Vehicle control device

Abstract

To provide a vehicle control device capable of efficiently unloading cargo.SOLUTION: A vehicle control device 1 is a device to control a vehicle 9 provided with a loading platform 91. The vehicle control device is adapted to: cause the loading platform 91 of the vehicle 9 to perform unloading operation with the loading platform tilted from a horizontal state (S10); determine whether or not the loading platform is tilted to a preset angle through the unloading operation (S12); determine whether or not cargo 93 is left on the loading platform 91 when the same is determined to be tilted to the preset angle (S16); cause the loading platform 91 to perform unloading operation of the cargo 93 left on the loading platform 91 when the cargo 93 is determined to be left on the loading platform 91 (S20 and S22); and avoid the unloading operation when the cargo 93 is determined not to be left on the loading platform 91.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] Conventionally, a vehicle control device that enables a work vehicle to travel autonomously has been known, as described in, for example, JP 2020-157923 A. This device has a manned autonomous driving mode in which the vehicle travels autonomously with an occupant present, and an unmanned autonomous driving mode in which the vehicle travels autonomously without an occupant present. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-157923 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even with such a device, it is difficult to efficiently transport cargo. That is, while automatic driving of a vehicle can improve the efficiency of vehicle travel, manual operation of the cargo loaded on the vehicle makes it difficult to improve the efficiency of the cargo unloading operation. Furthermore, even when an attempt is made to unload cargo by tilting the loading platform, cargo may remain on the loading platform. In such cases, the driver or other person must use a shovel or the like to scrape down the cargo remaining on the loading platform. This makes the unloading operation cumbersome, and the cargo cannot be unloaded efficiently.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a vehicle control device that can efficiently unload cargo from a vehicle. [Means for solving the problem]

[0006] That is, the vehicle control device according to the present invention is a vehicle control device for controlling a vehicle having a loading platform, and includes a loading platform control unit that performs an unloading operation by tilting the loading platform of the vehicle from a horizontal state, a tilt determination unit that determines whether the loading platform has tilted to a predetermined angle due to the unloading operation, a cargo determination unit that determines whether cargo remains on the loading platform when the tilt determination unit determines that the loading platform has tilted to the predetermined angle, and a remaining cargo unloading control unit that performs a remaining cargo unloading operation to unload the remaining cargo on the loading platform when the cargo determination unit determines that cargo remains on the loading platform, and does not perform the remaining cargo unloading operation when the cargo determination unit determines that no cargo remains on the loading platform. According to this vehicle control device, the loading platform is tilted at the unloading point of the vehicle to unload the vehicle, and the remaining cargo unloading operation is performed when cargo remains on the loading platform. This reduces the amount of remaining cargo and enables accurate and efficient unloading of the cargo from the loading platform. Furthermore, by not performing the remaining unloading operation if there is no cargo remaining after tilting the loading platform, unnecessary remaining unloading operations can be omitted, thereby improving the efficiency of the unloading operation.

[0007] In the vehicle control device according to the present invention, the unloading control unit may perform a remaining unloading operation by moving the vehicle forward to unload the remaining cargo from the loading platform when there is space to move the vehicle forward. In this case, by checking whether there is space and then moving the vehicle forward, the remaining cargo can be safely unloaded from the loading platform.

[0008] In the vehicle control device according to the present invention, when there is no space to move the vehicle forward, the unloading control unit may perform a remaining unloading operation by increasing or decreasing the tilt angle of the loading platform to unload the cargo remaining on the loading platform. In this case, even when there is no space to move the vehicle forward, the remaining unloading operation can be performed to prevent the remaining cargo from remaining. [Effects of the Invention]

[0009] According to the present invention, the cargo on the loading platform can be efficiently unloaded. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an explanatory diagram of a vehicle equipped with a vehicle control device according to an embodiment of the present invention; [Figure 2] 1 is a block diagram showing an outline of the configuration of a vehicle control device according to an embodiment; [Figure 3] 3 is a flowchart showing the operation of the vehicle control device of FIG. 2. [Figure 4] 3 is an explanatory diagram showing the operation of the vehicle control device of FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same or equivalent elements will be designated by the same reference numerals, and redundant description will be omitted.

[0012] FIG. 1 shows a vehicle 9 equipped with a vehicle control device 1 according to an embodiment of the present invention. As shown in FIG. 1, the vehicle control device 1 is installed in the vehicle 9 and controls the operation of a loading platform 91 provided on the vehicle 9. The vehicle 9 is, for example, a dump truck, and is equipped with a loading platform 91 behind a cabin 92, and cargo 93 can be loaded onto this loading platform 91. Here, a case will be described in which the vehicle 9 is an unmanned vehicle. For example, the vehicle 9 automatically travels along a predetermined route according to a preset program and automatically unloads cargo. The vehicle 9 may also travel and unload cargo by remote control. In this case, the vehicle 9 may be remotely controlled by an operator who is located, for example, at a construction site where the vehicle 9 is traveling or at a location remote from the construction site.

[0013] The loading platform 91 can unload the loaded cargo 93 by lifting the front and tilting it backward. The loading platform 91 is, for example, box-shaped with an open top, and the cargo 93 can be discharged to the rear of the loading platform 91 by opening the rear gate 91a. The loading platform 91 is tilted by the operation of an actuator 8. For example, a hydraulic cylinder is used as the actuator 8 that tilts the loading platform 91. In this case, the actuator 8 is provided between the frame 95 and the loading platform 91, and can change the tilt angle of the loading platform 91 by extending and contracting. For example, when the loading platform 91 is horizontal and not tilted, the loading platform 91 tilts backward by extending the actuator 8. As a result, the cargo 93 loaded on the loading platform 91 slides off the loading platform 91, thereby unloading the cargo. Note that the actuator 8 may have a mechanism or structure other than that shown in FIG. 1, or may use equipment other than a hydraulic cylinder.

[0014] 2 is a block diagram showing an outline of the electrical configuration of the vehicle control device 1 according to this embodiment. As shown in FIG. 2, the vehicle control device 1 includes a control unit 2, an object detection sensor 3, a bed detection sensor 4, an angle detection sensor 5, a communication unit 6, a traveling unit 7, and an actuator 8.

[0015] The control unit 2 is an electronic control unit that controls the vehicle control device 1, and is configured by a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). Details of the control unit 2 will be described later.

[0016] The object detection sensor 3 is a sensor that detects objects around the vehicle. The object detection sensor 3 is installed, for example, on top of the cabin 92, and detects objects in the area ahead of the vehicle 9. The object detection sensor 3 may be capable of detecting objects in the areas to the left and right of the vehicle 9 or in the area behind the vehicle 9. For example, a LiDAR (Light Detection And Ranging) is used as the object detection sensor 3. That is, the object detection sensor 3 detects objects around the vehicle 9 using light such as a laser or infrared light. The object detection sensor 3 is electrically connected to the control unit 2 and outputs a detection signal to the control unit 2. Note that a sensor other than a LiDAR may be used as the object detection sensor 3 as long as it can detect objects around the vehicle 9.

[0017] The loading platform detection sensor 4 is a sensor that detects objects such as cargo 93 loaded on the loading platform 91. For example, a LiDAR is used as the loading platform detection sensor 4. In this case, the loading platform detection sensor 4 is installed at the upper front part of the loading platform 91 and detects the area inside the loading platform 91. The loading platform detection sensor 4 is electrically connected to the control unit 2 and outputs a signal including a detection signal to the control unit 2. Furthermore, sensors other than LiDAR, such as a weight sensor or an image sensor, may be used as the loading platform detection sensor 4. For example, the weight sensor is a sensor that detects the weight loaded on the loading platform 91 and can detect cargo 93 remaining on the loading platform 91 by subtracting the weight when there is no cargo 93 from the currently detected weight. The image sensor is an imaging device such as a camera and outputs a detection signal of an image captured inside the loading platform 91 to the control unit 2.

[0018] The angle detection sensor 5 is a sensor that detects the tilt angle of the loading platform 91. This angle detection sensor 5 may be, for example, a sensor installed in the vehicle 9, or may be a sensor that detects the tilt angle based on the amount of operation of the actuator 8 that tilts the loading platform 91. The angle detection sensor 5 is electrically connected to the control unit 2, and outputs a signal including the tilt angle of the loading platform 91 to the control unit 2.

[0019] The communication unit 6 is a communication device for wirelessly communicating with the outside of the vehicle control device 1. For example, the communication unit 6 communicates with a remote control device (not shown). The remote control device is a device for remotely controlling the vehicle control device 1 and the vehicle 9, and is operated by an operator. The communication unit 6 is electrically connected to the control unit 2, and receives control signals, command signals, etc., and outputs them to the control unit 2. The communication unit 6 also transmits a position signal of the vehicle 9 to an external management facility. The position signal corresponds to, for example, a position information signal of the vehicle 9, including longitude and latitude, acquired from a GPS (Global Positioning System) or the like.

[0020] The driving unit 7 is a device that drives, steers, and brakes the vehicle 9 upon receiving control signals from the control unit 2. For example, the driving unit 7 is composed of a driving ECU (Electronic Control Unit), a steering ECU, a braking ECU, and the like. The driving ECU is an electronic control unit that controls the operation of driving sources such as an engine and a motor. The driving ECU outputs an operating signal to the engine, the motor, and the like based on a control signal from the control unit 2, causing the vehicle 9 to drive. The steering ECU is an electronic control unit that controls the steering of the vehicle 9. The steering ECU outputs an operating signal to a motor that applies steering force to a steering mechanism based on a control signal from the control unit 2, causing the vehicle 9 to turn. The braking ECU is an electronic control unit that controls the hydraulic pressure of the brakes. For example, the braking ECU adjusts the hydraulic pressure of the brakes based on a control signal from the control unit 2, causing the vehicle 9 to slow down or stop.

[0021] The control unit 2 includes a travel control unit 21, a loading platform control unit 22, an inclination determination unit 23, a load determination unit 24, a remaining unloading control unit 25, and a memory unit 26. The travel control unit 21, the loading platform control unit 22, the inclination determination unit 23, the load determination unit 24, and the remaining unloading control unit 25 may be configured, for example, by installing software or programs that execute the respective functions into the control unit 2. Furthermore, all or some of the travel control unit 21, the loading platform control unit 22, the inclination determination unit 23, the load determination unit 24, and the remaining unloading control unit 25 may be provided as individual controllers.

[0022] The driving control unit 21 controls the driving, steering, and braking of the vehicle 9. For example, the driving control unit 21 drives the vehicle 9 along a preset route, and steers or brakes the vehicle 9 when an obstacle is encountered. The route along which the vehicle 9 travels may be preset in the control unit 2, or may be set via an external signal. The driving control unit 21 outputs a control signal to the driving unit 7 to operate driving devices such as an engine and a motor.

[0023] The loading platform control unit 22 outputs an actuation signal to the actuator 8 to control the tilt state of the loading platform 91. For example, upon receiving an unloading command signal, the loading platform control unit 22 outputs an actuation signal to the actuator 8, causing the actuator 8 to extend. As a result, the loading platform 91, which was in a horizontal state, gradually tilts, and the unloading operation is performed.

[0024] The tilt determination unit 23 determines whether the loading platform 91 has tilted to a preset angle due to the unloading operation. For example, the maximum tilt angle of the loading platform 91 is set as the preset angle. The maximum tilt angle is the angle at which the loading platform 91 is most tilted due to the structure of the tilt mechanism of the loading platform 91. Note that the preset angle may also be set to an angle other than the maximum tilt angle. The tilt determination unit 23 recognizes the tilt angle of the loading platform 91 based on the detection signal of the angle detection sensor 5.

[0025] When an unloading operation is performed, the cargo determination unit 24 determines whether or not cargo 93 remains on the loading platform 91. For example, the cargo determination unit 24 determines whether or not cargo 93 remains on the loading platform 91 based on a signal output by the loading platform detection sensor 4. Specifically, the cargo determination unit 24 determines that no cargo 93 remains on the loading platform 91 when less than a predetermined amount of cargo 93 remains on the loading platform 91, and determines that cargo 93 remains on the loading platform 91 when more than a predetermined amount of cargo 93 remains on the loading platform 91.

[0026] When the cargo determination unit 24 determines that cargo 93 remains on the loading platform 91, the remaining cargo unloading control unit 25 causes the remaining cargo 93 to be unloaded. For example, when the cargo determination unit 24 determines that cargo 93 remains on the loading platform 91 and there is space in front of the vehicle 9 to move forward, the remaining cargo unloading control unit 25 causes the vehicle 9 to move forward and unload the remaining cargo 93 on the loading platform 91. Specifically, the remaining cargo unloading control unit 25 outputs a control signal to the traveling unit 7 to move the vehicle 9 forward to a predetermined position. As a result, the cargo 93 that has piled up at the rear of the loading platform 91 and has not been ejected can be ejected from the loading platform 91, as shown in FIG. 4 .

[0027] Furthermore, when the cargo determination unit 24 determines that cargo 93 remains on the loading platform 91 and there is no space in front of the vehicle 9 to move forward, the remaining cargo unloading control unit 25 increases or decreases the tilt angle of the loading platform 91 to unload the cargo 93 remaining on the loading platform 91. For example, the remaining cargo unloading control unit 25 outputs a control signal to the actuator 8, and expands or contracts the actuator 8 to increase or decrease the tilt angle of the loading platform 91 and discharge the cargo 93 remaining on the loading platform 91.

[0028] The memory unit 26 is a storage device that stores data used for controlling the traveling operation, the remaining unloading operation, etc. For example, the traveling route in the traveling control of the vehicle 9, the forward position and speed in the remaining unloading operation, etc. are recorded in the memory unit 26.

[0029] Next, the operation of the vehicle control device 1 according to this embodiment will be described.

[0030] Fig. 3 is a flowchart showing the operation of the vehicle control device 1 according to this embodiment. This flowchart is started, for example, when the vehicle 9 arrives at an unloading point, and is executed by the control unit 2. For example, at a construction site or the like, the vehicle 9 is loaded with a cargo 93 such as earth, sand, aggregate, etc. in the loading platform 91 of the vehicle 9, and travels autonomously to the unloading point. Then, when the vehicle 9 arrives at the unloading point for the cargo 93, the unloading control process shown in the flowchart of Fig. 3 is executed.

[0031] First, as shown in step S10 of FIG. 3 (hereinafter simply referred to as "S10," the same applies to subsequent steps S), an unloading operation process is performed. The unloading operation process is a process of tilting the horizontal loading platform 91 to perform an unloading operation. That is, the loading platform control unit 22 outputs an actuation signal to the actuator 8, causing the actuator 8 to operate so as to extend. Therefore, as shown in FIG. 1, the extension of the actuator 8 causes the loading platform 91 to tilt backward, and the tilt angle of the loading platform 91 increases. As a result, the cargo 93 on the loading platform 91 is ejected from the loading platform 91.

[0032] 3, where it is determined whether the platform 91 has tilted to a predetermined angle due to the unloading operation. For example, the tilt determination unit 23 determines whether the platform 91 has tilted to a preset angle during the unloading operation processing of S10. If it is determined in S12 that the platform 91 has not tilted to the preset angle, the process returns to S10 and the unloading operation processing continues.

[0033] On the other hand, if it is determined in S12 that the loading platform 91 has tilted to a preset angle, it is determined whether or not there is any cargo 93 remaining on the loading platform 91 (S16). For example, the cargo determination unit 24 determines whether or not there is any cargo 93 remaining on the loading platform 91 based on the output signal of the loading platform detection sensor 4. Specifically, the cargo determination unit 24 determines that there is no cargo 93 remaining on the loading platform 91 when there is less than a predetermined amount of cargo 93 remaining on the loading platform 91. On the other hand, the cargo determination unit 24 determines that there is any cargo 93 remaining on the loading platform 91 when there is a predetermined amount or more of cargo 93 remaining on the loading platform 91.

[0034] If it is determined in S16 that no cargo 93 remains on the loading platform 91, the process proceeds to S24, where a dump-down operation process is performed. The dump-down operation process is a process for lowering the tilted loading platform 91 to a horizontal position. For example, the loading platform control unit 22 outputs an actuation signal to the actuator 8, causing the actuator 8 to contract. Therefore, the contraction of the actuator 8 lowers the loading platform 91 to a horizontal position.

[0035] On the other hand, if it is determined in S16 that there is load 93 remaining on the loading platform 91, the process proceeds to S18, where it is determined whether or not there is space ahead of the vehicle 9 to move forward. For example, the travel control unit 21 determines whether or not there is space ahead of the vehicle 9 to move forward based on a detection signal from the object detection sensor 3. Here, the space ahead is set to be, for example, an area having a length of any one of 1 to 3 meters in the forward direction of the vehicle 9. Furthermore, the device that detects the space ahead is not limited to the object detection sensor 3, as long as it is capable of detecting the space ahead. For example, it may be determined whether or not there is space ahead of the vehicle 9 to move forward using a detection signal from a sensor installed at a construction site or the like.

[0036] If it is determined in S18 that there is space in front of the vehicle 9 to move forward, a process for unloading remaining cargo by moving forward is performed (S20). This process for unloading remaining cargo by moving forward is a process for moving the vehicle 9 forward to unload the cargo 93 remaining on the loading platform 91. For example, the remaining cargo unloading control unit 25 outputs a control signal to the traveling unit 7 to move the vehicle 9 forward to a predetermined position. As a result, as shown in FIG. 4, the cargo 93 that has piled up behind the loading platform 91 and has not been unloaded can be unloaded from the loading platform 91. Here, the predetermined position is a position about 1 to 3 m ahead of the vehicle 9.

[0037] On the other hand, if it is determined in S18 that there is no space in front of the vehicle 9 to move forward, a process for unloading remaining cargo by increasing or decreasing the inclination is performed (S22). The process for unloading remaining cargo by increasing or decreasing the inclination is a process for increasing or decreasing the inclination angle of the loading platform 91 of the vehicle 9 to unload the cargo 93 remaining on the loading platform 91. For example, the remaining cargo unloading control unit 25 outputs a control signal to the actuator 8 to cause the actuator 8 to extend or contract. This increases or decreases the inclination angle of the loading platform 91, and the loading platform 91 swings, allowing the cargo 93 remaining on the loading platform 91 to be unloaded.

[0038] Then, the process proceeds to S24, where dump-down operation processing is performed. This dump-down operation processing is processing for lowering the tilted cargo bed 91 to a horizontal state as described above. Once the dump-down operation processing of S24 is completed, the series of control processing in FIG. 3 ends.

[0039] As described above, according to the vehicle control device 1 of this embodiment, the platform 91 is tilted at the unloading point for the cargo 93 to unload the vehicle 9, and if any cargo 93 remains on the platform 91, a remaining cargo unloading operation is performed. Therefore, the cargo 93 can be efficiently unloaded from the platform 91 by automatic control, and unloading can be performed accurately so that no cargo 93 remains on the platform 91. Furthermore, by not performing a remaining cargo unloading operation if no cargo 93 remains after tilting the platform 91, unnecessary remaining cargo unloading operations can be omitted, thereby improving the efficiency of the unloading work.

[0040] Furthermore, according to the vehicle control device 1, when there is space to move the vehicle 9 forward, the vehicle 9 is moved forward to unload the remaining cargo 93 remaining on the loading platform 91. Therefore, by moving the vehicle forward when there is space, the remaining cargo can be safely unloaded by moving the vehicle forward.

[0041] Furthermore, according to the vehicle control device 1, when there is no space to move the vehicle 9 forward, the inclination angle of the loading platform 91 is increased or decreased as a remaining-load unloading operation, thereby unloading the cargo 93 remaining on the loading platform 91. Therefore, even when there is no space to move the vehicle 9 forward, the remaining-load unloading operation can be performed to prevent the cargo 93 from remaining.

[0042] Although each embodiment of the present invention has been described, these embodiments describe only some of the embodiments of the vehicle control device according to the present invention, and the vehicle control device according to the present invention is not limited to those described in the above embodiments. The vehicle control device according to the present invention may be a vehicle control device obtained by modifying the vehicle control device according to the above embodiments or applying it to other applications without departing from the gist of the claims.

[0043] For example, although the vehicle control device 1 according to the above-described embodiment has been described as being installed in an automatically traveling vehicle 9, the vehicle on which the vehicle control device 1 is installed may also be a vehicle that is manually driven by a driver. In this case, an operation unit equipped with input means such as switches, buttons, and levers is used instead of the communication unit 6. For example, an unloading operation is performed by operating the operation unit, and if cargo 93 remains, the remaining cargo unloading operation is performed by automatic control. [Explanation of symbols]

[0044] 1...vehicle control device, 2...control unit, 3...object detection sensor, 4...loading platform detection sensor, 5...angle detection sensor, 6...communication unit, 7...driving unit, 8...actuator, 9...vehicle, 21...driving control unit, 22...loading platform control unit, 23...inclination determination unit, 24...load determination unit, 25...remaining load unloading control unit, 26...memory unit, 91...loading platform, 91a...gate board, 92...cabin, 93...load, 95...frame.

Claims

1. A vehicle control device for controlling a vehicle having a loading platform, a loading platform control unit that performs an unloading operation by tilting the loading platform of the vehicle from a horizontal state; an inclination determination unit that determines whether the loading platform has inclined to a preset angle due to the unloading operation; a cargo determination unit that determines whether or not a cargo remains on the loading platform when the tilt determination unit determines that the loading platform has tilted to a predetermined angle; a remaining unloading control unit that, when the cargo determination unit determines that the cargo remains on the loading platform, performs a remaining unloading operation to unload the cargo remaining on the loading platform, and, when the cargo determination unit determines that the cargo does not remain on the loading platform, does not perform the remaining unloading operation; Equipped with The remaining cargo unloading control unit is a vehicle control device that, when there is no space to move the vehicle forward, increases or decreases the inclination angle of the loading platform as the remaining cargo unloading operation to unload the cargo remaining on the loading platform.

2. the remaining unloading control unit, when there is space to move the vehicle forward, moves the vehicle forward as the remaining unloading operation to unload the cargo remaining on the loading platform; The vehicle control device according to claim 1 .

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