Tilt angle estimation system, tilt drive mechanism

Abstract

To provide a gate angle estimating system capable of properly estimating the opening and closing angle of a gate while avoiding a structure in which a sensor is directly provided at the gate.SOLUTION: A gate angle estimating system X that is applicable to a gate driving mechanism Y which automatically opens or closes a gate A provided at a loading space T1 of a cargo vehicle T includes: a state value detecting unit X1 that directly or indirectly detect the state value (the rotation angle) of a predetermined arm 4 that moves in conjunction with the opening and closing operation of the gate A in the gate driving mechanism Y; and a gate rotation angle estimating unit X2 that estimates the rotation angle of the gate A on the basis of the detection value detected by the state value detecting unit X1 when the gate A is opened or closed.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a system capable of estimating the opening and closing angle of an openable / closable gate provided on the bed of a cargo vehicle such as a truck, and a gate drive mechanism equipped with a gate angle estimation system. [Background technology]

[0002] The transportation industry accounts for approximately 5% of Japan's GDP, and the logistics industry, which accounts for more than 60% of the transportation industry's market, is expanding due to environmental changes and is expected to continue to grow significantly in the future. Meanwhile, the logistics industry is seeking to automate truck loading and unloading operations in order to address the labor shortage of truck drivers and improve safety, and a tilt mechanism has been developed that automatically opens and closes the tilt (also called gate) installed on the loading platform using electricity (see, for example, Patent Document 1).

[0003] When the opening and closing of the tilt is automatically operated by motorization, the tilt angle is used as the control state quantity of the tilt, and it is common to attach an inclination angle sensor to the tilt body to acquire tilt angle information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-182376 Summary of the Invention [Problem to be solved by the invention]

[0005] However, installing a tilt angle sensor on the inward-facing side of the gate body (the side facing the loading space) reduces the cargo loading area (volume) and risks damaging or malfunctioning the sensor if cargo comes into contact with it. On the other hand, installing a tilt angle sensor on the outward-facing side of the gate body (the side facing away from the loading space) could result in the cargo vehicle's width not being within the regulated limits, leaving room for improvement. Furthermore, if the tilt angle sensor is installed directly on the gate body, it is difficult to secure space for routing the wiring, and there are problems with the wiring being easily damaged as it is constantly moved by the opening and closing of the gate body.

[0006] The present invention has been made in light of these problems, and its main object is to provide a system that can estimate the angle of a tilt that opens and closes automatically without adopting a configuration in which an inclination angle sensor is attached to the tilt itself, and a tilt drive mechanism equipped with such tilt angle estimation. [Means for solving the problem]

[0007] That is, the present invention relates to a tilt angle estimation system applicable to a tilt drive mechanism that automatically opens and closes a tilt provided on the bed of a cargo vehicle by using the driving force of an actuator. Examples of cargo vehicles having a bed include trucks, trailers, dump trucks, etc. A tilt is also called a gate, and specific examples include a side tilt (side gate) that defines the side of the bed and a rear tilt (tailgate) that defines the rear of the bed.

[0008] The tilt angle estimation system according to the present invention is characterized by comprising a state value detection unit that directly or indirectly detects the state value of a predetermined part of the tilt drive mechanism that moves in conjunction with the opening and closing operation of the tilt, and a tilt rotation angle estimation unit that estimates the rotation angle of the tilt based on the detection value of the state value detection unit during the opening and closing operation of the tilt.

[0009] In such a tilt angle estimation system according to the present invention, the state value detection unit detects the state value (e.g., the rotation angle) of a predetermined part of the tilt drive mechanism that moves in conjunction with the opening and closing movement of the tilt during the opening and closing movement of the tilt, and the tilt rotation angle estimation unit estimates the rotation angle of the tilt based on the detected value. Therefore, by monitoring the state value of the predetermined part that moves in conjunction with the opening and closing movement of the tilt, the rotation angle of the tilt can be estimated, eliminating the need to provide a tilt angle sensor on the tilt. Therefore, compared to an embodiment in which a tilt angle sensor is provided on the tilt, the introduction of the tilt angle estimation system makes it easier to ensure wiring space, prevents the wiring from being constantly driven by the opening and closing movement of the tilt main body, makes the wiring less likely to be damaged, and improves the robustness and therefore reliability of the system. Furthermore, compared to a configuration in which an inclination angle sensor is installed on the inward surface of the tailgate, the tailgate angle estimation system of the present invention can avoid damage or failure of the sensor due to luggage coming into contact with the inclination angle sensor without narrowing the cargo loading area (volume), and compared to a configuration in which an inclination angle sensor is installed on the outward surface of the tailgate, it can avoid a situation in which the width of the cargo vehicle exceeds the regulated value by the amount of the inclination angle sensor installed, making it an extremely practical system.

[0010] In the tilt angle estimation system according to the present invention, Furthermore, The state value detection unit detects, as a detection value, a rotation angle of a predetermined part that moves in proportion to the rotation angle of the tilt when the tilt is opened or closed. To Since the detected value can be considered to be equal to or approximately equal to the tilt rotation angle, the load on the tilt rotation angle estimating section during estimation processing can be reduced.

[0011] In particular, the tilt angle estimation system according to the present invention So a connecting member having one end connected to a movable shaft that moves in accordance with the opening and closing operation of the tilt and a predetermined region on the other end connected to a predetermined part that is a state value detection target part, and configured so that the connecting member rotates around the movable shaft in accordance with the opening and closing operation of the tilt; The state value detection unit detects the rotation angle of a predetermined part that can be identified based on the rotation angle of the movable shaft detected in the movable shaft as the state value, and the rotation angle of the predetermined part that moves in proportion to the rotation angle of the tilt when the tilt is opened or closed is set as the detected value.Therefore, the rotation angle of a predetermined part, which is a state value detection target part, can be accurately detected.

[0012] Furthermore, by configuring the movable shaft to use a potentiometer as a state detection unit and detecting the "rotation angle of a specified part" that can be identified based on the rotation angle of the movable shaft detected by the potentiometer as a state value, it is possible to accurately detect the rotation angle of the specified part, which is the part that is the target of state value detection, despite the relatively simple configuration. In this case, if the tilt angle estimation system is configured to include a table that converts the value detected by the potentiometer into a tilt angle and to estimate the tilt rotation angle using this table, even if the value detected by the potentiometer differs from the actual tilt angle, the value can be estimated and output as the appropriate tilt angle via the table.

[0013] Furthermore, a tilt drive mechanism according to the present invention automatically opens and closes a tilt provided on the bed of a freight vehicle by the driving force of an actuator, and is characterized by including the above-mentioned tilt angle estimation system. Such a tilt drive mechanism provides the same various effects as the above-mentioned tilt angle estimation system, and can realize a drive mechanism that is easy to introduce into work sites where automation of truck loading and unloading operations is desired. [Effects of the Invention]

[0014] According to the present invention, a collision of the tilt can be detected based on the detection value of an acceleration sensor provided on a specific part of the tilt drive mechanism that moves in conjunction with the opening and closing operation of the tilt. This eliminates the need to provide a detection system on the entire surface of the tilt, and makes it possible to provide a tilt collision detection system that does not require a large-scale detection system but can accurately and quickly detect a collision when the tilt is automatically opened or closed, and a tilt drive mechanism equipped with such a collision detection system. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is an overall schematic diagram of a freight vehicle equipped with a swing angle estimation system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram showing a tilt drive mechanism according to the embodiment. [Figure 3] FIG. 2 is a diagram showing a tilt drive mechanism (excluding a tilt angle estimation system) according to the embodiment. [Figure 4]6A to 6C are diagrams showing a time series of automatic opening and closing processes of the tilt mechanism performed by the tilt drive mechanism according to the embodiment. [Figure 5] FIG. 2 is a configuration diagram of a tilt angle estimation system according to the embodiment. [Figure 6] 4 is a diagram corresponding to FIG. 3 and showing a tilt drive mechanism in which the tilt estimation system according to the embodiment is implemented. FIG. [Figure 7] 6 is a schematic diagram of the tilt drive mechanism as seen from the direction a in FIG. 5. [Figure 8] 10A and 10B are diagrams showing, in chronological order, the movement of the connecting member when the tilt is automatically opened or closed in the embodiment; [Figure 9] 10 is a diagram (table data) showing the relationship between the angle of the second arm (arm B) (detection value of the potentiometer) and the tilt angle in the embodiment. FIG. [Figure 10] 10 is a flowchart of a tilt angle estimation process in the embodiment. [Figure 11] FIG. 10 is a diagram schematically showing the positional relationship between the elongated hole of the connecting member and the pin of the second arm in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] The tilt collision detection system X according to this embodiment is a system that can detect a collision of a tilt A of a loading platform T1 with an obstacle during opening / closing operation by being installed in, for example, a cargo vehicle T (truck) shown in FIG.

[0018] The truck T is a large truck (e.g., a 25-ton truck) equipped with a truck body T3 on which tires T2 are mounted and a loading platform T1 mounted on the truck body T3. Figures 1(a) and 1(b) are schematic side and rear views of the truck T, respectively.

[0019] The bed T1 of the truck T is rotatably attached via hinges T5 to an underframe T4 provided around the floor T6 of the cargo space, and is equipped with gates A (specifically, one pair of gates A on each side, a total of four gates A) that openably cover the lower left and right sides of the cargo space, and wings W that openably cover the space above the cargo space. In order to maintain the gates A in an upright, closed state (A1), pillars (not shown) are provided at the middle and end portions on the left and right sides of the underframe T4.

[0020] Various parts and mechanisms are disposed below the floor T6 of the luggage compartment and the underframe T4. Therefore, the free space below the floor T6 of the luggage compartment and the underframe T4 is quite narrow, and the tilt drive mechanism Y of this embodiment shown in Figures 2 and 3 is disposed in this narrow space. Here, Figure 2 schematically shows the tilt drive mechanism Y and peripheral devices (hardware) including a power supply that is the drive source for driving the tilt drive mechanism Y. Also, Figure 3 is a simplified schematic diagram that specifically shows the hardware around the tilt drive mechanism Y extracted from Figure 2.

[0021] In this embodiment, a number of gate drive mechanisms Y corresponding to the number of gates A to be arranged (four in this embodiment) are provided on the floor T6 of the luggage compartment and in the open space below the underframe T4, and each gate A can be automatically opened and closed individually by each gate drive mechanism Y. The gate drive mechanism Y makes it possible to automatically perform the opening and closing work of the gates A, which can be a great burden for an operator, and even if the driver of the truck T is an elderly person, a woman, or someone with little strength, the opening and closing work of the gates A can be easily performed.

[0022] As shown in Figures 2 and 3, the tilt drive mechanism Y includes a bracket 1 that supports the tilt A. The bracket 1 is fixed to the tilt A at a position higher than the tilt rotation axis (hinge T5) of the tilt A when the tilt A is in the closed state (A1), and rotates integrally with the tilt A around the tilt rotation axis T5 when the tilt A opens or closes. As shown in Figure 3, the tilt drive mechanism Y includes a first arm 2 whose tip (upper end) is pivotally attached to the bracket 1, a second arm 4 whose tip (upper end) is pivotally attached to the base end (lower end) of the first arm 2 in the space below the underframe T4 that is provided around the floor T6 of the luggage compartment, an actuator 5 that is disposed in a recumbent position (sideways position) in the space below the underframe T4, a third arm 7 whose one end is pivotally attached to the tip of the actuator 5 and that swings around a fixed axis 6 in accordance with the forward and backward movement of the actuator 5, and a connecting arm 8 that connects the third arm 7 to the second arm 4. The tilt drive mechanism Y includes a link mechanism L configured by such a plurality of arms, and by operating the link mechanism L with the actuator 5, the tilt A can be automatically opened and closed.

[0023] The actuator 5 includes a rod that can be advanced and retracted by the torque of a drive motor (e.g., a DC motor) shown in FIG. 2, and the tip of the rod is pivotally attached to a suitable location on the third arm 7 (see FIG. 3). Note that a motor other than a DC motor, such as an AC motor or a servo motor, can also be used as the drive motor. The third arm 7 swings about a fixed shaft 6 as the rod advances and retracts. The second arm 4, which is connected to the third arm 7 via a connecting arm 8, rotates as the third arm 7 swings. Therefore, when the tilt A is in the closed state (A1), which is an upright position at +90 degrees as shown in FIGS. 2 and 3, driving the actuator 5 to move the rod forward in the positive direction causes the third arm 7, connecting arm 8, and second arm 4 to move in unison. As the second arm 4 rotates, the first arm 2 moves downward while remaining in the upright position, gradually changing the tilt A from the closed state (A1) to the open state (A2), which is an upright position at -90 degrees. FIG. 4 shows a schematic diagram of the process by which the angle of tilt A changes in accordance with the movement of tilt drive mechanism Y, from +90 degrees (closed state, FIG. 4(a)), +45 degrees (FIG. 4(b)), 0 degrees (horizontal state, FIG. 4(c)), -45 degrees (FIG. 4(d)), to -90 degrees (open state, FIG. 4(e)). Bracket 1 moves while rotating around the rotation axis (hinge) that connects it to first arm 2, in unison with the opening and closing movement of tilt A. Actuator 5 can be, for example, one that has a structure in which a motor operated by a voltage of 24 volts moves a rod back and forth, and which also has a load holding mechanism that can hold the load applied to the rod even when the motor rotation is stopped.

[0024] The tilt drive mechanism Y automatically opens and closes the tilt A using the driving force of a motor. Specifically, when a higher-level controller (control unit C) receives a drive command (such as "Open tilt A" or "Close tilt A," which is equivalent to the open / close command shown in FIG. 2) based on an operator (such as a truck driver) operating an input device such as an appropriate button, switch, or touch panel, the control unit C generates an angle command to set the tilt A at the desired angle, performs position control using this angle command and the actual tilt angle, and generates a speed command that determines how to move the motor (the distance the actuator 5 should move forward or backward). Next, the control unit C controls the motor speed by adjusting it relative to the speed command, generates a current command, and performs current control using the current command and the motor current (the current actually input to the motor) to drive the motor. As a result, the rod of the tilt drive mechanism Y moves forward or backward using the driving force of the motor, automatically opening and closing the tilt A. As shown in FIG. 2, an auxiliary power spring mechanism 51 for applying auxiliary power to the periphery of the actuator 5 and a tilt drive mechanism Y in which a speed-up gear unit G is disposed may be configured.

[0025] The tilt drive mechanism Y according to this embodiment is equipped with a tilt angle estimation system X that estimates the opening and closing angle of the tilt A.

[0026] As shown in Fig. 5, the tilt angle estimation system X estimates the angle of the tilt A by detecting the movement of an arm (in this embodiment, the second arm 4) that moves the same or approximately the same as or an approximate movement according to the opening / closing angle of the tilt A, among the arms (first arm 2, second arm 4, third arm 7, and connecting arm 8) of the tilt drive mechanism Y that move in conjunction with the opening / closing movement of the tilt A. As shown in Figs. 5 and 6, the tilt angle estimation system X includes a state value detection unit X1 that directly or indirectly detects a state value (rotation angle) of the second arm 4 (corresponding to the "predetermined part" of the present invention), which is a predetermined part of the tilt drive mechanism Y that moves in conjunction with the opening / closing movement of the tilt (at a rotation angle that is the same or approximately the same as that of the tilt A), and a tilt rotation angle estimation unit X2 that estimates the rotation angle of the tilt A based on the detection value of the state value detection unit X1 during the opening / closing movement of the tilt A.

[0027] As shown in Figs. 5 to 7 (Fig. 7 is a schematic view seen from direction a in Fig. 5), the tilt angle estimation system X according to this embodiment includes a connecting member X3 having one end connected to a movable shaft 3 that moves in accordance with the opening and closing operation of the tilt and having a predetermined region on the other end connected to the second arm 4. The connecting member X3 is, for example, a flat plate body, and has an elongated hole X31 extending in the longitudinal direction in a predetermined region on the other end, and is disposed in a state in which the pin 41 of the second arm 4 is accommodated in the elongated hole X31. In this embodiment, one end of the connecting member X3 is connected to the movable shaft 3, and the connecting member X3 is configured to rotate. FIG. 8 schematically shows the connecting member X3 that rotates as the angle of the tilt A changes from +90 degrees (closed state, FIG. 8(a)), to 0 degrees (horizontal state, FIG. 8(c)), to -90 degrees (open state, FIG. 8(e)). As shown in the figure, the rotational movement of the connecting member X3 is synchronized with the movement of the pin 41 of the second arm 4 housed in the elongated hole X31. Therefore, unless the second arm 4 moves, the connecting member X3 does not move (it remains in that position). On the other hand, when the second arm 4 moves, the pin 41 of the second arm 4 moves within the elongated hole X31, and as a result, the connecting member X3 rotates around the movable shaft 3. At this time, the pin 41 of the second arm 4 moves in proportion to the angle of the tilt A.

[0028] In this embodiment, a potentiometer P is attached coaxially with the movable shaft 3 and configured to rotate in synchronization with the movement of the pin 41 of the second arm 4. With this configuration, the rotation angle of the movable shaft 3 is detected by the potentiometer P and converted into an electrical signal, thereby making it possible to detect the control state quantity (state value) of the second arm 4, i.e., the rotation angle of the second arm 4. That is, in this embodiment, the potentiometer P is used to configure the above-mentioned state value detection unit X1.

[0029] The value detected by the potentiometer P coincides or nearly coincides with the rotation angle of the second arm 4, but differs from the actual angle of the tilt A. Therefore, the tilt angle estimation system X of this embodiment is provided with a table X4 that converts the value detected by the potentiometer P into a tilt angle (see FIG. 6), and is configured to estimate the rotation angle of the tilt A using this table X4. FIG. 9 shows a graph of the relationship between the angle detected by the potentiometer P (the arm B angle in FIG. 9 is synonymous with the angle of the second arm 4) and the actual opening / closing angle of the tilt A (the tilt angle in FIG. 9), observed when a tilt drive mechanism Y equipped with the tilt angle estimation system X of this embodiment is applied to a freight car. The tilt rotation angle estimation unit X2 estimates the opening / closing angle of the tilt A from the detected value (rotation angle) of the potentiometer P using the table X4. In this embodiment, data based on the graph shown in FIG. 9 is used in the table X4. In other words, FIG. 9 is data for the table. The relationship between the angle detected by the potentiometer P of the table X4 and the actual opening / closing angle of the tilt A may be set based on theoretical values.

[0030] When the elongated hole X31 of the connecting member X3 is set as an oval-shaped elongated hole X31 having arc-shaped outer edges at both ends, as shown schematically in FIG. 11, it is preferable that when the tilt A angle is +90 degrees (closed state, FIG. 8(a)), the pin 41 abuts on the vicinity of one end of one straight line portion X31b of two straight line portions X31b, X31c extending in the longitudinal direction without abutting on the arc-shaped portion X31a at one end of the elongated hole X31 (see FIG. 11(a)). Also, when the tilt A angle is −90 degrees (open state, FIG. 8(e)), the pin 41 abuts on the vicinity of the other end of the other straight line portion X31c of two straight line portions X31b, X31c extending in the longitudinal direction without abutting on the arc-shaped portion X31d at the other end of the elongated hole X31 (see FIG. 11(b)). This makes it possible to suppress external forces other than the rotational torque transmitted to the potentiometer P during the opening and closing operation of the tilt angle A when estimating the tilt angle, thereby improving the estimation accuracy of the tilt angle. In this case, the condition is that the distance between the two linear portions X31b, 31c extending in the longitudinal direction and constituting the outer edge of the elongated hole X31 is greater than the diameter of the pin 41. In other words, it is essential that the pin 41 is arranged in the elongated hole X31 with some play.

[0031] The overall control of the tilt angle estimation system X according to this embodiment is managed by a control unit C, and the opening / closing angle of the tilt A estimated by the tilt rotation angle estimation unit X2 is used as the actual opening / closing angle of the tilt A in feedback control of the motor-driven tilt drive mechanism Y. If the tilt angle estimated by the tilt rotation angle estimation unit X2 is accurate enough to eliminate the need for feedback control, it may be used for open-loop control or the like. The control unit C may be a control unit (host controller) higher than the tilt angle estimation system X and the tilt drive mechanism Y, or may be a control unit dedicated to the tilt angle estimation system X. The control unit C is configured by a normal microprocessor or the like equipped with a CPU, memory, and interface. Programs required for processing are stored in advance in the memory, and the CPU sequentially retrieves and executes the required programs to achieve the desired functions in cooperation with peripheral hardware resources.

[0032] The rotation angle estimation process procedure for the tilt angle A by the tilt angle estimation system X according to this embodiment having the above configuration is as follows.

[0033] First, when the control unit C receives an operation input from the operator, it drives the tilt drive mechanism Y based on a drive command corresponding to the received input information (such as a command to "open the tilt A" or "close the tilt A") to switch the tilt A from the closed state (A1) to the open state (A2) or from the open state (A2) to the closed state (A1). During this automatic tilt opening / closing process, the tilt angle estimation system X detects the state value of the second arm 4, i.e., the rotation angle of the second arm 4, using the state value detection unit X1 that uses the potentiometer P (state value detection step S1, see FIG. 10), and estimates the rotation angle of the tilt A based on the detected state value and table X4 (tilt rotation angle estimation step S2). If the opening / closing operation of the tilt A is still ongoing, the process returns to the state value detection step S1, and the above-described process is repeated.

[0034] Through the above processing, for example, the control unit C can be configured to detect a collision of the tilt A based on the estimated tilt angle. Specifically, the control unit C can be configured to compare the angle of the tilt A estimated by the tilt angle estimation processing (actual tilt angle) with the angle command to the motor that drives the tilt drive mechanism Y, and determine that the tilt A has collided if the actual tilt angle differs from the angle command by more than a predetermined judgment reference value. If it is determined that the tilt A has collided, executing appropriate post-collision processing (such as processing to stop the motor, processing to move the tilt A in the direction opposite to the rotation direction at the time of collision detection, processing to issue a warning sound, processing to display a warning on a monitor in the cab, etc.) will greatly contribute to improving safety. In addition, the opening and closing operation of the tilt A by the tilt drive mechanism Y is not limited to switching the tilt A from the closed state (A1) to the open state (A2) or from the open state (A2) to the closed state (A1), but also includes switching from the closed state (A1) or the open state (A2) to any tilt angle (any angle in the range of -89 degrees to +89 degrees), switching from any tilt angle to the closed state (A1) or the open state (A2), and switching between any tilt angles.

[0035] As described above, according to the tilt angle estimation system X of this embodiment, when the tilt A is opened or closed, the state value detection unit X1 detects the rotation angle, which is the state value, of the second arm 4 of the tilt drive mechanism Y, which moves in conjunction with the opening or closing operation of the tilt A, and the tilt rotation angle estimation unit X2 estimates the rotation angle of the tilt A based on the detected value. Therefore, by monitoring the rotation angle, which is the state value of the second arm 4, which moves in conjunction with the opening or closing operation of the tilt A, the rotation angle of the tilt A can be estimated, eliminating the need to provide an inclination angle sensor in the tilt angle A. Therefore, according to the tilt angle estimation system X of this embodiment, compared to an embodiment in which an inclination angle sensor is provided in the tilt angle A, the wiring required by introducing the tilt angle estimation system X is easier, a situation in which the wiring is constantly driven by the opening or closing operation of the tilt angle A can be avoided, and the wiring is less likely to be damaged, improving the robustness and therefore reliability of the system. Furthermore, the tilt angle estimation system X according to this embodiment has the advantage of not interfering with the cargo loading area (not reducing the volume) compared to a configuration in which an inclination angle sensor is provided on the inward surface of the tilt angle A, and the advantage of being able to keep the width of the cargo vehicle T within the regulated value compared to a configuration in which an inclination angle sensor is provided on the outward surface of the tilt angle A, making it an extremely useful system.

[0036] In particular, according to the tilt angle estimation system X of this embodiment, the state value detection unit X1 detects, as a state value, the rotation angle of the second arm 4 of the link mechanism L, which moves in proportion to the rotation angle of the tilt A when the tilt A is opened or closed. Therefore, the state value can be regarded as a movement that is equal to, or approximately equal to, the actual rotation angle of the tilt A, thereby reducing the load during estimation processing in the tilt rotation angle estimation unit X2 and contributing to improving the estimation processing speed.

[0037] Furthermore, the tilt angle estimation system X according to this embodiment includes a connecting member X3 having one end connected to the movable shaft 3 that moves with the opening and closing movement of the tilt A and a predetermined region on the other end connected to the second arm 4, which is a part targeted for state value detection, and is configured so that the connecting member X3 rotates around the movable shaft 3 with the opening and closing movement of the tilt A, and is configured to detect, as a state value, the "rotation angle of the second arm 4," which can be specified based on the rotation angle of the movable shaft 3 detected by the potentiometer P provided on the movable shaft 3. Therefore, despite the relatively simple configuration, the rotation angle of the second arm 4, which is a part targeted for state value detection, can be accurately detected, and high costs due to the introduction of the system can be avoided.

[0038] Furthermore, the tilt angle estimation system X according to this embodiment is provided with a table X4 that converts the value detected by the potentiometer P into a tilt angle, and is configured to estimate the rotation angle of the tilt A using the table X4. Therefore, even if the value detected by the potentiometer P differs from the actual tilt angle, the value can be estimated and output as an appropriate tilt angle via the table X4.

[0039] Although the embodiments of the present invention have been described above, the present invention is not limited to the configurations of the above-described embodiments. For example, in the above-described embodiments, the rotation angle of the tilt A is estimated by monitoring the rotation angle, which is the state value of the second arm 4 that moves in conjunction with the opening and closing movement of the tilt A. However, the present invention is not limited to this. For example, the tilt angle estimation system of the present invention can also be realized by using other parts that make up the tilt drive mechanism, such as an arbitrary arm selected from the multiple arms that make up the link mechanism, an axis that connects the arms (an axis that moves in conjunction with the opening and closing movement of the tilt), or a bracket of the tilt drive mechanism as the "predetermined part (part for which state value detection is targeted)" in the present invention.

[0040] In particular, it is preferable to configure the tilt angle to be estimated by detecting the operation of a component part of the tilt drive mechanism that moves in the same way (or moves similarly) to the tilt in response to the opening and closing operation of the tilt as the "state value of a specified part (part targeted for state value detection)" in this invention.

[0041] Furthermore, when using a connecting member, instead of connecting one end of the connecting member to a movable shaft (movable shaft 3 in the above embodiment) that moves with the opening and closing of the tilt among the shafts that make up the tilt drive mechanism, a dedicated movable shaft (a movable shaft that does not make up the tilt drive mechanism) or a fixed shaft (a shaft that does not move with the opening and closing of the tilt) may be used. Furthermore, instead of accommodating a pin of an arm in a long hole formed in a predetermined area on the other end of the connecting member, a shaft (movable shaft) that connects parts of the tilt drive mechanism and moves with the opening and closing of the tilt may be accommodated. Furthermore, depending on the rotation angle range of the connecting member associated with the opening and closing of the tilt, a notch (slit) that opens to the other end rather than a long hole may be formed on the other end of the connecting member, and a pin (protrusion) or movable shaft may be accommodated in the notch. In this case, the applicable condition is that the pin or movable shaft does not fall out of the notch regardless of the rotation angle of the connecting member during the opening and closing of the tilt.

[0042] The present invention also includes a configuration in which a table for converting a value detected by a potentiometer into a tilt angle is not provided, and the value detected by the potentiometer is directly estimated as the tilt rotation angle.

[0043] Furthermore, the state value detection unit may use a sensor that directly detects the rotation angle of the part whose state value is to be detected, without using a potentiometer.

[0044] The present invention also includes a configuration in which the amount of forward and backward movement of an actuator is detected by a state value detection unit as a state value of a specific part of the tilt drive mechanism that moves in conjunction with the opening and closing operation of the tilt, and the tilt rotation angle estimation unit estimates the rotation angle of the tilt based on the detected value.

[0045] A specific example of the tilt drive mechanism is not limited to the above-mentioned tilt drive mechanism Y, and the tilt angle estimation system of the present invention can be applied to any mechanism that automatically opens and closes the tilt using the driving force of an actuator. The tilt angle estimation system may be a system included in the tilt drive mechanism, or may be a system that is mechanically or electrically separated from the tilt drive mechanism.

[0046] The cargo vehicles in which the swing-tilt angle estimation system of the present invention alone or a swing-tilt drive equipped with the swing-tilt angle estimation system can be implemented are not limited to trucks (classified according to load capacity into small trucks (2-ton and 3-ton trucks), medium-sized trucks (4-ton trucks), large trucks (10-ton trucks), and light trucks), but can also be implemented in cargo vehicles such as trailers and dump trucks.

[0047] In the above-described embodiment, the side gate (lateral gate) that defines the side of the loading platform is used as an example of the gate, but it is also possible to perform collision detection when the rear gate that defines the rear of the loading platform is opened or closed. The gate is also called a gate (side gate, back gate).

[0048] Furthermore, the specific configuration of each part is not limited to the above embodiment, and various modifications are possible within the scope of the present invention. [Explanation of symbols]

[0049] A…Tilt T... freight vehicle (truck) T1...cargo bed P...Potentiometer X: Tilt angle estimation system X1: Status value detector X2: Tilt rotation angle estimation section X3...Connecting member X4…Table Y...Tilt drive mechanism

Claims

1. A tilt angle estimation system applicable to a tilt drive mechanism that automatically opens and closes a tilt provided on the bed of a freight vehicle using an actuator, a state value detection unit that directly or indirectly detects a state value of a predetermined part of the tilt drive mechanism that moves in accordance with the opening and closing operation of the tilt; a tilt rotation angle estimating unit that estimates a rotation angle of the tilt based on a detection value of the state value detecting unit during an opening or closing operation of the tilt; a connecting member having one end connected to a movable shaft that moves in accordance with the opening and closing operation of the tilt, and a predetermined region on the other end connected to the predetermined part, The connecting member is configured to rotate around the movable shaft in accordance with the opening and closing operation of the tilt. a potentiometer is provided on the movable shaft; a state value detection unit that detects, as the state value, a rotation angle of the predetermined part that can be specified based on the rotation angle of the movable shaft detected by the potentiometer, and detects, as the detection value, a rotation angle of the predetermined part that moves in proportion to the rotation angle of the tilt when the tilt is opened or closed.

2. 2. The tilt angle estimation system according to claim 1, further comprising a table for converting a value detected by the potentiometer into a tilt angle, and configured to estimate the tilt rotation angle using the table.

3. A tilt angle estimation system applicable to a tilt drive mechanism that automatically opens and closes a tilt provided on the bed of a freight vehicle using an actuator, a state value detection unit that directly or indirectly detects a state value of a predetermined part of the tilt drive mechanism that moves in accordance with the opening and closing operation of the tilt; a tilt rotation angle estimating unit that estimates a rotation angle of the tilt based on a detection value of the state value detecting unit during an opening or closing operation of the tilt; a connecting member having one end connected to a movable shaft that moves in accordance with the opening and closing operation of the tilt, and a predetermined region on the other end connected to the predetermined part, The connecting member is configured to rotate around the movable shaft in accordance with the opening and closing operation of the tilt. a state value detection unit that detects, as the state value, a rotation angle of the predetermined part that can be identified based on a rotation angle of the movable shaft detected in the movable shaft, and sets, as the detected value, a rotation angle of the predetermined part that moves in proportion to the rotation angle of the tilt when the tilt is opened or closed.

4. A gate drive mechanism that automatically opens and closes a gate provided on a cargo vehicle bed by an actuator, A tilt drive mechanism comprising the tilt angle estimation system according to any one of claims 1 to 3.

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