JP2010154609A - Combination of vehicles, physical distribution system, and method and program for controlling combination of vehicles - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently couple or decouple multiple trailing trucks or dollies. <P>SOLUTION: A combination 1 of vehicles includes: a tow car 2; a first trailing truck 4 coupled with the tow car 2 through a coupler 3; and a second trailing truck 4a coupled with the first trailing truck 4 through a first dolly 5. The dolly 5 includes: a motor 11 as a power source; a battery 12 as a power supply to the motor 11; and a self-propelling control unit 13 for self-propelling using this motor 11 as a power source. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a connected vehicle, a distribution system, a connected vehicle control method, and a program.

  Currently, automobile exhaust gas regulations are being actively promoted to prevent global warming. Under such circumstances, in addition to the reduction of fuel consumption and emission gas by the automobile itself, efficient transportation or logistics infrastructure development is required. Further, in addition to these, reduction of fuel consumption and emission gas by the introduction of next-generation ITS (Intelligent Transport System) utilizing information communication and electronic control technology is being studied (for example, Non-Patent Document 1). reference).

Industry Competitiveness Roundtable 2006 Promotion Theme Report, “Proposal for Realizing Transport Logistics Renaissance”, April 5, 2007

  As an example of this next-generation ITS, it is conceivable to install a plurality of terminal stations for loading and unloading luggage along the expressway at intervals, and to provide a dedicated lane for freight transportation as a connection between these terminal stations. . The dedicated lane is preferably a road with as few sharp curves and steep slopes as possible. When such a road is employed, a large truck or a multi-connected vehicle can be safely operated with less energy. In addition, in the case of the idea of providing such a dedicated lane, it is preferable to set the system so that individual vehicles do not operate autonomously but operate efficiently based on unified management. Thereby, it is possible to avoid a decrease in the efficiency of freight transportation due to traffic jams or the like.

  The dedicated lane described above is preferably a road with as few sharp curves and steep slopes as possible. In order to make the best use of such road characteristics, it is preferable that the vehicle traveling on the road be a vehicle specialized in this dedicated lane. For example, it is possible to introduce a multi-connected vehicle that has been difficult to realize so far.

  Assuming that such a multi-connected vehicle is introduced, it is expected that cargo loading and unloading operations and cargo distribution operations at the terminal station will become complicated. For example, from one main base to the other main base, a large number of towed vehicles are transported by a long connected vehicle connected to one towed vehicle. And when it arrives at the terminal station of the main base, it is expected that the towed vehicles will be separated or connected frequently, such as separating the towed vehicles individually and connecting them to the towed vehicles for each region. Is done.

  However, the towed vehicle does not have power and cannot run on its own. Therefore, it is necessary for the towed vehicle to pick up the towed vehicle to the place where the towed vehicle is placed and to connect the towed vehicle by moving the towed vehicle backward. At this time, if one towed vehicle is connected to one towed vehicle, there is not much difficulty in this work. However, when connecting a plurality of towed vehicles to one towed vehicle, this connecting operation becomes extremely difficult.

  Considering the current system, a connecting cart called a dolly is inserted between the towed vehicle and the towed vehicle that follows the towed vehicle. Therefore, after connecting the towed vehicle to the towed vehicle, the dolly is connected to the towed vehicle, and the subsequent towed vehicle is connected to this dolly. At this time, since both the dolly and the towed vehicle have no power, the tow vehicle pulls the towed vehicle and goes to the dolly or towed vehicle that is to be connected. Connect cars.

  Further, if the tow vehicle is towing one towed vehicle, the connected vehicle can move backward. However, when the towing vehicle is towing a plurality of towed vehicles and the connected vehicle moves backward, the connecting part of the dolly and the towed vehicle swings to the left and right, and the backward movement becomes extremely difficult. Therefore, when performing the connection work, the dolly or the towed vehicle is connected to the connected vehicle that is stopped by moving the dolly or the towed vehicle to be connected. At this time, since the dolly and the towed vehicle do not have power, it is necessary to assist human hands and special equipment for moving the dolly and the towed vehicle. In this way, in a connected vehicle having a plurality of towed vehicles, the connecting and disconnecting operations of the dolly and the towed vehicle are extremely complicated operations.

  The present invention has been made under such a background, and is capable of efficiently connecting or disconnecting a plurality of towed vehicles or dollies, a connected vehicle, a distribution system, a connected vehicle control method, and The purpose is to provide a program.

  The connected vehicle of the present invention includes a tow vehicle, a first towed vehicle connected to the towed vehicle, and a second towed vehicle connected to the first towed vehicle via a first dolly. The dolly includes an electric motor as a power source and a battery as a power source of the electric motor, and includes a self-running means that self-runs using the electric motor as a power source. Furthermore, one or more pairs of the dolly and the towed vehicle can be connected after the second towed vehicle.

  Further, steering means for changing the traveling direction of the dolly when the dolly is self-propelled can be provided. For example, the steering means can change the traveling direction of the dolly by adjusting the difference in rotational speed between two electric motors respectively provided on the left and right wheels. That is, it is good also as a structure which equips each at least 1 pair of wheel of a dolly with an electric motor, respectively.

  In addition, the towed vehicle includes an optical signal transmission unit for clearly indicating a connection point with the own dolly by an optical signal to the dolly, and the dolly includes an optical signal receiving unit that receives the optical signal, and the optical signal. Autonomous connection means can be provided that guides its own connection location to the connection location of the towed vehicle using self-propelled means based on the optical signal received by the reception means.

  The physical distribution system of the present invention can include remote control means for remotely controlling the self-propelled means in the physical distribution system including the connected vehicle of the present invention. At this time, the remote control means may centrally remotely control a plurality of dollies.

  Furthermore, the connection operation | work implementation means which implements the connection operation | work of a dolly and a towed vehicle via a remote control means can be provided.

  Moreover, the connection work execution means can perform a connection work from the side closer to the towing vehicle in order of increasing weight among the plurality of towed vehicles to form a series of connected vehicles. At this time, the towed vehicle can be provided with weight notification means for notifying its own weight to the connection work execution means.

  Moreover, the charging equipment which supplies the power supply for charge with respect to the battery of a dolly can be provided, and this charging equipment can be equipped with the means to charge with respect to the dolly in a predetermined position.

  The dolly further includes a charging state notifying unit that notifies the remote control unit of the charging state of its own battery, and the remote control unit detects the battery whose charging state has become a predetermined state based on the notification from the charging state notifying unit. About the dolly which it has, it can guide to the predetermined position of charging equipment by remote control.

  Alternatively, autonomous control means may be provided instead of the above-described remote control means, and autonomous control may be performed instead of the above-described remote control.

  The method for controlling a connected vehicle of the present invention includes a tow vehicle, a first towed vehicle connected to the towed vehicle, and a second connected to the first towed vehicle via a first dolly. A method for controlling a connected vehicle including a towed vehicle includes a step of causing the dolly to self-run using an electric motor included in the dolly as a power source. Furthermore, after the second towed vehicle, a step of connecting one or more pairs of the dolly and the towed vehicle can be provided.

  In addition, it is possible to have a step of changing the traveling direction of the dolly when the dolly self-runs.

  In addition, the towed vehicle has a step of clearly indicating a connection point with the own dolly by an optical signal to the dolly, and the dolly receives the optical signal and a process of receiving the optical signal. And guiding the own connection location with respect to the connection location of the towed vehicle based on the received optical signal.

  Moreover, it can have the step which makes the dolly self-run by remote control. At this time, it may have a step of remotely controlling a plurality of dollies centrally.

  Moreover, it can have the step which implements the connection operation | work of a dolly and a towed vehicle by remote control.

  In addition, when processing the step of performing the connecting work by remote control, as the processing of the step of performing the connecting work by remote control, the connecting work is performed from the side closer to the towing vehicle in order of the weight among a plurality of towed vehicles. And a step of knitting a series of connected vehicles. At this time, the towed vehicle may have a step of notifying its own weight.

  In addition, a charging facility that supplies power for charging the battery of the dolly can include a step of charging the dolly at a predetermined position.

  In addition, the dolly has a step of notifying the charging state of its own battery, and a dolly having a battery whose charging state has become a predetermined state based on the processing of the step of notifying the charging state is controlled by remote control of the charging facility. There may be a step of guiding to a predetermined position.

  Alternatively, autonomous control may be performed instead of the remote control described above.

  The program of the present invention is installed in an information processing apparatus, and causes the information processing apparatus to execute the method for controlling a connected vehicle of the present invention.

  According to the present invention, it is possible to efficiently connect or disconnect a plurality of towed vehicles or dollies.

(About the structure of the connection vehicle 1 which concerns on the 1st Embodiment of this invention)
The structure of the connection vehicle 1 which concerns on the 1st Embodiment of this invention is demonstrated with reference to FIG. FIG. 1 is a diagram showing an external appearance of the connected vehicle 1. The connected vehicle 1 includes a tow vehicle 2 and a towed vehicle 4 connected to the tow vehicle 2 via a coupler 3. Furthermore, a towed vehicle 4 a connected to the towed vehicle 4 via the dolly 5 is provided. Furthermore, the towed vehicle 4b connected with the towed vehicle 4a and the dolly 5a is provided. The coupler 3 is attached to the upper part of the chassis 6 of the towing vehicle 2. A coupler 3 a is attached to the upper portion of the dolly 5. A coupler 3b is attached to the upper portion of the dolly 5a.

  The couplers 3, 3 a, 3 b have receiving holes (not shown) through which king pins (not shown) on the towed vehicles 4, 4 a, 4 b are inserted, and the towed vehicle 2, the towed vehicle 4, the dolly 5, The tow vehicle 4a, the dolly 5a and the towed vehicle 4b are connected to each other. Although not shown, following the towed vehicle 4b, the dolly and the towed vehicle are further connected, and the dolly and the towed vehicle are further connected to the towed vehicle. One or more pairs can be attached.

  The towed vehicle 4 and the dolly 5 or the towed vehicle 4a and the dolly 5a are connected to the towed vehicle 4 or 4a side (generally referred to as a pintle hook) and connected to the dolly 5 or 5a side. A device (generally called Lunett Eye) is connected by coupling.

  Furthermore, the tow vehicle 2 includes an engine 10 as a power source. The dolly 5 includes a motor 11 as a self-propelled means, and the dolly 5a includes a motor 11a as a self-propelled means as a power source. The dolly 5 includes a battery 12 as a power source for the electric motor 11, and the dolly 5a includes a battery 12a as a power source for the electric motor 11a. The dolly 5, 5a includes self-running control units 13, 13a as self-running means for controlling the electric motors 11, 11a and the batteries 12, 12a to control the self-running of the dolly 5, 5a, respectively. Furthermore, steering mechanisms 14 and 14a are provided as steering means for changing the advancing direction of the dollies 5 and 5a when the dollies 5 and 5a travel by themselves.

  Further, the dollies 5 and 5a include wireless communication units 15 and 15a, respectively. These wireless communication units 15 and 15 a transmit and receive wireless signals to and from the remote control device 16. Thereby, the radio communication units 15 and 15a can give a command to the self-running control units 13 and 13a based on a command from the remote control device 16. Note that the remote control device 16 is provided in a management device that centrally manages a large number of dollies 5 and 5a even if the remote control device 16 is a handy type that is held by each user as an operator. May be of any type. Then, the remote control device 16 may be configured to centrally remotely control a large number of dollies 5 and 5a.

  As described above, various techniques such as frequency division multiplexing, time division multiplexing, and code division multiplexing are known as a technique for one remote control device 16 to remotely control a large number of dollies 5 and 5a. In addition, such multiplex communication technology is being continuously developed, and many new multiplex communication technologies are being proposed in the future. Therefore, the state-of-the-art technology at that time should be introduced for the multiplex communication technology applied to the remote control device 16. Therefore, any technique may be applied to the multiplex communication technique applied to the remote control device 16.

  Further, the wireless communication units 15 and 15a can clearly distinguish between the wireless signal of the remote control device 16 and the wireless signal or noise from other than that. Various techniques are known as radio signal identification techniques for distinguishing between a specific radio signal and other radio signals. In addition, such wireless signal identification technology is continuously developed, and many new technologies are proposed in the future. Therefore, the state-of-the-art technology at that time should be introduced for the radio signal identification technology applied to the radio communication units 15 and 15a. Therefore, any technique may be applied as the radio signal identification technique applied to the radio communication units 15 and 15a.

  Next, a state in which the connection of the connected vehicle 1 is removed is shown in FIGS. FIG. 2 is a diagram showing the tow vehicle 2. FIG. 3 shows the towed vehicles 4, 4a, 4b. FIG. 4 is a diagram showing the dolly 5. The dolly 5a has the same configuration as that shown in FIG. Each configuration of the tow vehicle 2 shown in FIG. 2, the towed vehicles 4, 4 a, 4 b shown in FIG. 3 and the dolly 5 shown in FIG. 4 has already been made in the description based on FIG. 1. Omitted.

  In addition, like the connected vehicle 1A of the modified example of the first embodiment shown in FIG. 5, the wheels of the towed vehicles 4A, 4aA, 4bA, and the dollies 5A, 5aA may each be one axis (one pair of tires). .

  Next, the main configuration of the dolly 5 will be described with reference to FIG. Further, in FIG. 6, only one pair of wheels (tires) is shown in order to simplify the drawing. The dolly 5A, 5a, and 5aA have the same configuration as the dolly 5. The dolly 5 includes an inverter 20 as shown in FIG. 6 in addition to the electric motor 11, the battery 12, the self-running control unit 13, the steering mechanism unit 14, and the wireless communication unit 15 shown in FIGS. 1 and 4. The inverter 20 supplies the instructed electric power from the battery 12 to the electric motor 11 based on the electric motor torque instruction from the self-running control unit 13. The electric motor torque instruction is transmitted from the remote control device 16 to the wireless communication unit 15 by a wireless signal, and further transmitted to the self-running control unit 13. The self-running control unit 13 notifies the remote control device 16 of the execution result of the self-running control via the wireless communication unit 15.

  Next, a more practical configuration of the dolly 5 is shown in FIG. The configuration of FIG. 7 is the same in 5A, 5a, and 5aA. In the dolly 5, in addition to the components already described, a 24V small battery 30, a DC converter 31, a battery ECU 32, an electric motor ECU 33, a management ECU 34 that manages these in an integrated manner, and the like are provided via an in-vehicle LAN (Local Aria Network) 35. The self-running control unit 13 and the wireless communication unit 15 are connected to each other. The battery 12 includes a plurality of battery modules # 1 to #n. Each battery module # 1 to #n is provided with a DC converter 36.

  The 24V small battery 30 of the dolly 5 is a battery that generates a voltage of 24V, and is connected to the battery 12 via the DC converter 31. Thereby, the 24V small battery 30 can be charged by receiving power from the battery 12. The 24V small battery 30 serves as a power source for each part included in the in-vehicle LAN 35. Battery modules # 1 to #n of battery 12 are detachable, and the number of battery modules # 1 to #n can be arbitrarily changed. The DC converter 36 individually adjusts the voltage for each of the battery modules # 1 to #n. The management ECU 34 of the dolly 5 is an ECU that manages the communication environment of the in-vehicle LAN 35 and is not necessary for the description of the operation of the embodiment of the present invention. In addition, in FIG. 6, although the double tire was illustrated, this may be a single tire. Further, although only one pair of wheels (one axis) is illustrated, this may be two pairs (two axes) or more.

  In the following description, only the pair of dolly 5 and the towed vehicle 4a connected to the dolly 5 will be described, but the towed vehicle connected to the dolly 5A, 5a, 5aA and the dolly 5A, 5a, 5aA. The same applies to the pair 4b. In the following description, only the connected vehicle 1 will be described, but the same applies to the connected vehicle 1A.

(About the details of the steering mechanism 14 of the dolly 5)
Next, the detail of the steering mechanism part 14 of the dolly 5 is demonstrated. As shown in FIG. 8, the steering mechanism 14 of the dolly 5 includes a steering wheel 40, a shaft 41, a cylinder 42, a spur gear 43, a foam gear 44, and a detent bar 45 that can come into contact with the ground 39. The anti-rotation rod fixing portion 46, the anti-rotation rod guide 47, and the air hole 48 are included. Further, as shown in FIG. 9, a step motor 49 for driving the worm gear 44 is provided.

  The steering mechanism unit 14 is controlled by a self-running control unit 13 that performs control based on an instruction from the remote control device 16. That is, when the self-running control unit 13 receives an instruction from the remote control device 16, the self-running control unit 13 gives a command to the step motor 49 based on this instruction. In response to this command, the step motor 49 rotates the worm gear 44 by the indicated amount in the direction indicated by the remote control device 16. As the worm gear 44 rotates with the shaft of the step motor 49, the spur gear 43 rotates in a direction orthogonal to the rotation direction of the worm gear 44. The cylinder 42 is fixed to the inner peripheral portion of the spur gear 43. Therefore, when the spur gear 43 rotates, the cylinder 42 rotates accordingly.

  A shaft 41 is accommodated in the cylinder 42. Airtightness is maintained between the outer periphery of the shaft 41 and the inner wall of the cylinder 42. That is, the shaft 41 plays the role of a piston with respect to the cylinder 42. Further, a rotation preventing rod 45 is fixed to the shaft 41 by a rotation preventing rod fixing portion 46. The detent bar 45 passes through a detent bar guide 47 attached to the cylinder 42. Thereby, when the cylinder 42 rotates with the rotation of the spur gear 43, the shaft 41 also rotates together with the cylinder 42. Thereby, the wheel 40 can be rotated in the direction specified based on the instruction from the remote control device 16.

  Further, the steering mechanism unit 14 is necessary when the dolly 5 is self-propelled, but is unnecessary otherwise. Therefore, when air pressure is pressurized from the air hole 48 into the cylinder 42, a part of the shaft 41 is pushed out of the cylinder 42 by air pressure. As a result, the wheel 40 contacts the ground 39. Further, when the air pressure is reduced from the air hole 48, a part of the shaft 41 is accommodated in the cylinder 42. As a result, the wheel 40 moves away from the ground 39. As the air pressure, the air pressure supplied from the towing vehicle 2 for driving the brake of the towed vehicle 4a or for driving the air suspension can be used. However, when reducing the air pressure, it is necessary to separately provide an air pump for reducing the pressure. If such an air pump is omitted, the air pressure is increased when the shaft 41 is extended, and the pressure is released as in the steering mechanism 14A which is a modification of the steering mechanism 14 shown in FIG. The shaft 41 may be accommodated in the cylinder 42 by the contraction force of the spring 50. This eliminates the need for an air pump for reducing the air pressure.

(About Dolly 5B, which is a modification of Dolly 5)
Next, a dolly 5B, which is a modification of the dolly 5, will be described with reference to FIG. The main difference between the dolly 5B and the dolly 5 is that the dolly 5B includes a wheel-in motor 11L on the left wheel and a wheel-in motor 11R on the right wheel, instead of the electric motor 11 of the dolly 5. In addition, in FIG. 11, although illustrated about one pair (one axis | shaft) wheel, two pairs (two axes) or more may be sufficient. In the case of a plurality of pairs of wheels, the wheel-in motors may be disposed on all of the wheels, but the wheel-in motors may be disposed on only some of the pairs.

  By using the wheel-in electric motors 11L and 11R as shown in FIG. 11, this can be operated as the steering mechanism portion 14B. That is, when the dolly 5B is moved straight in the direction of the arrow W, the rotational speeds of the wheel-in motors 11L and 11R are controlled so as not to cause a difference in rotational speed between the wheel-in motors 11L and 11R. On the other hand, in order to turn the dolly 5B to the right while moving in the arrow W direction, control is performed so that the rotational speed of the left wheel-in motor 11L is faster than the rotational speed of the right wheel-in motor 11R. . Further, in order to turn the dolly 5B to the left while proceeding in the arrow W direction, control is performed so that the rotational speed of the right wheel-in motor 11R is faster than the rotational speed of the left wheel-in motor 11L. . Thus, the steering mechanism parts 14 and 14A can be omitted by using the wheel-in motors 11L and 11R.

  In addition, using the wheel-in electric motors 11L and 11R for the dolly 5B can provide an optimum condition as the installation condition of the wheel-in electric motor. This is because the wheel of the dolly 5B is not provided with a brake mechanism. That is, in general, a wheel including a brake mechanism includes a brake pad and a metal disk or a metal drum that generates a braking force by contacting the brake pad. When the brake is driven, the brake pad comes into contact with the metal disk or the metal drum, so that the metal surface is worn and fine metal powder is generated.

  In a wheel-in motor mounted on a wheel having such a brake mechanism, a phenomenon occurs in which a magnet in the wheel-in motor attracts metal powder generated from the brake mechanism. Such metal powder causes a great damage to the wheel-in electric motor. For example, in an electric system in a wheel-in motor, it causes an insulation failure or a short circuit. Further, in the mechanical system of the wheel-in electric motor, it causes wear of the rotating shaft and corrosion of each member. Thereby, the lifetime of the wheel-in motor is remarkably shortened. On the other hand, the wheel of the dolly 5B is not provided with a brake mechanism. For this reason, there is no damage to the wheel-in motors 11L and 11R due to the adsorption of metal powder. Therefore, it can be said that the use of the wheel-in motors 11L and 11R for the dolly 5B is optimal as the installation condition of the wheel-in motor.

  The configuration of the dolly 5B can also be applied to any dolly configuration described below. However, the following description will be given for the dolly 5 and omitted for the dolly 5B, but the following description can also be applied to the dolly 5B.

  When the user remotely operates such a dolly 5 by the remote control device 16, the dolly 5 can be moved by self-propelled to a position desired by the user. As a result, it is possible to simplify and reduce the cost of moving the dolly, which conventionally requires the assistance of human hands or dedicated equipment. The remote control device 16 in the above description of the embodiment is suitable for a handy type used by an individual user.

  In this way, by connecting the dolly 5 alone or by driving the dolly 5 and the towed vehicle 4a connected thereto, it is possible to efficiently connect or disconnect a plurality of towed vehicles or the dolly. . However, it is necessary for the user to manually perform the final stroke of the connecting operation between the dolly 5 or the towed vehicle 4a connected to the dolly 5 and the towed vehicle 2 or another towed vehicle or the dolly. On the other hand, an embodiment capable of autonomously performing the final connection work will be described below as an embodiment of the physical distribution system.

(About the logistics system according to the first embodiment of the present invention)
Next, a logistics system using the above-described connected vehicle 1 and the remote control device 16 as basic components, and further including the dollies 5C, 5D, and 5E, the towed vehicles 4B and 4C, and the connected vehicle 1B connecting these to each other. A first embodiment will be described with reference to FIGS.

  In the embodiments described above and below, there are cases where “remote operation by the remote control device 16” is described and “remote control by the remote control device 16” is described. Here, the definition is clarified. The “remote operation by the remote control device 16” refers to a case where the user directly performs detailed control on the dolly 5 such as forward, backward, left turn, right turn, and speed adjustment. On the other hand, “remote control by the remote control device 16” means that the user only instructs the remote control device 16 of the desired processing content, and the control of the behavior of the dolly 5C, 5D, and 5E is performed by the remote control device 16. Is a case where the calculation is automatically performed from the instructed processing content. For example, this is a case where the processing content “connect the dolly 5a and the towed vehicle 4a” is instructed.

  In this embodiment, as shown in FIGS. 12 and 13, the dedicated lane 51 for driving a multi-connected vehicle such as the connected vehicle 1 </ b> B is used as the infrastructure among a plurality of upper and lower lanes. Provided on the end side. FIG. 12 is a view of the dedicated lane 51 and the terminal stations 53 and 54 as viewed from the side, and shows the arrangement of the remote control device 16. FIG. 13 is a view of the dedicated lane 51, the lanes 51a, 51b, 51c, and the terminal stations 53 to 56 as viewed from above. As this dedicated lane 51, for example, one lane 51 among a plurality of lanes 51, 51a, 51b, 51c of the highway 52 is used. Moreover, it is preferable that the exclusive lane 51 reduces steep slopes and sharp curves as much as possible. Furthermore, terminal stations 53, 54, 55 and 56 are installed in the dedicated lane 51. In these terminal stations 53 to 56, cargo can be loaded and unloaded on the connected vehicle 1B, and the connected formation of the connected vehicle 1B can be changed. It is also preferable to provide a place for the driver to eat, rest or change.

  Note that the terminal stations 53 to 56 may not be arranged at positions where the upper and lower lines face each other, but may be arranged at different locations on the upstream line and the downstream line. Furthermore, although the terminal stations 53 to 56 are installed so as to cover the dedicated lane 51 in FIG. 13, they are arranged so as to cover all of the plurality of lanes 51, 51 a, 51 b, 51 c, It may be arranged so as to be adjacent to the exclusive lane 51 without covering.

(About embodiment of autonomous connection mechanism and autonomous connection processing)
Next, an embodiment of an autonomous connection mechanism and an autonomous connection process in the connected vehicle 1B will be described with reference to FIGS. This autonomous connection mechanism is for autonomous connection processing that is executed when an autonomous connection execution instruction is issued from the remote control device 16 in a situation where the towed vehicle 4B and the dolly 5C are in a predetermined positional relationship. Mechanism. The predetermined positional relationship is a positional relationship in which a marker signal emitted from the light emitting device 60 provided in the towed vehicle 4B can be received by the light receiving device 61 provided in the dolly 5C.

FIG. 14 shows a light emitting device 60 as an autonomous connection mechanism and a GPS (Global
It is a block diagram of the towed vehicle 4B provided with the Positioning System) apparatus 61. FIG. FIG. 15 is a configuration diagram of a dolly 5C including a light receiving device 62 and a GPS device 63 as an autonomous connection mechanism. In the towed vehicle 4B, a support member 64 for holding the towed vehicle 4B on the spot is installed on the side opposite to the side (rear part) where the light emitting device 60 is provided (front part). The support member 64 is provided separately from the towed vehicle 4B, but may be provided on the towed vehicle 4B. In the state shown in FIG. 14, it is preferable that the tip end touches the ground 39 and that the tip moves away from the ground 39 when the dolly is connected, that is, it can be expanded and contracted. The support member 64 may be configured to automatically retract when the dolly approaches and the dolly comes to support the towed vehicle so as not to disturb the operation.

  The light emitting device 60 in the towed vehicle 4B has a marker signal for clearly indicating to the light receiving device 62 of the dolly 5B the position of a connecting tool (generally referred to as a pintle hook) for the towed vehicle 4B to connect the dolly 5C. Is emitted.

  The light receiving device 62 in the dolly 5C receives the marker signal emitted from the light emitting device 60 of the towed vehicle 4B, and specifies the position of the connecting tool of the towed vehicle 4B. The light receiving device 62 of the dolly 5C receives the marker signal from the light emitting device 60 of the towed vehicle 4B, recognizes the positional relationship between the light emitting device 60 and its own light receiving device 62, and performs a self-running control unit of the dolly 5C. An instruction is given to 13. That is, if the light receiving device 62 of the dolly 5C receives the marker signal from the light emitting device 60 of the towed vehicle 4B as viewed from the light receiving center (not shown), for example, rightward, the light receiving device 62 is An instruction is given to the self-running control unit 13 so as to turn the traveling direction to the right.

  If the light receiving device 62 receives the marker signal from the light receiving device 60 as viewed from the light receiving center as a result of the right turn of the dolly 5C in response to this instruction, the light receiving device 62 will receive the dolly 5C. Gives an instruction to the self-propelled control unit 13 so as to go straight ahead. In this manner, the light receiving device 62 instructs the self-running control unit 13 with respect to the traveling direction of the dolly 5C depending on the angle at which the marker signal from the light emitting device 60 is received.

  In this way, the light receiving device 62 of the dolly 5C instructs the traveling direction of the dolly 5C to the self-running control unit 13 based on the light receiving direction of the marker signal from the light emitting device 60 of the towed vehicle 4B. Thereby, the connecting device (generally referred to as Lunet eye) of the dolly 5C approaches the connecting device of the towed vehicle 4B to be connected and finally connects. This is shown in FIG. It should be noted that the speed of the dolly 5C in this automatic connection process may be extremely low (for example, 3 km / h or less).

  Here, the procedure of the autonomous connection process will be described with reference to FIGS. 16 and 17. FIG. 17 is a flowchart showing a processing procedure of the remote control device 16 in the autonomous connection processing. First, the process of the previous step for performing an autonomous connection process is demonstrated. Such autonomous connection processing is performed in the terminal stations 53 to 56 prepared for freight transportation. In order to perform the autonomous connection process, it is necessary for the remote control device 16 to grasp the current positions and directions of the towed vehicle 4B and the dolly 5C. As an example, there is a method in which the towed vehicle 4B and the dolly 5C are provided with GPS devices 61 and 63, and the GPS devices 61 and 63 periodically transmit position information to the remote control device 16. .

  In addition, a unique ID (identification information) is assigned to the towed vehicle 4B and the dolly 5C, and the position information transmitted from the GPS devices 61 and 63 is from which towed vehicle 4B or dolly 5C. It is preferable to attach an ID so that it is clear whether it is a thing. Furthermore, it is preferable to designate which dory 5C is connected to which towed vehicle 4B by designating an ID.

  Furthermore, it is an essential condition that the light receiving device 62 of the dolly 5C can receive the marker signal emitted from the light emitting device 60 of the towed vehicle 4B. Therefore, the position information described above needs to include not only the position of the towed vehicle 4B and the dolly 5C but also azimuth information indicating which direction the light emitting device 60 and the light receiving device 62 are directed. Such azimuth information can be acquired by using the current GPS devices 61 and 63.

  Assume that the towed vehicle 4 </ b> B and the dolly 5 </ b> C to be connected are designated by the user to the remote control device 16 on the premise of the processing before the autonomous connection processing is performed. The ID described above can be used for this designation. First, the remote control device 16 first checks the current position and direction of the towed vehicle 4B to be connected by the method as described above (step S1). Next or in parallel with the process of step S1, the remote control device 16 confirms the position and orientation of the dolly 5C to be connected (step S2). Thereby, the remote control device 16 determines whether or not the towed vehicle 4B to be connected and the dolly 5C to be connected are in a positional relationship in which the autonomous connection processing can be performed (step S3). Here, as shown in the middle part of FIG. 16, the positional relationship in which the autonomous connection processing can be performed is that the marker signal emitted from the light emitting device 60 provided in the towed vehicle 4B is determined by the light receiving device 62 provided in the dolly 5C. The positional relationship is such that light can be received.

  In the determination in step S3, the positional relationship in which the towed vehicle 4B and the dolly 5C are difficult to execute the autonomous connection processing, for example, as shown in the upper part of FIG. 16, the distance between the light emitting device 60 and the light receiving device 62 exceeding 30 cm ( = Distance exceeding 30 cm until the completion of connection) (Yes in step S3), the remote control device 16 allows the dolly 5C to be in an appropriate position by remote control, for example, until the connection is completed as shown in the middle part of FIG. It moves to a distance within 30 cm (step S4). At this time, the remote control device 16 determines whether there is an obstacle on the moving path of the dolly 5C (step S5). Here, the obstacle is another towed vehicle 4B, another dolly 5C, or the own towed vehicle 2. That is, since the autonomous connection process shown in FIG. 17 is performed in the terminal stations 53 to 56 prepared for freight transportation, the other towed vehicles 4B, the other dolly 5C, or the other towed vehicles The premise is that there is no object that can be an obstacle other than 2.

  In addition, as described above, the position information of the towed vehicle 4B and the dolly 5C can be confirmed by the GPS devices 61 and 63, but the towed vehicle 2 may be an obstacle. (Not shown) is installed, and the remote control device 16 is notified of the position information. Also in this notification, the ID assigned to the towing vehicle 2 can be used.

  However, since a cargo placed in the terminal stations 53 to 56 may be an obstacle, the dolly 5C detects the obstacle with an image recognition device or a radar device and collides with the obstacle. It is preferable to mount a safety device that automatically makes an emergency stop or detours before the operation.

  In step S5, when there are obstacles such as another towed vehicle, another dolly, and the towed vehicle 2 on the moving route (Yes in step S5), the remote control device 16 searches for a detour route (step S5). S6). That is, the remote control device 16 performs the following operation. The remote control device 16 can recognize the towed vehicle 4B, the dolly 5C, and the towed vehicle 2 existing in the terminal stations 53 to 56 on one map. The remote control device 16 is provided with a member for generating and holding such a map (described later as a map information holding unit 93). Therefore, on this map, the remote control device 16 can search for a detour route. An example of this map is shown in FIG. In the example of FIG. 18, the towed vehicle # 2 is an obstacle on the shortest path (illustrated by a two-dot chain line) between the connection target dolly 5C and the connection target towed vehicle 4B. Therefore, the remote control device 16 searches for a detour route (shown by a solid line) for avoiding the towed vehicle # 2.

  Thereby, if there is a detour route (Yes in step S7), the remote control device 16 continues to move the dolly 5C by remote control (step S4). However, if the detour route cannot be searched (No in step S7), the remote control device 16 notifies the user to that effect (step S8). As a notification method, any method such as blinking of a lamp, sending of a message by synthesized voice, display on a display screen, and the like can be applied. The user who has received this notification will take appropriate measures manually.

  If the positional relationship is such that autonomous connection processing can be executed by the processing in steps S4, S5, S6, and S7 (No in step S3), the remote control device 16 issues an execution instruction for autonomous connection processing to the self-running control unit of the dolly 5C. 13 is transmitted (step S9). Thereby, as shown in the lower part of FIG. 16, when the connection process is completed (Yes in Step S10), the remote control device 16 ends the process.

  Regarding the confirmation of the end of the processing, the connection confirmation provided for the dolly 5C, the towed vehicle 4B, or the dolly 5C and the towed vehicle 4B that the connecting device for the dolly 5C and the connected device for the towed vehicle 4B are completely coupled. Confirmed by means (not shown). Then, it is preferable to notify the remote control device 16 of the completion of the connection with the ID of the dolly 5C and the towed vehicle 4B from the wireless communication unit 15 of the dolly 5C or the wireless transmitter (not shown) provided in the towed vehicle 4B. As the connection confirmation means, an existing one can be used.

  In addition, although the towed vehicle 4B of FIG. 16 is held in place by the support member 64 and does not move forward and backward, the towed vehicle 4B with a dolly may be used. In that case, instead of moving the towed vehicle 4B having the dolly 5C to the towed vehicle 4B to be connected by moving forward, etc., both the vehicles 4B, 4B or the towed vehicle 4B on the front side are moved. The cars 4B and 4B can be brought closer to each other.

(Embodiment of automatic coupling mechanism and automatic coupling process in consideration of weight of towed vehicle 4C)
Next, an embodiment of an automatic connection mechanism and an automatic connection process in consideration of the weight of the towed vehicle 4C in the connected vehicle 1B will be described with reference to FIG. The towed vehicle 4C has a configuration in which a shaft weight sensor 64 is added to the towed vehicle 4B. The axle load sensor 64 is provided on the axle of the towed vehicle 4C, and is a sensor that detects the increase / decrease state of the weight of the towed vehicle 4C. The detection result of the axle load sensor 64 is transmitted to the remote control device 16 by a wireless transmitter (not shown). In the present embodiment, information on the weight of the towed vehicle 4C is necessary, but the measurement method or estimation method is not limited to the method using the axle load sensor 64.

  For example, a weight meter for measuring the weight of the towed vehicle 4B may be installed at a predetermined location on the terminal stations 53 to 56, thereby measuring the weight of the towed vehicle 4B. Further, with respect to this measurement method, there are various methods such as a method of measuring the weight by placing the towed vehicle 4B on a weighing scale, and a method of estimating the weight by observing the behavior by applying a predetermined vibration to the towed vehicle 4B. Can take the right way. Alternatively, the weight of the towed vehicle 4B may be estimated by adding up the weights of actually loaded cargo without performing such measurement and estimation. In recent years, an apparatus has been developed that can attach a wireless cargo information providing device such as an IC tag to each cargo and automatically detect various information such as the weight of the cargo. If such an apparatus is used, it is easy to calculate the total weight of the loaded cargo after the cargo is loaded on the towed vehicle 4C.

  In this embodiment, the weight of the towed vehicle 4C is detected in this way, and the remote control device 16 performs the connecting operation on the towed vehicle 2 in descending order of weight among the plurality of towed vehicles 4C. The connected vehicle 1B having three or more towed vehicles 4C is formed. The procedure of this knitting process in the remote control device 16 is shown in the flowchart of FIG. When receiving an automatic connection instruction from the user (step S20), the remote control device 16 confirms the weights of the plurality of towed vehicles 4C to be connected (step S21). Then, the remote control device 16 sets the connection order in order from the heaviest towed vehicle 4C (step S22). When the remote control device 16 sets the connection order of all the towed vehicles 4C to be connected (Yes in step S23), the remote control device 16 performs the autonomous connection process described in the flowchart of FIG. 17 (step S24).

  In this way, the towed vehicle 4C connected immediately after the towed vehicle 2 is the heaviest, and the weight of the later towed vehicle 4C is reduced so that stability during braking can be ensured.

  FIG. 21 shows an example of a connection method of the connection vehicle 1B having three or more towed vehicles 4C. The connection method shown in FIG. 21 can be used for other towed vehicles in addition to the towed vehicle 4C. First, in step S25, the towed vehicle 4C is connected to the towed vehicle 2. In step S26, the single dolly 5C is self-propelled and moves forward to connect to the rear portion of the towed vehicle 4C. Wheels painted black in the figure represent drive wheels. Subsequently, in step S27, the rearmost dolly 5C in the connected vehicle including the towed vehicle 2, the towed vehicle 4C, and the dolly 5C travels backward to move the connected vehicle to the following towed vehicle 4C. Link. In step S28, the single dolly 5C is self-propelled and moves forward to connect to the rear portion of the towed vehicle 4C. Subsequently, in step S29, the last dolly 5C in the connected vehicle including the towed vehicle 2, the towed vehicle 4C, the dolly 5C, and the towed vehicle 4C self-propels and reverses, so that the connected vehicle follows. Connected to the towed vehicle 4C.

(About Embodiment of Charging Mechanism and Charging Process)
Next, an embodiment of the charging mechanism and the charging process in the connected vehicle 1B will be described with reference to FIGS. 22, 23, and 24. FIG. 22, 23, and 24 are diagrams for explaining the charging facility 70 provided in the terminal stations 53 to 56. The charging facility 70 includes a power supply primary coil 71, an AC power source 72, and a charging control unit 73. Further, the dolly 5D includes a secondary coil 74 for feeding and an AC-DC converter 75 in addition to the configuration of the dolly 5C. Further, a vehicle stopper 76 is provided near the power supply primary coil 71 so that the wheel of the dolly 5D stops before the power supply primary coil 71. Also, two guide rails 77 for alignment are provided on the left and right sides of the charging facility 70 at intervals slightly wider than the lateral width of the dolly 5D. Even if the traveling direction of the dolly 5D is slightly deviated from the position of the power supply primary coil 71 of the charging facility 70 by the vehicle stop 76 and the guide rail 77, the power supply of the power supply secondary coil 74 and the charging facility 70 is performed. The primary coil 71 can be accurately aligned.

  When charging the battery 12 of the dolly 5D at the terminal stations 53 to 56, the remote control device 16 moves the dolly 5D to the charging facility 70 by remote control. Thereby, when the primary coil 71 for power supply of the charging facility 70 and the secondary coil 74 for power supply of the dolly 5D approach to a predetermined distance, the secondary coil 74 for power supply is generated by the electromagnetic induction action of the primary coil 71 for power supply. AC current flows through This alternating current is converted into a direct current by the AC-DC converter 75 to charge the battery 12. Note that the self-running control unit 13 also performs control of such charging processing.

  In addition, when the charging facility 70 is not performing the charging process, the charging control unit 73 applies a very weak magnetic field to the primary coil 71 for feeding by flowing a weak current through the primary coil 71 for feeding in the charging facility 70. It is generated around. When the secondary coil 74 for feeding of the dolly 5D approaches here, the state of the magnetic field generated by the primary coil 71 for feeding of the charging facility 70 changes due to the approach of the secondary coil 74 for feeding. Thereby, the current value of the weak current flowing through the primary coil 71 for power supply changes. The charge controller 73 recognizes that the secondary coil 74 for feeding of the dolly 5D has approached the primary coil 71 for feeding of the charging facility 70 by detecting the change in the current value of the weak current. The charge control unit 73 that has recognized that the secondary coil 74 for feeding of the dolly 5D has approached the primary coil 71 for feeding of the charging facility 70 causes a current for charging processing to flow through the primary coil 71 for feeding.

  At the end of charging, the dolly 5D moves away from the charging facility 70, so that the current value of the primary coil 71 for power supply of the charging facility 70 changes. The charging control unit 73 recognizes that the secondary coil 74 for power supply of the dolly 5D is separated from the primary coil 71 for power supply of the charging facility 70 by detecting the change in the current value, and the primary coil 71 for power supply is recognized. The current supply to is again made a weak current.

  Note that the dolly 5D may notify the charging control unit 73 of the end of charging by a wireless signal or an optical signal. According to this, even if the dolly 5D does not leave the charging facility 70 immediately after the end of charging, the charging control unit 73 can recognize the end of charging of the dolly 5D and stop power feeding. Alternatively, the dolly 5D may notify the charge control unit 73 that the dolly 5D has approached the charging facility 70 by a radio signal or an optical signal. According to this, it is not necessary for the charging control unit 73 to flow a weak current through the power supply primary coil 71 in order to recognize the approach of the dolly 5D to the charging facility 70. Therefore, the power consumption of the charging facility 70 can be reduced although slightly.

  Such movement to the charging facility 70 can be performed by a user's remote operation using the remote control device 16 even for the dolly 5 that does not include the GPS devices 61 and 63.

(About embodiment of automatic charging mechanism and automatic charging process)
Next, an embodiment of the automatic charging mechanism and the automatic charging process will be described with reference to FIG. 25 and FIG. In the present embodiment, as shown in FIG. 25, in addition to the configuration of the dolly 5D, a dolly 5E including a charge state notification unit 80 is applied. The charging state notification unit 80 periodically notifies the remote control device 16 of the charging state (SOC: State of Charge) of the battery 12 of its own dolly 5E. Receiving the notification of the charging state from the charging state notifying unit 80 of the dolly 5E, the remote control device 16 remote-controls the dolly 5E having the battery 12 whose charging state is in a predetermined state to a predetermined position of the charging facility 70. Induce Dori 5E. Here, the predetermined state is a state in which the SOC has deteriorated to the extent that charging is required. The processing procedure of the remote control device 16 at this time is shown in the flowchart of FIG.

  The remote control device 16 confirms the notification of the charging state from the charging state notification unit 80 of the dolly 5E (step S30). At this time, if there is a dolly 5E that needs to be charged (Yes in step S31), the remote control device 16 checks the current position and orientation of the dolly 5E to be charged (step S32). Thereby, the remote control device 16 determines whether or not the dolly 5E to be charged is currently in the charging facility 70 of the terminal stations 53 to 56 and has a positional relationship that allows the charging process to be executed (step S33). ). Here, as described with reference to FIGS. 22 and 23, the positional relationship in which the charging process can be executed is a predetermined relationship between the secondary coil 74 for power supply of the dolly 5 </ b> E and the primary coil 71 for power supply of the charging facility 70. The positional relationship is close to the distance.

  If the power supply primary coil 71 of the charging facility 70 and the power supply secondary coil 74 of the dolly 5E are in a positional relationship in which it is difficult to execute the charging process in the determination in step S33 (Yes in step S33), the remote control device 16 Then, the dolly 5E is moved to an appropriate position by remote control (step S34). At this time, the remote control device 16 determines whether there is an obstacle on the moving path of the dolly 5E (step S35). Here, the obstacle is the other towed vehicles 4B, 4C, the other dollies 5C, 5D, 5E or the towed vehicle 2.

  In step S35, when there is an obstacle such as another towed vehicle 4B, 4C, another dolly 5C, 5D, 5E or towed vehicle 2 on the moving route (Yes in step S35), the remote control device 16 The detour route is searched (step S36). Thereby, if there is a detour route (Yes in step S37), the remote control device 16 continues to move the dolly 5E by remote control (step S34). However, if the detour route cannot be searched (No in step S37), the remote control device 16 notifies the user to that effect (step S38). The user who has received this notification will take appropriate measures manually.

  If the positional relationship is such that the charging process can be executed by the processes in steps S34, S35, S36, and S37 (No in step S33), the remote control device 16 sends an instruction to execute the charging process to the self-running control unit 13 of the dolly 5E. It transmits to (step S39). Thereby, if the charging process is completed (Yes in step S40), the remote control device 16 ends the process.

(Regarding the configuration of the remote control device 16)
Next, the configuration of the remote control device 16 will be described with reference to FIG. As shown in FIG. 27, the remote control device 16 includes a receiving unit 90, an execution result recording unit 91, a map information generating unit 92, a map information holding unit 93, a user instruction receiving unit 94, a user instruction analyzing unit 95, and an execution content determination. Unit 96, execution instruction unit 97, and transmission unit 98.

  The receiving unit 90 receives the execution result from the self-running control unit 13 of the dollies 5C, 5D, and 5E and inputs it to the execution result recording unit 91. The receiving unit 90 receives position information from the GPS device (not shown) of the towed vehicle 2, the GPS device 61 of the towed vehicles 4B and 4C, and the GPS device 63 of the dolly 5C, 5D, and 5E, and generates map information. Input to the unit 92. The receiving unit 90 also receives the charging information notification from the charging state notifying unit 74 of the dolly 5E and inputs it to the execution content determining unit 96.

  The map information generation unit 92 generates a map as described with reference to FIG. 18 based on the position information input from the reception unit 90. The map generated by the map information generation unit 92 is held in the map information holding unit 93.

  The user instruction receiving unit 94 receives a connection instruction from the user in step S9, an automatic connection instruction for performing the process shown in FIG. 17, a charge instruction in step S39, an automatic charge instruction for performing the process shown in FIG. The user instruction analyzing unit 95 analyzes the content of the instruction from the user received by the user instruction receiving unit 94. That is, the user instruction analysis unit 95 analyzes whether the instruction from the user is a connection instruction, an automatic connection instruction, a charge instruction, or an automatic charge instruction. As for the connection instruction and the charge instruction, in effect, a remote operation instruction such as forward, backward, left turn, right turn, speed adjustment, etc., for the user to remotely operate the dolly 5 is performed, and then the connection in step S9 is performed. An instruction and a charging instruction in step S39 are issued.

  The execution content determination unit 96 determines the content to be executed based on the content of the user instruction analyzed by the user instruction analysis unit 95. For example, if the instruction from the user is a remote operation instruction for the dolly 5 that does not include the GPS devices 61 and 63, the instructions such as forward, backward, left turn, right turn, and speed adjustment from the user to the dolly 5 are directly applied to the dolly 5 or the like. Just communicate. On the other hand, if the instruction from the user is an automatic connection instruction for the dollies 5C, 5D, and 5E on which the GPS devices 61 and 63 are mounted, the execution content determination unit 96 stores the map held in the map information holding unit 93. To calculate the route for automatic connection execution. This is the same even if the automatic connection instruction is replaced with an automatic charging instruction.

  In actual operation, a tow vehicle, a towed vehicle, and a dolly for which position management is not performed and a tow vehicle, a towed vehicle, and a dolly for position management are not mixed in the same terminal station 53 to 56. I will do it. That is, it is necessary to clearly separate the terminal stations 53 to 56 that perform position management from the terminal stations 53 to 56 that do not perform position management. However, the remote control device 16 is configured to be compatible with both the terminal stations 53 to 56 that do not perform position management and the terminal stations 53 to 56 that perform position management.

  The execution content determining unit 96 transmits the execution content determined by the execution content determining unit 96 as an execution instruction to the self-running control unit 13 of the dollies 5, 5C, 5D, and 5E via the transmission unit 98. The self-running control unit 13 of the dolly 5, 5C, 5D, 5E receives the execution instruction from the remote control device 16 and executes the self-running control. The self-running control unit 13 transmits the execution result of the self-running control to the remote control device 16.

(About the dolly 5F and the remote control device 16A according to the second embodiment of the present invention)
Next, configurations of the dolly 5F and the remote control device 16A according to the second embodiment of the present invention will be described with reference to FIG. The configurations of the dolly 5F and the remote control device 16A according to the second embodiment of the present invention are partially different from the configurations of the dolly 5C, 5D, and 5E and the remote control device 16 according to the first embodiment. Therefore, the same or similar members as those in the first embodiment will be described using the same or the same reference numerals, the description thereof will be omitted or simplified, and different members will be mainly described.

  The dolly 5F includes an execution content reception unit 100, an execution instruction unit 101, a map information reception unit 102, and a charge state detection unit 103 in addition to the configurations of the dolly 5C, 5D, and 5E. Further, the remote control device 16A does not include the execution instruction unit 97 included in the remote control device 16. The execution content determination unit 96A of the remote control device 16A transmits the execution content to the execution content reception unit 100 of the dolly 5F via the transmission unit 98. Further, the map information holding unit 93A of the remote control device 16A transmits the map information to the map information receiving unit 102 of the dolly 5F via the transmitting unit 98.

  Next, operations of the dolly 5F and the remote control device 16A will be described. The remote control device 16A transmits the execution content of the dolly 5F determined by the execution content determination unit 96A via the transmission unit 98. The execution content receiving unit 100 of the dolly 5F receives and holds the execution content transmitted from the remote control device 16A. The execution instruction unit 101 of the dolly 5F performs an actual execution instruction according to the map information received and held by the map information receiving unit 102 based on the execution contents of the dolly 5F received and held by the execution content receiving unit 100. Is generated. When the execution instruction unit 101 generates the execution instruction, the execution instruction unit 101 gives the execution instruction to the self-running control unit 13A. The self-running control unit 13A executes the self-running control according to the execution instruction from the execution instructing unit 101. The self-running control unit 13A transmits the execution result of the self-running control to the remote control device 16A. The execution result recording unit 91 of the remote control device 16A records the execution result transmitted from the dolly 5F.

  Thereby, after receiving the execution content from the remote control device 16A, the dolly 5F can autonomously generate an execution instruction and autonomously perform self-running control. For example, for the automatic connection process described above, the execution content determination unit 96A of the remote control device 16A simply determines the dolly 5F that is the connection source and the towed vehicles 4B and 4C that are the connection destinations when performing automatic connection. Only. The execution instruction unit 101 of the dolly 5F autonomously controls the dolly 5F based on the execution contents transmitted from the remote control device 16A based on the flowcharts described with reference to FIGS. However, the “dolly move by remote control” process in step S4 of FIG. 17 is replaced with the “dolly move by autonomous control” process.

  Further, the charging state detection unit 103 detects the charging state (SOC) of the battery 12. The charge state information detected by the charge state detection unit 103 is transmitted to the execution instruction unit 101. The execution instruction unit 101 receives the charge state information transmitted from the charge state detection unit 103, and autonomously controls the dolly 5F based on the flowchart described in FIG. That is, the flowchart of FIG. 26 is a process in which the remote control device 16 receives a notification from the charging state notification unit 80 of the dolly 5E. On the other hand, the process of the execution instruction unit 101 of the dolly 5F replaces the process of step S30 in FIG. 26 with “confirmation of charge state notification from the charge state detection unit 103”, and further replaces the process of step S31 with “own battery”. 12 is equivalent to “requires charging?”, And is equivalent to replacing the process of step S32 with “confirming the position and orientation of its own dolly”. Further, “notify the user” in step S38 can be executed by the execution instruction unit 101 instructing the self-running control unit 13A to transmit a notification to the user.

(Program embodiment)
Each unit in the block configuration of the dollies 5, 5C, 5D, 5E, and remote control devices 16 and 16A is a general-purpose information processing device (CPU (Central Processing Unit), DSP (Digital Signal
Processor), a microprocessor (microcomputer), or the like. For example, a general-purpose information processing apparatus has a memory, a CPU, an input / output port, and the like. The CPU of the general-purpose information processing apparatus reads and executes a control program as a predetermined program from a memory or the like. Thereby, the function of each part in the block configuration of the dollies 5, 5C, 5D, 5E and the remote control devices 16, 16A is realized in the general-purpose information processing device. As for other functions, functions that can be realized by software can be realized by a general-purpose information processing apparatus and a program.

  The control program executed by the general-purpose information processing apparatus is stored in the memory of the general-purpose information processing apparatus before shipment of the dollies 5, 5C, 5D, 5E, and the remote control devices 16 and 16A. Alternatively, after the shipment of the dollies 5, 5C, 5D, 5E and the remote control devices 16 and 16A, they may be stored in a memory of a general-purpose information processing device. Further, a part of the control program may be stored in a memory or the like of a general-purpose information processing apparatus after shipment of the dollies 5, 5C, 5D, and 5E and the remote control devices 16 and 16A. A control program stored in a memory or the like of a general-purpose information processing device after shipment of the dolly 5, 5C, 5D, 5E, or the remote control device 16 or 16A is stored in a computer-readable recording medium such as a CD-ROM. What is installed may be installed, or what is downloaded via a transmission medium such as the Internet may be installed.

  The control program includes not only a program that can be directly executed by a general-purpose information processing apparatus, but also a program that can be executed by being installed on a hard disk or the like. Also included are those that are compressed or encrypted.

(Effects brought about by the embodiments of the present invention)
As shown in FIG. 1, the dollies 5 and 5a include the electric motors 11 and 11a, the batteries 12 and 12a, and the self-running control units 13 and 13a, so that the dollies 5 and 5a can run on their own. As a result, it is possible to simplify and reduce the cost of connecting work that conventionally requires the assistance of a manpower or a dedicated instrument for moving the dolly or the towed vehicle. In the example of FIG. 1, the remote control device 16 and the wireless communication units 15 and 15a are further provided, thereby enabling remote control of the dollies 5 and 5a. Therefore, it is possible to perform a process of managing and moving a plurality of dollies 5 and 5a in a unified manner. As a result, the plurality of towed vehicles 4, 4a, 4b or the plurality of dollies 5, 5a can be efficiently connected or disconnected.

  In addition, although illustration and detailed description are abbreviate | omitted, you may provide the operation part for driving the electric motors 11 and 11a according to operation input in the dolly 5 and 5a. Thereby, the self-propelled control parts 13 and 13a can drive the electric motors 11 and 11a according to the operation input from the operation part. For example, the driving operation of the operation unit can be performed using the operation keys to move forward, reverse, right turn, left turn, and speed adjustment of the dollies 5 and 5a. According to this, the dolly 5, 5a can be easily moved without the remote control device 16 by the operation of one user. This also simplifies and reduces the cost of connecting the towed vehicles 4, 4a, 4b at the terminal station.

  Moreover, the dolly 5, 5a can be moved in all directions (front and rear, left and right) by providing the steering mechanism portions 14 and 14A as shown in FIGS. Furthermore, the steering mechanism parts 14 and 14A can be omitted by providing the wheel-in motors 11L and 11R as shown in FIG. Moreover, since the wheel of the dolly 5B does not include a brake mechanism, the dolly 5B can provide the optimum installation conditions for the wheel-in motors 11L and 11R.

  As shown in FIGS. 14 to 16, autonomous connection processing can be realized by the towed vehicle 4 </ b> B including the light emitting device 60, the dolly 5 </ b> C including the GPS device 61, the light receiving device 62, and the GPS device 63. . By combining this autonomous connection process with the remote control by the remote control device 16, the autonomous connection process managed centrally can be executed by remote control. This further simplifies and lowers the cost of connecting the towed vehicle at the terminal station or the like. Such autonomous connection processing is carried out in terminal stations 53 to 56 provided in the dedicated lane 51 as shown in FIGS. 12 and 13, thereby realizing a logistics system that realizes efficient cargo transportation. Can be provided.

  Further, in the autonomous connection process, the connected vehicle having high stability at the time of braking is formed by connecting the towed vehicle 4C shown in FIG. 19 from the side closer to the towed vehicle 2 in descending order of weight. Can do. Moreover, such knitting work can be semi-automated by the remote control device 16, the dolly 5C, and the towed vehicle 4C.

  Also, as shown in FIGS. 22 to 24, the charging work 70 for charging the dolly 5D is provided in the terminal stations 53 to 56, whereby the charging operation can be simplified and the cost can be reduced. Furthermore, as shown in FIG. 25, if the dolly 5E including the charge state notification unit 80 is applied, the dolly 5E that needs to be charged can be automatically charged by remote control by the remote control device 16. . This also makes it possible to provide a logistics system that realizes efficient cargo transportation.

  Furthermore, as shown in FIG. 28, the execution content receiving unit 100, the execution instruction unit 101, the map information receiving unit 102, the charging state detection unit 103, and the like are provided on the side of the dolly 5F, so that the Dolly 5F performs the processing described above. This can be done by autonomous control. According to this, since it is possible to reduce the load on the user required for remote control, it is possible to provide a logistics system that realizes efficient cargo transportation.

  By using a logistics system that realizes efficient cargo transportation in this way, it is possible to reduce logistics costs and greatly contribute to the reduction of carbon dioxide emissions to prevent global warming. That is, a large amount of cargo can be transported at one time, and there are no factors that reduce the efficiency of transportation such as traffic jams. For this reason, in the physical distribution system according to the embodiment of the present invention, the fuel consumption used for transportation can be greatly reduced. The fact that fuel consumption can be significantly reduced in this way also leads to a reduction in carbon dioxide emissions.

(Modification)
The embodiment of the present invention can be variously modified without departing from the gist thereof. For example, in the first embodiment and the like, an example in which two towed vehicles 4a and 4b paired with the dolly 5 and 5a by connecting the two dolly 5 and 5a are shown. It is good also as what becomes two towed vehicles with a stand. Conversely, three or more pairs of the dolly and the towed vehicle may be connected.

  Further, optical communication may be used instead of wireless communication by providing an optical communication unit instead of the wireless communication units 15 and 15a.

  Further, the charging facility 70 has been described as being capable of charging the dolly 5D and 5E without contact. Instead of this, charging may be performed when the charging terminal of the charging facility contacts the charging terminal of the dolly. Alternatively, charging may be performed by fitting a connector of a charging facility with a connector of a dolly.

  Further, in the dolly 5F, it has been described that the map information generated by the map information generating unit 92 of the remote control device 16A is received and used by the map information receiving unit 102 of the dolly 5F. On the other hand, the dolly 5F itself may have a function corresponding to the map information generation unit 92 of the remote control device 16A. For example, the plurality of tow vehicles 2, towed vehicles 4 </ b> B, 4 </ b> C, and the dolly 5 </ b> F having the GPS devices 61 and 63 communicate with each other's position information using inter-vehicle communication, so that the dolly 5 </ b> F autonomously maps information Can be generated automatically.

  Furthermore, functions corresponding to the user instruction receiving unit 94, the user instruction analyzing unit 95, the execution content determining unit 96A, and the execution result recording unit 91 in the remote control device 16A may be provided on the dolly 5F side. According to this, since the remote control device 16A only needs to transmit the user's instruction to the dolly 5F, the remote control device 16A can be made as simple as a television remote control device. Alternatively, the user may directly input an instruction to the dolly 5F without using the remote control device 16A at all. In this case, it is preferable that the function corresponding to the execution result recording unit 91 on the dolly side is to record the recorded contents on a portable recording medium such as a memory card so that the user can easily take out the recorded contents from the dolly. .

  Further, the electric motors 11 and 11a and the batteries 12 and 12a included in the dollies 5 and 5a may be used as elements for constituting a hybrid vehicle. That is, you may make it comprise one hybrid vehicle in the whole connected vehicle 1C. An example is shown in FIG.

  The tow vehicle 2A and the dollies 5G and 5aG collect operation information of the engine 10, the electric motors 11 and 11a, and the batteries 12 and 12a, and operate in cooperation with the engine 10, the electric motors 11 and 11a, and the batteries 12 and 12a as components of the hybrid vehicle. Hybrid control units 110, 111, and 112 are provided.

  The hybrid control units 110, 111, and 112 are divided into a hybrid control unit 110 provided in the tow vehicle 2A and hybrid control units 111 and 112 provided in the dolly 5G and 5aG. The hybrid control unit 110 of the tow vehicle 2A regards the connected vehicle 1C as a single vehicle, collects information on the engine 10 of the tow vehicle 2A, the electric motors 11 and 11a of the dollies 5G and 5aG, and the batteries 12 and 12a. Hybrid control. On the other hand, the hybrid control unit 111 of the dolly 5G controls the electric motor 11 and the battery 12 based on an instruction from the hybrid control unit 110 of the tow vehicle 2A. The hybrid control unit 112 of the dolly 5aG controls the electric motor 11a and the battery 12a based on an instruction from the hybrid control unit 110. Further, the hybrid control unit 111 of the dolly 5G collects information on the electric motor 11 and the battery 12, and the hybrid control unit 112 of the dolly 5aG collects information on the electric motor 11a and the battery 12a, respectively, and the tow vehicle 2A. The hybrid control unit 110 is notified.

  In addition, the hybrid control unit 110 of the tow vehicle 2A and the hybrid control units 111 and 112 of the dollies 5G and 5aG respectively include wireless communication units 120, 121, and 122 that communicate with each other using wireless signals. These wireless communication units 120, 121, and 122 clearly distinguish between the wireless signal of the connected vehicle 1C and the wireless signal or noise from other than the connected vehicle 1C.

  Various techniques are known as radio signal identification techniques for distinguishing between a specific radio signal and other radio signals. In addition, such wireless signal identification technology is continuously developed, and many new technologies are proposed in the future. Therefore, the state-of-the-art technology at that time should be introduced for the wireless signal identification technology applied to the wireless communication units 120, 121, and 122. Therefore, any technique may be applied as the radio signal identification technique applied to the radio communication units 120, 121, and 122.

  With the configuration shown in FIG. 29, a connected vehicle 1 </ b> C that becomes a hybrid vehicle can be formed. As such a hybrid vehicle, a configuration in which an electric motor and a battery are arranged on the towing vehicle 2A can also be adopted. Further, the above-described dolly 5, 5a, 5A, 5aA, 5B, 5C, 5D, and 5E may be applied to these hybrid vehicles, and other configurations described above may be applied to these hybrid vehicles.

  In FIG. 7, it has been described that the in-vehicle LAN 35 is used for the dolly 5, but CAN may be used instead of the in-vehicle LAN 35.

1 is an overall configuration diagram of a connected vehicle according to a first embodiment of the present invention. It is a block diagram of the tow vehicle in the connection vehicle of FIG. It is a block diagram of the towed vehicle in the connection vehicle of FIG. It is a block diagram of the dolly in the connection vehicle of FIG. 1 is an overall configuration diagram of a coupled vehicle according to a first embodiment of the present invention having a towed vehicle and a dolly as one axis. It is a detailed block diagram of the dolly in the connection vehicle of FIG. FIG. 2 is a practical configuration diagram of a dolly in the coupled vehicle in FIG. 1. It is a block diagram of the steering mechanism part in the connection vehicle of FIG. It is a block diagram of the steering mechanism part in the connection vehicle of FIG. 1, and is a figure which shows a spur gear, a worm gear, and a step motor. It is a block diagram of the modification of the steering mechanism part in the connection vehicle of FIG. It is a block diagram of the dolly provided with the wheel-in electric motor in the connection vehicle of FIG. It is a figure for demonstrating the exclusive lane and terminal station as an application example of the connection vehicle of FIG. It is a figure which shows the state which looked at the exclusive lane and terminal station shown in FIG. It is a block diagram of the towed vehicle which concerns on embodiment of the automatic connection process in the connection vehicle of FIG. It is a block diagram of the dolly which concerns on embodiment of the automatic connection process in the connection vehicle of FIG. It is a figure for demonstrating the procedure which concerns on embodiment of the automatic connection process in the connection vehicle of FIG. It is a figure which shows the flowchart which shows the procedure which concerns on embodiment of the automatic connection process in the connection vehicle of FIG. It is a figure which shows an example of the map information which concerns on embodiment of the automatic connection process in the connection vehicle of FIG. It is a figure which shows the structure of the towed vehicle and dolly which concern on embodiment using the weight information of a towed vehicle in the automatic connection process in the connected vehicle of FIG. It is a figure which shows the flowchart which shows the procedure which concerns on embodiment using the weight information of a towed vehicle in the automatic connection process in the connection vehicle of FIG. It is a figure which shows one example of the connection method in the connection vehicle of FIG. It is a figure for demonstrating the charging equipment of the dolly in the connection vehicle of FIG. It is a figure for demonstrating the charging equipment of the dolly in the connection vehicle of FIG. 1, Comprising: It is the figure which looked at the state of FIG. 22 from the upper surface. It is a figure which shows the structure of the charging equipment shown in FIG. 22, FIG. It is a figure which shows the structure of the dolly which concerns on embodiment of the automatic charge process in the connection vehicle of FIG. It is a figure which shows the flowchart which shows the procedure which concerns on embodiment of the automatic charging process in the connection vehicle of FIG. It is a block block diagram of the remote control apparatus in the connection vehicle of FIG. It is a block block diagram of the remote control apparatus and dolly which concern on the 2nd Embodiment of this invention. It is a whole block diagram of the connection vehicle which concerns on the modification of embodiment of this invention.

Explanation of symbols

1, 1A, 1B, 1C ... connected vehicle, 2, 2A ... towed vehicle, 3, 3a, 3b ... coupler, 4, 4a, 4b, 4A, 4aA, 4bA ... towed vehicle, 5, 5A-5G ... Dolly, 6 ... Chassis, 10 ... Engine, 11, 11a ... Electric motor, 11L, 11R ... Wheel-in electric motor, 12, 12a ... Battery, 13, 13a-13c ... Self-propelled control part (Self-propelled means, autonomous connecting means, connection work implementation) Means), 14, 14A, 14B ... steering mechanism part (steering means), 15, 15a ... wireless communication part (remote control means), 16, 16A ... remote control device (remote control means), 51 ... dedicated lane, 53 to 56 ... terminal station, 60 ... light emitting device (optical signal transmitting means), 62 ... light receiving device (optical signal receiving means), 64 ... axial load sensor (weight notification means), 70 ... charging equipment, 71 ... 1 for power supply Next coil (to charge Stage), 74 ... secondary coil for power supply (means for charging), 80 ... charge state notification unit (charge state notification unit), 93A ... map information holding unit (autonomous control unit), 96A ... execution content determination unit (autonomous) Control means), 100 ... execution content receiving section (autonomous control means), 101 ... execution instruction section (autonomous control means), 102 ... map information receiving section (autonomous control means), 103 ... charging state detection section (autonomous control means)

Claims (27)

A tow vehicle, a first towed vehicle coupled to the tow vehicle, a second towed vehicle coupled to the first towed vehicle via a first dolly,
In a connected vehicle comprising:
The dolly includes an electric motor as a power source and a battery as a power source of the electric motor, and includes a self-propelling means that self-runs using the electric motor as a power source.
A connected vehicle characterized by the above. The connected vehicle according to claim 1,
A connected vehicle in which a dolly and a towed vehicle are connected in pairs as a pair after the second towed vehicle. The connected vehicle according to claim 1 or 2,
When the dolly is self-propelled, it comprises steering means for changing the direction of travel of the dolly.
A connected vehicle characterized by the above. The connected vehicle according to claim 3,
The steering means changes the traveling direction of the dolly by adjusting a difference in rotational speed between the two electric motors provided to the left and right wheels, respectively.
A connected vehicle characterized by the above. The connected vehicle according to any one of claims 1 to 4,
The electric motor is provided on at least one pair of left and right wheels of the dolly, respectively.
A connected vehicle characterized by the above. The connected vehicle according to any one of claims 1 to 5,
The towed vehicle includes an optical signal transmission means for clearly indicating a connection point with the dolly of the vehicle by an optical signal with respect to the dolly,
The dori is
An optical signal receiving means for receiving the optical signal;
Autonomous connection means for guiding its own connection location to the connection location of the towed vehicle using the self-propelled means based on the optical signal received by the optical signal reception means,
A connected vehicle characterized by the above. In the physical distribution system provided with the connected vehicle according to any one of claims 1 to 6,
Remote control means for remotely controlling the self-propelled means,
A logistics system characterized by this. The physical distribution system according to claim 7,
The remote control means centrally controls a plurality of the dolies.
A logistics system characterized by this. The physical distribution system according to claim 7,
A connection work execution means for performing the connection work between the dolly and the towed vehicle via the remote control means;
A logistics system characterized by this. The logistics system according to claim 9,
The connection work execution means performs a connection work from the side closer to the towing vehicle in order of increasing weight among the plurality of towed vehicles to form a series of connected vehicles.
A logistics system characterized by this. The physical distribution system according to claim 10,
The towed vehicle includes weight notifying means for notifying the weight of its own operation to the connecting work performing means.
A logistics system characterized by this. The physical distribution system according to any one of claims 7 to 11,
A charging facility for supplying power for charging the battery of the dolly;
The charging facility includes means for charging the dori in a predetermined position.
A logistics system characterized by this. The logistics system according to claim 12,
The dolly includes a charging state notification unit that notifies the remote control unit of a charging state of the battery of its own,
The remote control means guides to the predetermined position of the charging facility by remote control for the dolly having the battery whose charging state has become a predetermined state based on the notification from the charging state notification means,
A logistics system characterized by this. The physical distribution system according to any one of claims 7 to 13,
An autonomous control means is provided instead of the remote control means,
Autonomous control is performed instead of the remote control,
A logistics system characterized by this. A tow vehicle, a first towed vehicle coupled to the tow vehicle, a second towed vehicle coupled to the first towed vehicle via a first dolly,
In a method for controlling a connected vehicle comprising:
Having the step of causing the dolly to self-run using the electric motor provided in the dolly as a power source,
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to claim 15,
A connected vehicle control method comprising the step of connecting one or more pairs of a dolly and a towed vehicle after the second towed vehicle. The connected vehicle control method according to claim 15 or 16,
Changing the traveling direction of the dolly when the dolly self-runs;
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to any one of claims 15 to 17,
The towed vehicle has a step of clearly indicating a connection point with the dolly of the towed vehicle by an optical signal to the dolly,
The dolly is
Receiving the optical signal;
A step of guiding its own connection location to the connection location of the towed vehicle based on the optical signal received by the processing of receiving the optical signal;
Having
A method for controlling a connected vehicle, characterized in that: The method for controlling a connected vehicle according to any one of claims 15 to 18,
Having the step of remotely controlling the dolly to self-run,
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to claim 19,
Centrally remotely controlling a plurality of the dolies,
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to claim 19,
A step of performing a connection operation between the dolly and the towed vehicle by remote control;
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to claim 21,
As a process of performing the connecting operation by remote control, a step of performing a connecting operation from a side closer to the towing vehicle in order of weight in a plurality of the towed vehicles to form a series of connecting vehicles. Have
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to claim 22,
In the process of performing the connecting operation by remote control, the towed vehicle has a step of notifying its own weight,
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to any one of claims 15 to 23,
A charging facility that supplies power for charging a battery as a power source of the electric motor has a step of charging the dolly in a predetermined position.
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to claim 24,
The dolly has a step of notifying a charge state of the battery of its own,
The step of notifying the charging state based on the processing of the step of notifying the charging state has a step of guiding to the predetermined position of the charging facility by remote control with respect to the dori having the battery that has become a predetermined charging state,
The control method of the connection vehicle characterized by the above-mentioned. The method for controlling a connected vehicle according to any one of claims 19 to 23,
Autonomous control is performed instead of the remote control,
A method for controlling a vehicle.   27. A program that, when installed in an information processing apparatus, causes the information processing apparatus to execute the connected vehicle control method according to any one of claims 15 to 26.

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