vehicle

Abstract

To provide a tractor capable of towing a towed vehicle by autonomous traveling while employing a compact structure; and to provide a vehicle including the tractor.SOLUTION: In a tractor 20, a movement mechanism 22 includes a pair of left and right driving wheels 26, and a vehicle body 28 is provided between the pair of left and right driving wheels 26. A peripheral information detection sensor 32 provided on the vehicle body 28 detects peripheral information. An autonomous control section provided in the vehicle body 28 controls the autonomous traveling of the movement mechanism 22 on the basis of the peripheral information detected by the peripheral information detection sensor 32. Further, a coupler provided on the vehicle body 28 can be coupled to a coupler 52 of a towed vehicle 50.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention , pull This relates to vehicles equipped with pulleys. [Background technology]

[0002] The following Patent Document 1 discloses a towing vehicle (tow vehicle) equipped with an automatic driving function. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-125090 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned prior art has room for improvement in terms of making the towing vehicle that tows the towed vehicle autonomously compact.

[0005] In consideration of the above, the present invention provides a vehicle towing system capable of towing a towed vehicle autonomously while adopting a compact configuration. A The object is to obtain a vehicle equipped with a pull traction device. [Means for solving the problem]

[0006] The present invention as defined in claim 1 vehicle The towing device includes a moving mechanism having a pair of left and right drive wheels, a vehicle body provided between the pair of left and right drive wheels, a surrounding information detection sensor provided in the vehicle body for detecting surrounding information, an autonomous control unit provided within the vehicle body for controlling the autonomous traveling of the moving mechanism based on the surrounding information detected by the surrounding information detection sensor, and a coupling unit provided in the vehicle body for coupling with a towed vehicle. the towed vehicle has, at a front part of the vehicle, a connected part connected to the connecting part, a tank accommodating part capable of accommodating a plurality of hydrogen tanks in parallel vertically above the connected part, a fuel cell that receives hydrogen from the hydrogen tanks accommodated in the tank accommodating part to generate electricity, and the power supply device that supplies power of the fuel cell from the power supply connector to the towing vehicle via the power receiving connector, and the towed vehicle has, at a front part of the vehicle, an accommodation space forming part that forms an accommodation space behind the front part of the vehicle, .

[0007] According to the above configuration, the moving mechanism includes a pair of left and right drive wheels, and a vehicle body is provided between the pair of left and right drive wheels. A surrounding information detection sensor provided in the vehicle body detects surrounding information. An autonomous control unit provided in the vehicle body controls the autonomous traveling of the moving mechanism based on the surrounding information detected by the surrounding information detection sensor. Furthermore, the coupling unit provided in the vehicle body is coupled to the towed vehicle. This makes it possible to make the towing vehicle that tows the towed vehicle by autonomous traveling compact.

[0009] Also, According to the above configuration, The towing vehicle is When the towed vehicle is equipped with a power supply device including a power supply connector Applies The vehicle body is provided with a power receiving connector that is connected to the power supply connector, and the moving mechanism is capable of running using power supplied from the power supply device via the power receiving connector. This makes it possible to make the towing vehicle more compact than a configuration in which the power source for running the moving mechanism is mounted on the towing vehicle. Furthermore, according to the above configuration, the front part of the towed vehicle located near the towing vehicle can generate electricity and supply the electricity to the towing vehicle. Also, the rear part of the front part of the towed vehicle can be loaded with luggage. Furthermore, if necessary, the towing vehicle can be separated from the towed vehicle to tow another towed vehicle.

[0010] Claim 2 The present invention described in vehicle The claim 1 to In the described configuration, a wheel smaller than the drive wheel is provided on the front or rear side of the vehicle main body in the vehicle longitudinal direction.

[0011] According to the above configuration, the travel of the towing vehicle can be stabilized by the wheels provided at the front or rear of the vehicle body in the longitudinal direction of the vehicle. Effect of the Invention

[0014] As described above, according to the present invention, The towing vehicle This has the excellent effect of making it possible to tow a towed vehicle by autonomous driving while adopting a compact configuration. [Brief description of the drawings]

[0015] [Figure 1]1 is a perspective view showing a towing vehicle according to a first embodiment of the present invention and a towed vehicle towed by the towing vehicle, viewed obliquely from the front side. FIG. [Diagram 2] 2 is a perspective view showing the towing vehicle of FIG. 1 as viewed obliquely from the rear side. [Figure 3A] FIG. 2 is a block diagram showing a part of the hardware configuration of the towing vehicle shown in FIG. 1. [Figure 3B] 3B is a block diagram showing an example of a functional configuration of the control device shown in FIG. 3A. [Figure 4] 2 is a perspective view showing the vehicle in which the towing vehicle and the towed vehicle in FIG. 1 are coupled together, as viewed obliquely from the front side. FIG. [Diagram 5] 5 is a side view showing the vehicle in FIG. 4 as viewed from the left side. [Figure 6] 3 is a side cross-sectional view showing in a simplified manner a state in which a protrusion on the lower front side of the towed vehicle shown in FIG. 1 is inserted into a recess on the rear side of the vehicle body of the towing vehicle shown in FIG. 2. [Figure 7] FIG. 11 is a perspective view showing a towing vehicle according to a second embodiment of the present invention and a towed vehicle towed by the towing vehicle, viewed obliquely from the front side. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] [First embodiment] A towing vehicle according to a first embodiment of the present invention and a vehicle equipped with the towing vehicle will be described with reference to Figures 1 to 6. Note that in these figures, an arrow FR appropriately shown indicates the front side of the vehicle, an arrow UP indicates the upper side of the vehicle, and an arrow W indicates the vehicle width direction.

[0017] FIG. 1 shows a perspective view of a towing vehicle 20 according to the first embodiment and a towed vehicle 50 towed by the towing vehicle 20, which are separated and viewed from the diagonally forward side. FIG. 2 shows a perspective view of the towing vehicle 20 viewed from the diagonally rear side. Note that, for example, the towing vehicle 20 of this embodiment is capable of receiving predetermined operation instructions from a portable device 100 of a user P shown in FIG. 1. For example, the portable device 100 is configured to include a liquid crystal display equipped with a touch panel that allows touch operation by the user P. Also, for example, the towing vehicle 20 is capable of wireless communication with a server (not shown) via a network (not shown).

[0018] As shown in Figures 1 and 2, the towing vehicle 20 is equipped with a pair of left and right drive wheels 26. The pair of left and right drive wheels 26 constitute part of a movement mechanism 22 for autonomously driving the towing vehicle 20. A vehicle body 28 is provided between the pair of left and right drive wheels 26. Fender sections 27 that cover the periphery of the drive wheels 26 are formed continuously from both sides of the vehicle width direction of the vehicle body 28. In addition, as shown in Figure 1, the vehicle body 28 is provided with a surrounding information detection sensor 32 that detects surrounding information.

[0019] Fig. 3A shows in block diagram form a portion of the hardware configuration of the towing vehicle 20. The towing vehicle 20 has a battery, which is not shown in Fig. 3A. As shown in Fig. 3A, the towing vehicle 20 is configured to include a movement mechanism 22, a control device 30, a surrounding information detection sensor 32, a GPS (Global Positioning System) device 34, a vehicle condition sensor 36, and a coupler 40.

[0020] The control device 30 is provided in the vehicle body 28 (see FIG. 1), and includes a CPU (Central Processing Unit: processor) 30A, a ROM (Read Only Memory) 30B, a RAM (Random Access Memory) 30C, a storage 30D, a communication interface (abbreviated as "communication I / F" in FIG. 3A) 30E, and an input / output interface (abbreviated as "input / output I / F" in FIG. 3A) 30F. The CPU 30A, the ROM 30B, the RAM 30C, the storage 30D, the communication interface 30E, and the input / output interface 30F are connected to each other so as to be able to communicate with each other via a bus 30Z.

[0021] The CPU 30A is a central processing unit that executes various programs and controls each part. That is, the CPU 30A reads a program from the ROM 30B or the storage 30D, and executes the program using the RAM 30C as a working area. The CPU 30A controls each of the above components and performs various arithmetic processing according to the program recorded in the ROM 30B or the storage 30D.

[0022] The ROM 30B stores various programs and various data. The RAM 30C temporarily stores programs or data as a working area. The storage 30D is configured by a storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data. In this embodiment, the ROM 30B or the storage 30D stores an automatic driving control program for controlling the autonomous traveling of the moving mechanism 22 based on the surrounding information detected by the surrounding information detection sensor 32. The storage 30D also stores map information and the like. The communication interface 30E is an interface for the control device 30 to communicate with other devices.

[0023] The input / output interface 30F is an interface for communicating with each device mounted on the towing vehicle 20. To the control device 30 of this embodiment, for example, the control unit 23 of the movement mechanism 22, the surrounding information detection sensor 32, the GPS device 34, the vehicle state sensor 36, and the release actuator 42 of the coupler 40 are connected via the input / output interface 30F.

[0024] The moving mechanism 22 includes a control unit 23, a motor 24, a steering device 25, and drive wheels 26 (see FIG. 1, etc.). The control unit 23 is a device that controls the motor 24 and the steering device 25 in response to a control signal from the control device 30. The motor 24 transmits driving force to the drive wheels 26. The steering device 25 changes the steering angle of the drive wheels 26.

[0025] Here, the towing vehicle 20 of this embodiment travels by operation of the moving mechanism 22, and the autonomous traveling is controlled by the control device 30. That is, the control device 30 has an autonomous control unit 301 shown in Fig. 3B as a functional configuration, and the autonomous control unit 301 controls the autonomous traveling of the moving mechanism 22 based on surrounding information detected by the surrounding information detection sensor 32. This functional configuration is realized by the CPU 30A shown in Fig. 3A reading and executing an automatic driving control program stored in the ROM 30B or storage 30D.

[0026] The surrounding information detection sensor 32 is a group of sensors for collecting information about the surroundings of the towing vehicle 20. As an example, the surrounding information detection sensor 32 includes a camera that captures information about the surroundings of the towing vehicle 20. In addition, the surrounding information detection sensor 32 may further include, for example, at least one of a millimeter wave radar that transmits a search wave to a predetermined range and receives a reflected wave, and a lidar (Laser Imaging Detection and Ranging) that scans a predetermined range.

[0027] The GPS device 34 is a device that measures the current position of the towing vehicle 20. The GPS device 34 includes an antenna (not shown) that receives signals from GPS satellites. The vehicle condition sensor 36 acquires information that represents the running condition and operation condition of the towing vehicle 20. The vehicle condition sensor 36 includes, for example, a steering angle sensor that detects the steering angle of the towing vehicle 20, and a vehicle speed sensor that detects the running speed of the towing vehicle 20.

[0028] As shown in Fig. 2, a coupler 40 is provided at the rear of the vehicle body 28 of the towing vehicle 20 as a coupling part for coupling with the towed vehicle 50. The coupler 40 includes a substantially U-shaped coupler body 40A that is open to the outside of the vehicle in a plan view, a knuckle 40B that is provided on one of the left and right protruding sides of the coupler body 40A and is attached to be freely rotatable around a knuckle pin 40P in the vertical direction of the vehicle, and a locking pin 40C that is connected to a lock (not shown) that locks the knuckle 40B in a closed state. Note that the basic configuration of the coupler 40 is similar to that of a well-known railway coupler, for example, as disclosed in Japanese Patent No. 5837668, and therefore a detailed description thereof will be omitted.

[0029] A coupler 52 having a similar configuration to the coupler 40 (see FIG. 2) is also provided on the lower front side of the towed vehicle 50 shown in FIG. 1. That is, the coupler 52 includes a coupler body 52A, a knuckle 52B, and a locking pin 52C (shown in a simplified form in the figure). This coupler 52 constitutes a coupled part that is coupled to the coupler 40 (see FIG. 2). When it is desired to couple the towing vehicle 20 and the towed vehicle 50, when the couplers 40 and 52 are pressed against each other facing each other with the knuckle 52B and the knuckle 40B shown in FIG. 2 open, the knuckles 40B and 52B rotate in the closing direction, and the couplers 40 and 52 are automatically coupled to each other.

[0030] As an example, the coupler 40 has a majority of the coupler body 40A housed in a recess 28A formed in the vehicle body 28. Similarly, the coupler 52 shown in FIG. 1 has a majority of the coupler body 52A housed in a recess 54A formed in the towed vehicle 50.

[0031] The locking pin 40C shown in Fig. 2 can displace the lock (not shown) to an unlocked position by the release actuator 42 shown in Fig. 3A. To further explain, when a command to open the knuckle 40B of the coupler 40 is transmitted from the portable device 100 of the user P shown in Fig. 1 and the communication interface 30E shown in Fig. 3A receives the command, the control device 30 issues an operation command to the release actuator 42, and the release actuator 42 is operated.

[0032] 1 is capable of displacing the lock (not shown) to an unlocked position by an unlocking actuator (not shown) provided on the towed vehicle 50. The unlocking actuator provided on the towed vehicle 50 is configured to be operated by a command input from a user interface (not shown) provided on the towed vehicle 50, for example.

[0033] As shown in Fig. 1, the towed vehicle 50 is equipped with a power supply connector 62. A power supply device 60 (see Fig. 5) configured including the power supply connector 62 will be described later. The towed vehicle 50 is equipped with a protrusion 54B that protrudes toward the front of the vehicle above the coupler 52 on the lower front side, and the power supply connector 62 is provided at the front end of the protrusion 54B.

[0034] As shown in Fig. 2, a recess 28B is formed in the upper part of the rear side of the vehicle body 28 of the towing vehicle 20 above the coupler 40 and recessed toward the front of the vehicle, and a power receiving connector 44 is provided on the recessed bottom side of this recess 28B. When the towing vehicle 20 is coupled to the towed vehicle 50 as shown in Figs. 4 and 5, the protrusion 54B (see Fig. 1) of the towed vehicle 50 is inserted into the recess 28B (see Fig. 2) of the towing vehicle 20. Fig. 6 shows a simplified side cross-sectional view of the protrusion 54B of the towed vehicle 50 inserted into the recess 28B of the towing vehicle 20.

[0035] As shown in FIG. 6, when the towing vehicle 20 is coupled to the towed vehicle 50, the power receiving connector 44 is connected to the power supply connector 62, and the moving mechanism 22 (see FIG. 1) is configured to be able to run using power supplied from the power supply device 60 via the power receiving connector 44.

[0036] As shown in Figures 4 and 5, the towed vehicle 50 has an accommodation space forming portion 50R that forms an accommodation space on the rear side of the vehicle front portion 50F. An external portion 50F1 that forms the external shape of the vehicle front portion 50F extends along the vehicle up-down direction. As shown in Figure 1, the front lower portion of the external portion 50F1 of the vehicle front portion 50F has both ends in the vehicle width direction inclined toward the vehicle rear side toward the vehicle body lower side, and the front side is recessed toward the vehicle rear side with respect to both ends in the vehicle width direction.

[0037] As shown in FIG. 4 and FIG. 5, the storage space forming portion 50R is provided continuously to the rear side of the vehicle front portion 50F and forms a frame shape in a side view together with the external portion 50F1 of the vehicle front portion 50F, and the inside of the frame is the storage space. To give a supplementary explanation, the storage space forming portion 50R includes a roof portion 50R1 extending from the upper end of the external portion 50F1 of the vehicle front portion 50F toward the vehicle rear side, a floor portion 50R2 extending from the lower end of the external portion 50F1 of the vehicle front portion 50F toward the vehicle rear side, and a rear wall portion 50R3 connecting the rear end of the roof portion 50R1 and the rear end of the floor portion 50R2 in the vehicle up-down direction. In the storage space forming portion 50R, a baggage 110 can be loaded on the floor portion 50R2. In addition, a pair of left and right wheels 50W are provided on the rear lower side of the floor portion 50R2.

[0038] As shown in Fig. 5, a tank accommodation section 56 capable of accommodating multiple (three, for example) hydrogen tanks 70 in parallel vertically is formed above the coupler 52 in the vehicle front section 50F. Each tank accommodation section 56 extends along the front-to-rear direction of the vehicle and has an insertion opening 56A (see Fig. 4) at its front end. The hydrogen tank 70 has a cylindrical container-shaped tank body 70A, and a handle 70B shown in Fig. 4 is formed at one longitudinal end of the tank body 70A. The handle 70B is gripped by the user when, for example, the user inserts the hydrogen tank 70 into the tank accommodation section 56 through the insertion opening 56A.

[0039] In this embodiment, as an example, the hydrogen tank 70 is configured to be locked when the hydrogen tank 70 is inserted all the way into the tank storage section 56 with the bridge direction of the handle 70B of the hydrogen tank 70 held by the user being in the up-down direction, and then the hydrogen tank 70 is rotated 90 degrees around the axis in the fore-and-aft direction of the vehicle so that the bridge direction of the handle 70B is in the horizontal direction (the direction shown in Figure 4).

[0040] 5, a fuel cell 58 is mounted on the vehicle front section 50F on the vehicle rear side of the tank housing section 56. The fuel cell 58 is connected to a hydrogen tank 70 and an air compressor (not shown). The fuel cell 58 is supplied with hydrogen from the hydrogen tank 70 housed in the tank housing section 56, and is supplied with compressed air containing oxygen from the air compressor to generate electricity.

[0041] In addition, a power supply device 60 (shown as a block in the drawing) is mounted on the vehicle front part 50F below the fuel cell 58. The power supply device 60 supplies power from the fuel cell 58 to the towing vehicle 20 from a power supply connector 62 shown in FIG. 6 via the power receiving connector 44.

[0042] (Action and effect) Next, the operation and effects of the above embodiment will be described.

[0043] As shown in Figs. 1 and 2, in the towing vehicle 20 of this embodiment, the moving mechanism 22 is equipped with a pair of left and right drive wheels 26, and a vehicle body 28 is provided between the pair of left and right drive wheels 26. A surrounding information detection sensor 32 (see Fig. 1) provided in the vehicle body 28 detects surrounding information. An autonomous control unit 301 (see Fig. 3B) provided in the vehicle body 28 controls the autonomous traveling of the moving mechanism 22 based on the surrounding information detected by the surrounding information detection sensor 32. Furthermore, the coupler 40 provided in the vehicle body 28 shown in Fig. 2 is coupled to the coupler 52 of the towed vehicle 50 shown in Fig. 1. This makes it possible to make the towing vehicle 20, which tows the towed vehicle 50 by autonomous traveling, compact.

[0044] The towing vehicle 20 of this embodiment is applied to a case where the towed vehicle 50 to be towed is equipped with a power supply device 60 (see FIG. 5) including a power supply connector 62. The vehicle body 28 is provided with a power receiving connector 44 shown in FIG. 2 which is connected to the power supply connector 62, and the moving mechanism 22 is capable of running using power supplied from the power supply device 60 (see FIG. 5) via the power receiving connector 44. This makes it possible to make the towing vehicle more compact than a configuration in which a power source for running the moving mechanism is mounted on the towing vehicle.

[0045] As described above, the towing vehicle 20 of this embodiment is capable of towing the towed vehicle 50 by autonomous driving while adopting a compact configuration.

[0046] 5 and the like of this embodiment includes a towing vehicle 20 and a towed vehicle 50, and the towed vehicle 50 has a coupler 52, a tank storage section 56, a fuel cell 58, and a power supply device 60 at a vehicle front section 50F, and has a storage space forming section 50R at the rear of the vehicle front section 50F. In this configuration, power can be generated at the vehicle front section 50F of the towed vehicle 50 located near the towing vehicle 20 and the power can be supplied to the towing vehicle 20, and luggage 110 can be loaded at the rear of the vehicle front section 50F of the towed vehicle 50. Furthermore, the towing vehicle 20 can be separated from the towed vehicle 50 as necessary, and the towing vehicle 20 can tow another towed vehicle.

[0047] [Second embodiment] Next, a second embodiment of the present invention will be described with reference to Fig. 7. Fig. 7 shows a perspective view of a towing vehicle 80 according to the second embodiment and a towed vehicle 50 towed by the towing vehicle 80, viewed from an obliquely forward direction. As shown in Fig. 7, the towing vehicle 80 according to this embodiment differs from the towing vehicle 20 according to the first embodiment (see Fig. 1) in that a wheel 82 smaller than the driving wheel 26 is provided on the front side of the vehicle body 28 in the vehicle longitudinal direction. The other configuration is the same as that of the first embodiment, except for the points described below. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0048] 7, the wheel 82 is disposed in a center portion in the vehicle width direction at the front side in the vehicle fore-and-aft direction of the vehicle body 28, and is rotatably supported by a bracket 84. The bracket 84 is rotatable about an axis in the vehicle up-down direction relative to a support portion 86 protruding from the center portion in the vehicle width direction at the front side in the vehicle fore-and-aft direction of the vehicle body 28.

[0049] According to this embodiment, it is possible to obtain the same actions and effects as those of the first embodiment described above, and in addition, it is possible to stabilize the traveling of the towing vehicle 80.

[0050] [Supplementary explanation of the embodiment] In the above first and second embodiments, the towed vehicle 50 shown in Figs. 1 and 7 is provided with the power supply device 60 (see Fig. 5) including the power supply connector 62. As a reference example that is not an embodiment of the present invention, The towed vehicle may be configured not to have a power supply device, and the towing vehicle may be configured to be able to run on power from a power source installed in the towing vehicle itself.

[0051] In addition, in the above first and second embodiments, coupler 40 (see Figure 2) is applied as the connecting part, and coupler 52 is applied as the connected part, but other connecting mechanisms including engagement, etc. may be applied to the connecting part and the connected part.

[0052] In addition, in the above second embodiment, a wheel 82 smaller than the drive wheel 26 is provided on the front side of the vehicle body 28 in the fore-and-aft direction of the vehicle, but as a modified example, instead of the wheel 82, a wheel smaller than the drive wheel (26) may be provided on the rear side of the vehicle body (28) in the fore-and-aft direction of the vehicle.

[0053] The above-described embodiment and modified examples can be implemented in appropriate combinations.

[0054] While one example of the present invention has been described above, the present invention is not limited to the above, and it goes without saying that the present invention can be implemented in various modified forms without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0055] 10 Vehicles 20 Towing vehicle 22 Moving mechanism 26 Drive Wheel 28 Body 32 Peripheral information detection sensor 40 Connector (connection part) 44 Power receiving connector 50 Towed vehicle 50F Front of vehicle 50R Storage space forming part 52 Coupler (connected part) 56 Tank housing section 58 Fuel Cell 60 Power Supply Device 62 Power supply connector 70 Hydrogen Tank 80 Towing vehicle 82 wheels 301 Autonomous Control Unit

Claims

1. A moving mechanism including a pair of left and right drive wheels; A vehicle body provided between the pair of left and right drive wheels; a surrounding information detection sensor provided in the vehicle body for detecting surrounding information; an autonomous control unit that is provided in the vehicle body and controls the autonomous traveling of the mobility mechanism based on the surrounding information detected by the surrounding information detection sensor; A coupling portion provided on the vehicle body and coupled to a towed vehicle; This is applicable to a case where the towed vehicle is equipped with a power supply device including a power supply connector, the vehicle body is provided with a power receiving connector that is connected to the power supply connector, and the moving mechanism is configured to be able to travel using power supplied from the power supply device via the power receiving connector; and a towed vehicle having, at a front portion of the vehicle, a coupled portion that is coupled to the connecting portion, a tank accommodating portion that is capable of accommodating a plurality of hydrogen tanks vertically in parallel above the coupled portion, a fuel cell that generates electricity by receiving a supply of hydrogen from the hydrogen tank accommodated in the tank accommodating portion, and a power supply device that supplies power from the fuel cell from the power supply connector via the power receiving connector to the towing vehicle, and having an accommodation space forming portion that forms an accommodation space at the rear of the front portion of the vehicle; A vehicle equipped with.

2. The vehicle according to claim 1 , wherein a wheel smaller than the drive wheel is provided on the front or rear side of the vehicle main body in the longitudinal direction of the vehicle.

Images