate mode (border running), the engine rotation torque threshold S having a value corresponding to the output of the vehicle speed sensor 51 (vehicle speed detection value) and the engine rotation torque sensor 52 Compare the output. When the vehicle control device 27 determines that the output of the engine rotational torque sensor 52 has become equal to or less than the engine rotational torque threshold S (that is, the track 22 is idle), as shown in FIG. An engine output increase signal d is output to the engine 31. That is, since the load on the engine 31 is reduced when the track 22 is idle, the rotational torque of the engine 31 is reduced. Accordingly, when the output of the engine rotational torque sensor 52 becomes equal to or less than the engine rotational torque threshold S, that is, although the vehicle speed (the output of the vehicle speed sensor 51) has not increased, as shown by the arrow A in FIG. If the rotational torque of the engine 31 (the output of the engine rotational torque sensor 52) decreases, it can be determined that the track 22 is idle.

  When the engine output increase signal d is output from the vehicle control device 27 to the engine 31, the output of the engine 31 increases based on the engine output increase signal d, so that the amphibious vehicle 21 decreased due to the idle rotation of the track 22. The vehicle speed increases (ie, the vehicle speed becomes stable). That is, in the intermediate mode, the waterside traveling is performed by both the track 22 and the water jet 24, and even if the track 22 is idle, the propulsive force of the water jet 24 is obtained. Therefore, when the output of the engine 31 increases based on the engine output increase signal d, the propulsive force of the water jet 24 increases, so that the vehicle speed of the amphibious vehicle 21 decreased due to the idling of the track 22 increases and stabilizes. . At this time, as indicated by an arrow B in FIG.

  As described above, according to the vehicle control device 27 of the amphibious vehicle 21 in the first embodiment, the mode switching from the land mode when the amphibious vehicle 21 goes from the land 23 to the surface 25 is performed from the land mode to the waterside mode. An intermediate mode signal c and a water mode signal b for switching the mode from the waterfront mode to the surface mode, or an intermediate for switching the mode from the surface mode to the waterfront mode when moving from the surface 25 to the land 23 Based on the load value applied to the amphibious vehicle 21 (the load detection value which is the output of the load sensor 41), the engine output distributor is used for the mode signal c and the land mode signal a for switching the mode from the coastal mode to the land mode. It outputs to 32.

  Specifically, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, and then travels on the land 23 by the track 22 and based on the water mode signal b. The engine output distributor 32 transmits the output of the engine 31 to the water jet 24, so that the water output travels on the water 25 by the water jet 24, and the engine output distributor 32 loads the output of the engine 31 based on the intermediate mode signal c. A vehicle control device 27 for an amphibious vehicle 21 capable of performing a coastal run that travels along the waterfront by means of a track 22 and a water jet 24 by transmitting to the gauge 22 and the water jet 24, and the load of the amphibious vehicle 21. The output (load detection value) of the load sensor 41 for detecting the load and the amphibious vehicle 21 from the land 23 to the surface 25 The first load threshold value S1 and the second load threshold value S2 that are threshold values for mode switching at the time of such a change, and the threshold value for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23. 3 is compared with the fourth load threshold S4, and when the amphibious vehicle 21 is in the land mode, it is determined that the output of the load sensor 41 is equal to or less than the first load threshold S1. An intermediate mode signal c is output to the engine output distributor 32 to switch the mode from the mode to the intermediate mode. When the amphibious vehicle 21 is in the intermediate mode, the output of the load sensor 41 is equal to or less than the second load threshold S2. When it is determined that the vehicle has become, the water mode signal b is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the water mode. In the up mode, when it is determined that the output of the load sensor 41 is equal to or greater than the third load threshold value S3, the intermediate mode signal c is sent to the engine output distributor to switch the mode from the water mode to the intermediate mode. In order to switch the mode from the intermediate mode to the land mode when it is determined that the output of the load sensor 41 is equal to or greater than the fourth load threshold S4 when the amphibious vehicle 21 is in the intermediate mode. The land mode signal a is output to the engine output distributor 32.

  For this reason, the vehicle control device 27 can automatically switch the mode of the amphibious vehicle 21. Accordingly, even when an operator who is not familiar with the operation of the amphibious vehicle 21 operates the amphibious vehicle 21 or when the visibility while operating the amphibious vehicle 21 is poor, the mode of the amphibious vehicle 21 is switched. There is no risk of incorrect timing.

  Further, according to the vehicle control device 27 of the amphibious vehicle 21 of the first embodiment, when the amphibious vehicle 21 is in the intermediate mode, the output of the engine rotational torque sensor 52 that detects the rotational torque of the engine 31 and the The engine rotational torque threshold S set according to the output of the vehicle speed sensor 51 that detects the vehicle speed of the dual-purpose vehicle 21 is compared, and the output of the engine rotational torque sensor 52 has a value corresponding to the output of the vehicle speed sensor 51. When it is determined that the track 22 is idling because the engine rotation torque threshold S or less, the engine output increase signal d is output to the engine 31, so that the amphibious vehicle is in the intermediate mode. Even if the 21 track 22 is idle, the vehicle speed of the amphibious vehicle 21 can be stabilized.

  However, the present invention is not limited to this. When the amphibious vehicle 21 is in the intermediate mode, a rotational torque sensor for detecting the rotational torque of the transmission 33 interposed between the engine output distributor 32 and the track 22 is used. The output is compared with a rotational torque threshold value set according to the output of the vehicle speed sensor 51 for detecting the vehicle speed of the amphibious vehicle 21, and the output of the rotational torque sensor is a value corresponding to the output of the vehicle speed sensor 51. When it is determined that the track 22 is idling because the rotation torque threshold is less than the threshold value, a reduction ratio change signal may be output to the transmission. By changing the reduction ratio of the transmission 33 based on this reduction ratio change signal, the vehicle speed of the amphibious vehicle 21 can be stabilized even when the track 22 of the amphibious vehicle 21 runs idle in the intermediate mode. it can. This is because when the rotational torque of the transmission 33 is lowered (when the track 22 is idle), the rotational speed is decreased and the rotational torque is increased (given strength) to output (rotational speed x rotational torque). It is because it becomes possible to raise as a result.

<Embodiment 2>
Based on FIG. 5, the vehicle control apparatus 27 of the amphibious vehicle 21 which concerns on Example 2 of this invention is demonstrated. The equipment of the amphibious vehicle 21 and the state of the amphibious vehicle 21 when traveling on land, when navigating on the water and when traveling on the water are the same as in the first embodiment (see FIG. 1A). . In the second embodiment, instead of the load of the amphibious vehicle 21 used in the first embodiment, based on the inclination angle (pitch angle) of the amphibious vehicle 21 (based on the measurement value related to the waterfront or the coastline). And automatic mode switching by the vehicle control device 27.

  More specifically, as shown in FIG. 5, the vehicle control device 27 of the second embodiment inputs the output (vehicle inclination angle detection value) of the vehicle inclination angle sensor 61 provided in the amphibious vehicle 21. . The vehicle inclination angle sensor 61 is a sensor that detects and outputs an inclination angle (pitch angle) when the vehicle body longitudinal direction (front side) of the amphibious vehicle 21 is inclined upward or downward. Here, a gyro is used as the vehicle tilt angle sensor 61.

  The vehicle control device 27 stores a first vehicle inclination angle threshold value S11, a second vehicle inclination angle threshold value S12, a third vehicle inclination angle threshold value S13, and a fourth vehicle inclination angle threshold value S14. . The first vehicle inclination angle threshold value S11 and the second vehicle inclination angle threshold value S12 are used for mode switching when the amphibious vehicle 21 heads from the land 23 to the surface 25 as shown on the left side of FIG. It is a threshold value. The third vehicle inclination angle threshold value S13 and the fourth vehicle inclination angle threshold value S14 are used for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23 as shown on the right side of FIG. It is a threshold value.

  As shown in FIG. 1A, when the amphibious vehicle 21 traveling on the land 23 reaches the shore 26, the front side of the amphibious vehicle 21 is inclined downward. Therefore, when the amphibious vehicle 21 is in the land mode (land travel), the vehicle control device 27 increases the inclination angle of the front side of the amphibious vehicle 21 and the output of the vehicle inclination angle sensor 61 is the first. When it is determined that the vehicle inclination angle threshold value S11 or more has been reached (that is, the water level 26 has been reached), an intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the land mode to the intermediate mode. To do. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 is connected to the track 22 and the water jet 24. By running along the water at both sides, the water goes down the water 26 toward the water 25.

  Further, when the amphibious vehicle 21 that has traveled along the waterfront 26 reaches the water surface 25 (when the water depth increases), the downward inclination angle of the front side of the amphibious vehicle 21 decreases. Therefore, when the amphibious vehicle 21 is in the intermediate mode (border driving), the vehicle control device 27 reduces the front side downward inclination angle of the amphibious vehicle 21 and the output of the vehicle inclination angle sensor 61 becomes the second value. When it is determined that the vehicle inclination angle threshold value S12 or less (that is, the water surface 25 has been reached: the water depth has increased), the water surface mode signal b is used to switch the mode from the intermediate mode to the water surface mode. Output to the output distributor 32. As a result, the engine output distributor 32 transmits the output of the engine 31 to the water jet 24 based on the water mode signal b, so that the amphibious vehicle 21 performs water navigation by the water jet 24. It should be noted that the amphibious vehicle 21 does not vary greatly in inclination on the water 25, and the amphibious vehicle 21 is substantially horizontal.

  Further, when the amphibious vehicle 21 that has been sailing on the water 25 reaches the shore 26, the upward inclination angle of the amphibious vehicle 21 on the front side increases. Therefore, when the amphibious vehicle 21 is in the water mode (surface navigation), the vehicle control device 27 increases the front tilt angle of the amphibious vehicle 21 so that the output of the vehicle tilt angle sensor 61 is the third output. When it is determined that the vehicle inclination angle threshold value S13 or more has been reached (that is, the water level 26 has been reached), an intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the water mode to the intermediate mode. To do. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 has both the track 22 and the water jet 24. By going along the shore, go up the shore 26 toward the land 23.

  In addition, when the amphibious vehicle 21 that has traveled along the waterfront 26 reaches the land 23, the forward inclination angle of the amphibious vehicle 21 decreases. Therefore, when the amphibious vehicle 21 is in the intermediate mode (border driving), the vehicle control device 27 reduces the forward tilt angle of the amphibious vehicle 21 and the output of the vehicle tilt angle sensor 61 is the fourth output. When it is determined that the vehicle inclination angle threshold value S14 or less (that is, the vehicle has reached the land 23), the land mode signal a is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the land mode. To do. As a result, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, so that the amphibious vehicle 21 travels on the ground with the track 22.

  Note that the engine output control by the vehicle control device 27 when the idle running of the track 22 occurs in the intermediate mode (border running) is the same as that in the first embodiment, and will be described in detail here. Is omitted.

  As described above, according to the vehicle control device 27 of the amphibious vehicle 21 in the second embodiment, the mode is switched from the land mode when the amphibious vehicle 21 goes from the land 23 to the water 25 to the waterside mode. An intermediate mode signal c and a water mode signal b for switching the mode from the waterfront mode to the surface mode, or an intermediate for switching the mode from the surface mode to the waterfront mode when moving from the surface 25 to the land 23 The engine output based on the measured value (inclination angle detection value that is the output of the vehicle inclination angle sensor 61) relating to the shoreline or the coastline, the mode signal c and the land mode signal a for switching the mode from the coastal mode to the land mode. The output is to the distributor 32.

  Specifically, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, and then travels on the land 23 by the track 22 and based on the water mode signal b. The engine output distributor 32 transmits the output of the engine 31 to the water jet 24, so that the water output travels on the water by the water jet 24, and the engine output distributor 32 tracks the output of the engine 31 based on the intermediate mode signal c. 22, a vehicle control device 27 for an amphibious vehicle 21 capable of performing a coastal run that travels along a waterfront 26 with the track 22 and the waterjet 24 by transmitting to the waterjet 24. The output of the vehicle inclination angle sensor 61 that detects the inclination angle when the front side is inclined upward or downward, and the amphibious vehicle 21 are When the first vehicle inclination angle threshold value S11 and the second vehicle inclination angle threshold value S12, which are threshold values for mode switching when going from the top 23 to the water 25, and the amphibious vehicle 21 go from the water 25 to the land 23 The third vehicle inclination angle threshold value S13 and the fourth vehicle inclination angle threshold value S14, which are threshold values for mode switching, are compared. When the amphibious vehicle 21 is in the land mode, the output of the vehicle inclination angle sensor 61 is If it is determined that the vehicle inclination angle threshold value S11 is equal to or greater than 1, the intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the land mode to the intermediate mode. In the intermediate mode, when it is determined that the output of the vehicle inclination angle sensor 61 is equal to or less than the second vehicle inclination angle threshold value S12, the mode is switched from the intermediate mode to the water mode. In this case, the water mode signal c is output to the engine output distributor 32, and when the amphibious vehicle 21 is in the water mode, it is determined that the output of the vehicle tilt angle sensor 61 is equal to or greater than the third vehicle tilt angle threshold value S13. In this case, an intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the surface mode to the intermediate mode. When the amphibious vehicle 21 is in the intermediate mode, the output of the vehicle inclination angle sensor 61 is output. Is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the land mode when it is determined that the vehicle has become the fourth vehicle inclination angle threshold value S14 or less. Yes.

  For this reason, the vehicle control device 2 can automatically perform the mode switching of the amphibious vehicle 21. Accordingly, even when an operator who is not familiar with the operation of the amphibious vehicle 21 operates the amphibious vehicle 21 or when the visibility while operating the amphibious vehicle 21 is poor, the mode of the amphibious vehicle 21 is switched. There is no risk of incorrect timing.

  Further, in the vehicle control device 27 of the amphibious vehicle 21 according to the second embodiment, similarly to the first embodiment, when the amphibious vehicle 21 is in the intermediate mode, the engine rotation for detecting the rotational torque of the engine 31 is detected. The output of the torque sensor 52 (or the output of the transmission rotational torque sensor that detects the rotational torque of the transmission 33 interposed between the engine output distributor 32 and the track 22) and the vehicle speed of the amphibious vehicle 21 The engine rotational torque threshold S (or transmission rotational torque threshold S) set according to the detected output of the vehicle speed sensor 51 is compared, and the output of the engine rotational torque sensor 52 (or the output of the transmission rotational torque sensor) is The engine rotation torque threshold value S or less (or transmission) corresponding to the output of the speed sensor 51 The engine torque increase signal d is output to the engine 31 (the reduction gear ratio change signal is output to the transmission 33) when it is determined that the track 22 is idling. Since it is the feature, even if the track 22 of the amphibious vehicle 21 idles in the intermediate mode, the vehicle speed of the amphibious vehicle 21 can be stabilized.

<Embodiment 3>
Based on FIG. 6, the vehicle control apparatus 27 of the amphibious vehicle 21 which concerns on Example 3 of this invention is demonstrated. The equipment of the amphibious vehicle 21 and the state of the amphibious vehicle 21 when traveling on land, when navigating on the water and when traveling on the water are the same as in the first embodiment (see FIG. 1A). . In the third embodiment, vehicle control is performed based on the rotational torque of the engine 31 (that is, based on the load value applied to the amphibious vehicle) instead of the load used in the amphibious vehicle 21 of the first embodiment. Automatic mode switching by the device 27 is performed.

  More specifically, as shown in FIG. 6, in the vehicle control device 27 of the third embodiment, the output (engine rotation torque detection value) of the engine rotation torque sensor 52 provided in the amphibious vehicle 21 and the vehicle speed. The output of the sensor 51 (vehicle speed detection value) is also used for mode switching.

  The vehicle control device 27 includes not only the engine rotation torque threshold S (threshold for detecting idling of the track 22 in the intermediate mode) described in the first embodiment, but also the first engine rotation torque threshold S21, The second engine rotational torque threshold S22, the third engine rotational torque threshold S23, and the fourth engine rotational torque threshold S24 are also stored. These first, second, third and fourth engine rotational torque thresholds S21, S22, S23, S24 are the same as the engine rotational torque threshold S (see FIG. 4), and the vehicle speed (vehicle speed) of the amphibious vehicle 21 It is set to decrease as the output of the sensor 51 increases.

  The first engine rotational torque threshold value S21 and the second engine rotational torque threshold value S22 are used for mode switching when the amphibious vehicle 21 heads from the land 23 to the surface 25 as shown on the left side of FIG. The second engine rotational torque threshold S22 is smaller than the first engine rotational torque threshold S21. The third engine rotational torque threshold value S23 and the fourth engine rotational torque threshold value S24 are used for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23 as shown on the right side of FIG. The fourth engine rotational torque threshold value S24 is a threshold value and is larger than the third engine rotational torque threshold value S23.

  As shown in FIG. 1A, when the amphibious vehicle 21 traveling on the land 23 reaches the shore 26, buoyancy acts on the amphibious vehicle 21, so that the rotational torque of the engine 31 decreases. Therefore, when the amphibious vehicle 21 is in the land mode (land travel), the vehicle control device 27 includes the first engine rotational torque threshold value S21 having a value corresponding to the output (vehicle speed detection value) of the vehicle speed sensor 51, and the engine. The output of the rotational torque sensor 52 is compared. Then, the vehicle control device 27 determines that the rotational torque of the engine 31 has decreased and the output of the engine rotational torque sensor 52 has become equal to or less than the first engine rotational torque threshold S21 (that is, the water level 26 has been reached). In some cases, an intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the land mode to the intermediate mode. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 has both the track 22 and the water jet 24. By running along the water, the water goes down the water 26 toward the water 25.

  In addition, when the amphibious vehicle 21 that has traveled along the waterfront 26 reaches the surface 25 (when the water depth increases and the volume of the amphibious vehicle 21 entering the water increases), the amphibious vehicle 21 has a greater buoyancy. The rotational torque of the engine 31 further decreases. Therefore, when the amphibious vehicle 21 is in the intermediate mode (border travel), the vehicle control device 27 outputs the second engine rotational torque threshold value S22 corresponding to the output of the vehicle speed sensor 51 and the output of the engine rotational torque sensor 52. And compare. Then, the vehicle control device 27 determines that the rotational torque of the engine 31 has further decreased and the output of the engine rotational torque sensor 52 has become equal to or less than the second engine rotational torque threshold value S22 (that is, has reached the water surface 25). In this case, the water mode signal b is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the water mode. As a result, the engine output distributor 32 transmits the output of the engine 31 to the water jet 24 based on the water mode signal b, so that the amphibious vehicle 21 performs water navigation by the water jet 24.

  Further, when the amphibious vehicle 21 that has traveled on the surface of the water 25 reaches the shore 26, the water depth becomes shallow and the track 22 contacts the bottom of the water, so that the rotational torque of the engine 31 increases. Therefore, when the amphibious vehicle 21 is in the water mode (water navigation), the vehicle control device 27 outputs the third engine rotation torque threshold S23 having a value corresponding to the output of the vehicle speed sensor 51 and the output of the engine rotation torque sensor 52. And compare. Then, the vehicle control device 27 determines that the rotational torque of the engine 31 has increased and the output of the engine rotational torque sensor 52 has become equal to or greater than the third engine rotational torque threshold S23 (that is, has reached the waterfront 26). In this case, an intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the water mode to the intermediate mode. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 has both the track 22 and the water jet 24. By going along the shore, go up the shore 26 toward the land 23.

  Further, when the amphibious vehicle 21 that has traveled along the waterfront 26 reaches the land 23, buoyancy does not work on the amphibious vehicle 21, so the rotational torque of the engine 31 further increases. Therefore, when the amphibious vehicle 21 is in the intermediate mode (border running), the vehicle control device 27 outputs the fourth engine rotational torque threshold S24 having a value corresponding to the output of the vehicle speed sensor 51 and the output of the engine rotational torque sensor 52. And compare. Then, the vehicle control device 27 determines that the rotational torque of the engine 31 has further increased and the output of the engine rotational torque sensor 52 has become equal to or greater than the fourth engine rotational torque threshold S24 (that is, has reached the land 23). In this case, the land mode signal a is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the land mode. As a result, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, so that the amphibious vehicle 21 travels on the ground with the track 22.

Note that the engine output control by the vehicle control device 27 when the idle running of the track 22 occurs in the intermediate mode (border running) is the same as that in the first embodiment, and will be described in detail here. Is omitted.
In the above description, the rotational torque of the engine 31 is used. However, the rotational torque of the transmission 33 may be used instead.

  As described above, according to the vehicle control device 27 of the amphibious vehicle 21 in the third embodiment, the mode switching from the land mode when the amphibious vehicle 21 goes from the land 23 to the surface 25 is performed from the land mode to the waterside mode. An intermediate mode signal c and a water mode signal b for switching the mode from the waterfront mode to the surface mode, or an intermediate for switching the mode from the surface mode to the waterfront mode when moving from the surface 25 to the land 23 The mode signal c and the land mode signal a for switching the mode from the coastal mode to the land mode are used as the load value applied to the amphibious vehicle 21 (the engine rotational torque detection value or the transmission rotational torque which is the output of the engine rotational torque sensor 52). Engine output based on transmission torque detection value) It is characterized by outputting to the distribution unit 32.

  Specifically, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, and then travels on the land 23 by the track 22 and based on the water mode signal b. The engine output distributor 32 transmits the output of the engine 31 to the water jet 24, so that the water output travels on the water 25 by the water jet 24, and the engine output distributor 32 loads the output of the engine 31 based on the intermediate mode signal c. A vehicle control device 27 of an amphibious vehicle 21 capable of performing a coastal run that travels along a waterfront 26 by means of a track 22 and a water jet 24 by transmitting to a gauge 22 and a water jet 24, and a rotational torque of an engine 31 Output of the engine rotation torque sensor 52 (or the engine output distributor 32 and the track) 2) and a threshold for mode switching when the amphibious vehicle 21 heads from the land 23 to the surface 25, In addition, the first engine rotational torque threshold S21 (or the first transmission rotational torque threshold S21) and the second engine rotational torque threshold set according to the output of the vehicle speed sensor 51 that detects the vehicle speed of the amphibious vehicle 21. S22 (or the second transmission rotational torque threshold S22) and a threshold for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23, and is set according to the output of the vehicle speed sensor 51. The third engine rotational torque threshold S23 (or the third transmission rotational torque) The threshold value S23) and the fourth engine rotational torque threshold value S24 (or fourth transmission rotational torque threshold value S24), and when the amphibious vehicle 21 is in the land mode, the output (or transmission rotational torque) of the engine rotational torque sensor 52 If it is determined that the sensor output) is equal to or less than the first engine rotation torque threshold S21 (or less than the first transmission rotation torque threshold S21) corresponding to the output of the vehicle speed sensor 51, the land mode is An intermediate mode signal c is output to the engine output distributor 32 to switch the mode to the intermediate mode. When the amphibious vehicle 21 is in the intermediate mode, the output of the engine rotational torque sensor 52 (or the output of the transmission rotational torque sensor). ) Is a second error value corresponding to the output of the vehicle speed sensor 51. When it is determined that the engine rotation torque threshold value S22 or less (or the second transmission rotation torque threshold value S22 or less) has been reached, the water mode signal b is sent to the engine output distributor to switch the mode from the intermediate mode to the water mode. When the amphibious vehicle 21 is in the floating mode, the output of the engine rotational torque sensor 52 is equal to or greater than the third engine rotational torque threshold value S23 corresponding to the output of the vehicle speed sensor 51 (or the third transmission). If it is determined that the rotational torque threshold S23 or higher), the intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the surface mode to the intermediate mode, and the amphibious vehicle 21 is in the intermediate mode. The output of the engine torque sensor 52 corresponds to the output of the vehicle speed sensor 51. If it is determined that the engine speed is greater than or equal to the fourth engine rotational torque threshold value S24 (or the fourth transmission rotational torque threshold value S24 or greater), the land mode signal a is used to switch the mode from the intermediate mode to the land mode. It is characterized in that it is output to the output distributor 32.

  For this reason, the vehicle control device 27 can automatically switch the mode of the amphibious vehicle 21. Accordingly, even when an operator who is not familiar with the operation of the amphibious vehicle 21 operates the amphibious vehicle 21 or when the visibility while operating the amphibious vehicle 21 is poor, the mode of the amphibious vehicle 21 is switched. There is no risk of incorrect timing.

  Further, in the vehicle control device 27 of the amphibious vehicle 21 of the third embodiment, similarly to the first embodiment, when the amphibious vehicle 21 is in the intermediate mode, the output (or engine) of the engine rotational torque sensor 52 is Engine rotational torque threshold S set according to the output of the vehicle speed sensor 51) and the output of the vehicle speed sensor 51. (The fifth engine rotational torque threshold) (or the transmission rotational torque threshold S (the fifth transmission rotational torque threshold)) is compared, and the output of the engine rotational torque sensor 52 (or the output of the transmission rotational torque sensor) is The engine rotational torque threshold value S (the fifth engine speed) having a value corresponding to the output of the speed sensor 51. Torque threshold) or less (or transmission rotation torque threshold S (fifth transmission rotation torque threshold) or less), and when it is determined that the track 22 is idling, an engine output increase signal d is output to the engine 31. (The reduction gear ratio change signal is output to the transmission 33), so that the vehicle speed of the amphibious vehicle 21 can be stabilized even when the track 22 of the amphibious vehicle 21 is idle in the intermediate mode. Can do.

<Embodiment 4>
Based on FIG. 7, the vehicle control apparatus 27 of the amphibious vehicle 21 which concerns on Example 4 of this invention is demonstrated. The equipment of the amphibious vehicle 21 and the state of the amphibious vehicle 21 when traveling on land, when navigating on the water and when traveling on the water are the same as in the first embodiment (see FIG. 1A). . In the fourth embodiment, instead of the load of the amphibious vehicle 21 used in the first embodiment, based on the water depth (based on the measurement value related to the shoreline or the coastline), the vehicle control device 27 automatically Mode switching.

  More specifically, as shown in FIG. 5, the vehicle control device 27 according to the second embodiment inputs the output (water depth measurement value) of the water depth gauge 71 provided in the amphibious vehicle 21. The water depth gauge 71 is a sensor that measures and outputs the water depth at the waterfront 26 and the water surface 25 shown in FIG.

  The vehicle control device 27 stores a first water depth threshold value S31, a second water depth threshold value S32, a third water depth threshold value S33, and a fourth water depth threshold value S34. The first water depth threshold S31 and the second water depth threshold S32 are thresholds for mode switching when the amphibious vehicle 21 heads from the land 23 to the surface 25 as shown on the left side of FIG. The second water depth threshold value S32 is larger than the first water depth threshold value S31. The third water depth threshold value S33 and the fourth water depth threshold value S34 are threshold values for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23 as shown on the right side of FIG. The fourth water depth threshold S34 is smaller than the third water depth threshold S33. The first water depth threshold value S31 and the fourth water depth threshold value S34 may be the same value or different values, and the second water depth threshold value S32 and the third water depth threshold value S33 may be the same value or different values.

  As shown in FIG. 1A, when the amphibious vehicle 21 traveling on the land 23 reaches the waterfront 26, the water depth at the waterfront 26 is measured by the water depth gauge 71. Therefore, when the vehicle control device 27 determines that the output of the water depth gauge 71 is equal to or higher than the first water depth threshold value S31 (that is, reaches the waterfront 26) when the amphibious vehicle 21 is in the land mode (land travel). The intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the land mode to the intermediate mode. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the transmission 33 (track 22) and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 is connected to the track 22 and the water jet. By running along the shore with both jets 24, it goes down the shore 26 toward the surface 25.

  Further, when the amphibious vehicle 21 that has traveled along the waterfront 26 reaches the surface 25, the water depth measured by the depth gauge 71 becomes deeper. Therefore, when the amphibious vehicle 21 is in the intermediate mode (border running), the vehicle control device 27 has the output of the water depth gauge 71 equal to or greater than the second water depth threshold value S32 (that is, the water surface 25 has been reached: the water depth becomes deep) If it is determined that the intermediate mode is switched to the water mode, the water mode signal b is output to the engine output distributor 32. As a result, the engine output distributor 32 transmits the output of the engine 31 to the water jet 24 based on the water mode signal b, so that the amphibious vehicle 21 performs water navigation by the water jet 24.

  Further, when the amphibious vehicle 21 that has traveled on the water 25 reaches the shore 26, the water depth measured by the depth gauge 71 becomes shallow. Therefore, when the vehicle control device 27 determines that the output of the water depth gauge 71 is equal to or lower than the third water depth threshold value S33 (that is, reaches the waterfront 26) when the amphibious vehicle 21 is in the water mode (water navigation). The intermediate mode signal c is output to the engine output distributor 32 in order to switch the mode from the water mode to the intermediate mode. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 has both the track 22 and the water jet 24. By going along the shore, go up the shore 26 toward the land 23.

  Further, when the amphibious vehicle 21 that has traveled along the waterfront 26 reaches the land 23, the water depth measured by the water depth gauge 71 becomes shallower. Accordingly, when the vehicle control device 27 determines that the output of the water depth gauge 71 is equal to or lower than the fourth water depth threshold S34 (that is, reaches the land 23) when the amphibious vehicle 21 is in the intermediate mode (border driving). In order to switch the mode from the intermediate mode to the land mode, the land mode signal a is output to the engine output distributor 32. As a result, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, so that the amphibious vehicle 21 travels on the ground with the track 22.

  Alternatively, when the amphibious vehicle 21 has landed on the land 23 and there is no water, the water depth meter 71 becomes impossible to measure the water depth. Therefore, when switching from the intermediate mode to the land mode, the water depth meter 71 Instead of comparing the output with the fourth load threshold S34, it may be determined whether or not the water depth gauge 71 has become impossible to measure the water depth. That is, when the amphibious vehicle 21 determines that the water depth gauge 71 has become unable to measure the water depth (that is, has reached the land 23 (landed)) when the amphibious vehicle 21 is in the intermediate mode (border travel). The land mode signal a is output to the engine output distributor 32 in order to switch the mode from the intermediate mode to the land mode. As a result, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, so that the amphibious vehicle 21 travels on the ground with the track 22.

  Note that the engine output control by the vehicle control device 27 when the idle running of the track 22 occurs in the intermediate mode (border running) is the same as that in the first embodiment, and will be described in detail here. Is omitted.

  As described above, according to the vehicle control device 27 of the amphibious vehicle 21 in the fourth embodiment, the mode is switched from the land mode when the amphibious vehicle 21 goes from the land 23 to the water 25 to the waterside mode. An intermediate mode signal c and a water mode signal b for switching the mode from the waterfront mode to the surface mode, or an intermediate for switching the mode from the surface mode to the waterfront mode when moving from the surface 25 to the land 23 The engine output distributor 32 uses the mode signal c and the land mode signal a for switching the mode from the waterfront mode to the land mode based on the measurement value (water depth measurement value that is the output of the water depth gauge 71) related to the waterfront or the coastline. It is characterized by output to.

  Specifically, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, and then travels on the land 23 by the track 22 and based on the water mode signal b. The engine output distributor 32 transmits the output of the engine 31 to the water jet 24, so that the water output travels on the water 25 by the water jet 24, and the engine output distributor 32 loads the output of the engine 31 based on the intermediate mode signal c. A vehicle control device 27 of an amphibious vehicle 21 capable of performing a coastal run that travels along the waterfront by means of a track 22 and a water jet 24 by transmitting to the gauge 22 and the water jet 24. When the output of the depth meter 71 that measures the water depth and the amphibious vehicle 21 heads from the land 23 to the surface 25 The first water depth threshold value S31 and the second water depth threshold value S32, which are threshold values for mode switching, and the third threshold value for mode switching when the amphibious vehicle 21 heads from the surface 25 to the land 23. Instead of comparing the water depth threshold value S33 and the fourth water depth threshold value S34, or comparing the output of the water depth meter 71 and the fourth load threshold value S34, it is determined whether or not the water depth meter 71 has become impossible to measure the water depth. When the amphibious vehicle 21 is in the land mode, if it is determined that the output of the water depth gauge 71 is equal to or greater than the first water depth threshold S31, the intermediate mode signal is used to switch the mode from the land mode to the intermediate mode. c is output to the engine output distributor 32, and when the amphibious vehicle 21 is in the intermediate mode, if it is determined that the output of the water depth gauge 71 is equal to or higher than the second water depth threshold value S32, the intermediate mode is set. The water mode signal b is output to the engine output distributor 32 in order to switch the mode to the water mode. When the amphibious vehicle 21 is in the water mode, the output of the water depth gauge 71 becomes the third water depth threshold value S33 or less. If it is determined that the intermediate mode signal c is output to the engine output distributor 32 to switch the mode from the surface mode to the intermediate mode, and the amphibious vehicle 21 is in the intermediate mode, the output of the depth gauge 71 Is determined to be equal to or lower than the fourth water depth threshold S34, or when the water depth gauge 71 determines that water depth measurement is disabled, the land mode signal a is used to switch the mode from the intermediate mode to the land mode. Is output to the engine output distributor 32.

  For this reason, the vehicle control device 27 can automatically switch the mode of the amphibious vehicle 21. Accordingly, even when an operator who is not familiar with the operation of the amphibious vehicle 21 operates the amphibious vehicle 21 or when the visibility while operating the amphibious vehicle 21 is poor, the mode of the amphibious vehicle 21 is switched. There is no risk of incorrect timing.

  Further, in the vehicle control device 27 of the amphibious vehicle 21 according to the fourth embodiment, as in the first embodiment, when the amphibious vehicle 21 is in the intermediate mode, the engine rotation for detecting the rotational torque of the engine 31 is detected. The output of the torque sensor 52 (or the output of the transmission rotational torque sensor that detects the rotational torque of the transmission 33 interposed between the engine output distributor 32 and the track 22) and the vehicle speed of the amphibious vehicle 21 The engine rotational torque threshold S (or transmission rotational torque threshold S) set according to the detected output of the vehicle speed sensor 51 is compared, and the output of the engine rotational torque sensor 52 (or the output of the transmission rotational torque sensor) is The engine rotation torque threshold value S or less (or transmission) corresponding to the output of the speed sensor 51 The engine torque increase signal d is output to the engine 31 (the reduction gear ratio change signal is output to the transmission 33) when it is determined that the track 22 is idling. Since it is the feature, even if the track 22 of the amphibious vehicle 21 idles in the intermediate mode, the vehicle speed of the amphibious vehicle 21 can be stabilized.

<Embodiment 5>
Based on FIG. 8, the vehicle control apparatus 27 of the amphibious vehicle 21 which concerns on Example 5 of this invention is demonstrated. The equipment of the amphibious vehicle 21 and the state of the amphibious vehicle 21 when traveling on land, when navigating on the water and when traveling on the water are the same as in the first embodiment (see FIG. 1A). . In the fifth embodiment, instead of the load of the amphibious vehicle 21 used in the first embodiment, it is based on the positioning information of the amphibious vehicle 21 using a map database and GPS (Global Positioning System). (Based on the measurement value relating to the waterfront or the coastline), the mode is automatically switched by the vehicle control device 27.

  More specifically, as shown in FIG. 8, the vehicle control device 27 of the fifth embodiment inputs the output (vehicle position information) of the GPS receiver 81 equipped in the amphibious vehicle 21. The GPS receiver 81 obtains positioning information of the amphibious vehicle 21 equipped with the GPS receiver 81 by receiving a signal from a GPS satellite.

  The vehicle control device 27 inputs the output of the GPS receiver 81 installed in the amphibious vehicle 21 (positioning information of the amphibious vehicle 21). Further, the vehicle control device 27 stores a map database relating to the land 23, the surface 25, the waterside 26, and the like shown in FIG.

  Therefore, as shown in FIG. 1 (a), the vehicle control device 27 uses the positioning information and the map database of the amphibious vehicle 21 obtained by the GPS receiver 81 when the amphibious vehicle 21 is in the land mode (land travel). If it is determined that the amphibious vehicle 21 has reached the waterfront 26 by obtaining the vehicle position (own vehicle position) information of the amphibious vehicle 21 by comparing the two, the mode switching from the land mode to the intermediate mode The intermediate mode signal c is output to the engine output distributor 32. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 has both the track 22 and the water jet 24. By running along the water, the water goes down the water 26 toward the water 25.

  In addition, when the amphibious vehicle 21 is in the intermediate mode (border driving), the vehicle control device 27 compares the positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 with the map database, thereby the amphibious vehicle 21. If it is determined that the amphibious vehicle 21 has reached the water surface 25 (has reached a deep water position) by obtaining the vehicle position (own vehicle position) information, the mode switching from the intermediate mode to the water mode is performed. In order to do this, the water mode signal b is output to the engine output distributor 32. As a result, the engine output distributor 32 transmits the output of the engine 31 to the water jet 24 based on the water mode signal b, so that the amphibious vehicle 21 performs water navigation by the water jet 24.

  Further, the vehicle control device 27 compares the positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 with the map database when the amphibious vehicle 21 is in the floating mode (aquatic navigation). If it is determined that the amphibious vehicle 21 has reached the shore 26 by obtaining the vehicle position (own vehicle position) information, the intermediate mode signal c is used to switch the mode from the water mode to the intermediate mode. Output to the engine output distributor 32. As a result, since the engine output distributor 32 transmits the output of the engine 31 to both the track 22 and the water jet 24 based on the intermediate mode signal c, the amphibious vehicle 21 has both the track 22 and the water jet 24. By going along the shore, go up the shore 26 toward the land 23.

  In addition, when the amphibious vehicle 21 is in the intermediate mode (border driving), the vehicle control device 27 compares the positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 with the map database, thereby the amphibious vehicle 21. When it is determined that the amphibious vehicle 21 has reached the land 23 by obtaining the vehicle position (own vehicle position) information, the land mode signal a is used to switch the mode from the intermediate mode to the land mode. Output to the engine output distributor 32. As a result, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, so that the amphibious vehicle 21 travels on the ground with the track 22.

  Note that the engine output control by the vehicle control device 27 when the idle running of the track 22 occurs in the intermediate mode (border running) is the same as that in the first embodiment, and will be described in detail here. Is omitted.

  As described above, according to the vehicle control device 27 of the amphibious vehicle 21 in the fifth embodiment, the mode is switched from the land mode when the amphibious vehicle 21 goes from the land 23 to the water 25 to the coastal mode. An intermediate mode signal c and a water mode signal b for switching the mode from the waterfront mode to the surface mode, or an intermediate for switching the mode from the surface mode to the waterfront mode when moving from the surface 25 to the land 23 The mode signal c and the land mode signal a for switching the mode from the coastal mode to the land mode are measured values related to the coast or the coastline (positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 and the map database). Output to the engine output distributor 32 based on the vehicle position information of the amphibious vehicle 21 obtained by collation) It is characterized in Rukoto.

  Specifically, the engine output distributor 32 transmits the output of the engine 31 to the track 22 based on the land mode signal a, and then travels on the land 23 by the track 22 and based on the water mode signal b. The engine output distributor 32 transmits the output of the engine 31 to the water jet 24, so that the water output travels on the water 25 by the water jet 24, and the engine output distributor 32 loads the output of the engine 31 based on the intermediate mode signal c. A vehicle control device 27 for an amphibious vehicle 21 capable of performing a coastal run that travels along a waterfront 26 by means of a track 22 and a water jet 24 by transmitting to the gauge 22 and the water jet 24. In the land mode, the positioning information and map database of the amphibious vehicle 21 obtained by the GPS receiver 81 are displayed. In order to switch the mode from the land mode to the intermediate mode when it is determined that the amphibious vehicle 21 has reached the shore 26 by obtaining vehicle position information of the amphibious vehicle 21 by comparing The intermediate mode signal c is output to the engine output distributor 32, and when the amphibious vehicle 21 is in the intermediate mode, the positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 is collated with the map database. When it is determined that the amphibious vehicle 21 has reached the surface 25 by obtaining the vehicle position information of the amphibious vehicle 21, the surface mode signal b is used to switch the mode from the intermediate mode to the surface mode. When the amphibious vehicle 21 is output to the engine output distributor 32 and the amphibious vehicle 21 is in the water mode, the positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 and the previous When it is determined that the amphibious vehicle 21 has reached the shore 26 by obtaining vehicle position information of the amphibious vehicle 21 by collating with the map database, the mode is switched from the surface mode to the intermediate mode. Therefore, the intermediate mode signal c is output to the engine output distributor 32, and when the amphibious vehicle 21 is in the intermediate mode, the positioning information of the amphibious vehicle 21 obtained by the GPS receiver 81 is collated with the map database. Thus, when it is determined that the amphibious vehicle 21 has reached the land 23 by obtaining the vehicle position information of the amphibious vehicle 21, the land mode signal a is used to switch the mode from the intermediate mode to the land mode. And output to the engine output distributor 32.

  For this reason, the vehicle control device 27 can automatically switch the mode of the amphibious vehicle 21. Accordingly, even when an operator who is not familiar with the operation of the amphibious vehicle 21 operates the amphibious vehicle 21 or when the visibility while operating the amphibious vehicle 21 is poor, the mode of the amphibious vehicle 21 is switched. There is no risk of incorrect timing.

  Further, in the vehicle control device 27 of the amphibious vehicle 21 according to the fifth embodiment, similarly to the first embodiment, when the amphibious vehicle 21 is in the intermediate mode, the engine rotation for detecting the rotational torque of the engine 31 is detected. The output of the torque sensor 52 (or the output of the transmission rotational torque sensor that detects the rotational torque of the transmission 33 interposed between the engine output distributor 32 and the track 22) and the vehicle speed of the amphibious vehicle 21 The engine rotational torque threshold S (or transmission rotational torque threshold S) set according to the detected output of the vehicle speed sensor 51 is compared, and the output of the engine rotational torque sensor 52 (or the output of the transmission rotational torque sensor) is The engine rotation torque threshold value S or less (or transmission) corresponding to the output of the speed sensor 51 The engine torque increase signal d is output to the engine 31 (the reduction gear ratio change signal is output to the transmission 33) when it is determined that the track 22 is idling. Since it is the feature, even if the track 22 of the amphibious vehicle 21 idles in the intermediate mode, the vehicle speed of the amphibious vehicle 21 can be stabilized.

  In the first to fifth embodiments, the mode is switched based on individual determination conditions. However, the mode switching is not limited to this. Based on a plurality of determination conditions (a plurality of determination conditions are set for each threshold value). Mode switching). For example, using a plurality of determination conditions relating to the load value applied to the amphibious vehicle 21 (that is, any one of a plurality of determination conditions such as the load detection value and the rotation torque detection value of the first and third embodiments), Switching between modes when the judgment conditions reach each threshold, and a plurality of judgment conditions relating to measurement values related to the waterfront or coastline (that is, the inclination angle detection values and the water depth measurement values in the above embodiments 2, 4, and 5) , Any one of a plurality of determination conditions such as vehicle position information), and mode switching when the plurality of determination conditions reach each threshold, and further, a determination condition regarding a load value applied to the amphibious vehicle 21 (That is, any one or a plurality of determination conditions such as the load detection value and the rotation torque detection value of the first and third embodiments) and the determination condition regarding the measurement value related to the waterfront or the coastline (that is, the above embodiment example) , 4, 5 and any one or a plurality of determination conditions (such as a measured water depth value, vehicle position information, etc.), and the mode is switched when the plurality of determination conditions reach each threshold value. Is possible.

  The present invention relates to an amphibious vehicle control apparatus, and is applied to a case where an amphibious vehicle is automatically switched between a land mode (land travel), a water mode (water navigation), and an intermediate mode (border travel). It is useful.

DESCRIPTION OF SYMBOLS 21 Amphibious vehicle 22 Track 23 Land 24 Water jet 25 Water 26 Shore 27 Vehicle control device 31 Engine 32 Engine output distributor 33 Transmission 34 Sprocket (wheel), Wheel 41 Load sensor (strain gauge)
42 Torsion bar 43 Connecting member 44 Bearing 51 Vehicle speed sensor 52 Engine rotation torque sensor 61 Vehicle tilt angle sensor (gyro)
71 Depth gauge 81 GPS receiver

Claims (3)

The engine output distributor transmits the engine output to the track based on the land mode signal, so that the engine output distributor transmits the engine output based on the surface mode signal. Water navigation in which the water jet navigates on the water by transmitting to the water jet, and the engine output distributor transmits the engine output to the track and the water jet based on the intermediate mode signal. An amphibious vehicle control device capable of performing a coastal run that travels along the waterfront with the water jet,
The intermediate mode signal for performing mode switching from the land mode to the coastal mode when the amphibious vehicle heads from the land to the water, and the surface mode signal for performing mode switching from the coastal mode to the surface mode, Or the intermediate mode signal for switching the mode from the surface mode to the coastal mode when going from the surface to the land and the land mode signal for switching the mode from the coastal mode to the land mode. An amphibious vehicle control device that outputs to the engine output distributor based on a load value applied to the amphibious vehicle. The engine output distributor transmits the engine output to the track based on the land mode signal, so that the engine output distributor transmits the engine output based on the surface mode signal. Water navigation in which the water jet navigates on the water by transmitting to the water jet, and the engine output distributor transmits the engine output to the track and the water jet based on the intermediate mode signal. An amphibious vehicle control device capable of performing a coastal run that travels along the waterfront with the water jet,
The intermediate mode signal for performing mode switching from the land mode to the coastal mode when the amphibious vehicle heads from the land to the water, and the surface mode signal for performing mode switching from the coastal mode to the surface mode, Alternatively, the intermediate mode signal for switching the mode from the surface mode to the shore mode when moving from the surface to the land and the terrestrial mode signal for switching the mode from the shore mode to the shore mode are An amphibious vehicle control apparatus for outputting to the engine output distributor based on a measurement value relating to a coastline. In the vehicle control device for an amphibious vehicle according to claim 1 or 2,
When the amphibious vehicle is in an intermediate mode, the output of a rotational torque sensor for detecting the rotational torque of the engine or the rotational torque of a transmission interposed between the engine output distributor and the track, A rotational torque threshold set according to the output of the vehicle speed sensor for detecting the vehicle speed of the dual-purpose vehicle is compared, and the output of the rotational torque sensor is equal to or less than the rotational torque threshold value corresponding to the output of the vehicle speed sensor. And when it is determined that the track is idle, an engine output increase signal is output to the engine, or a reduction ratio change signal is output to the transmission. Vehicle control device.

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