JP2012002558A - Gravity center position measurement method and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gravity center position measurement method and a device therefor that measure the three-dimensional gravity center position of an object to be measured which is selected out of a plurality of candidates for the object to be measured including a vehicle alone, a load, and the whole vehicle as a combination thereof.SOLUTION: The gravity center position measurement device 1, which determines, as the object to be measured, one of the plurality of candidates for the object to be measured including the vehicle 3 alone, a container 3c alone, the load 10 alone, and the whole vehicle 3 as a combination thereof, and measures the three-dimensional gravity center position of the object to be measured, includes a memory 68 which stores mass of and three-dimensional gravity center position information on the plurality of candidates for the object to be measured other than the selected object to be measured, and an MPU 69 which computes the three-dimensional gravity center position of the object to be measured based upon the mass of and the three-dimensional gravity center position information on the candidates for the object to be measured stored in the memory 68.

Description

  The present invention relates to a centroid position measuring method and apparatus for measuring a three-dimensional centroid position of, for example, a single vehicle, a combination of a single vehicle and a load, or a load loaded on a vehicle.

  For example, in a trailer-coupled vehicle that transports containers (hereinafter simply referred to as “vehicles”), if the loading state of the contents of the container is biased, the vehicle's running operation will be adversely affected. The vehicle may roll over. It has been clarified mechanically that rollover during turning of the vehicle is caused by the position of the center of gravity of the vehicle. Therefore, the measurement of the center of gravity position of the vehicle is important, and there is a technique proposed in Patent Document 1 as a technique related to the measurement of the center of gravity position of the vehicle.

International Publication No. 2008/062867 Pamphlet

  In the technique according to Patent Document 1, the position of the center of gravity of the vehicle in the three-dimensional space is determined by a predetermined calculation of the calculation unit based on the detection signal from the swing detector that detects the swing of the vehicle in its own weight direction and the width direction during traveling. Have been asked to.

  However, although the technique according to Patent Document 1 can measure the center of gravity of the entire vehicle loaded with containers, it cannot measure the center of gravity of the container itself. Containers are transported by various means and loaded on different vehicles from time to time. At this time, depending on the combination with another vehicle, there may be a dangerous center-of-gravity position that tends to roll over as a whole. For this reason, according to demands, such as the center of gravity of the container itself or the center of gravity when the container and the vehicle are combined, a specific one of a plurality of measurement object candidates is used as the measurement object, and the center of gravity is determined. The proposal of the technique to measure is desired.

  The present invention has been made in view of the above-described circumstances, and the three-dimensional center of gravity of a measurement object selected from a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle combining them. It is an object of the present invention to provide a center-of-gravity position measuring method and apparatus capable of measuring the position.

In order to achieve the above object, the center-of-gravity position measuring method according to the first invention comprises:
One of a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle including a combination of the single vehicle and the load is determined as a measurement target, and the three-dimensional center-of-gravity position of the measurement target is measured. A center of gravity position measuring method,
A 3D centroid position of the measurement object is calculated based on the mass of the measurement object candidates other than those selected as the measurement object and the 3D centroid position information among the plurality of measurement object candidates. A three-dimensional center of gravity position calculation step is included.

Next, the center-of-gravity position measuring apparatus according to the second invention is:
One of a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle including a combination of the single vehicle and the load is determined as a measurement target, and the three-dimensional center-of-gravity position of the measurement target is measured. A center-of-gravity position measuring device,
Storage means for storing the mass of the measurement object candidate other than the one selected as the measurement object and the three-dimensional barycentric position information among the plurality of measurement object candidates,
3D centroid position calculating means for calculating the 3D centroid position of the measurement object based on the mass of the measurement object candidate and the 3D centroid position information stored in the storage means, To do.

  According to the present invention, measurement object candidates other than those selected as a measurement object among a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle that combines the single vehicle and the load. Since the 3D center of gravity position of the measurement object is calculated based on the mass and the 3D center of gravity position information, it was selected from a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle combining them. The three-dimensional center of gravity position of the measurement object can be measured.

BRIEF DESCRIPTION OF THE DRAWINGS It is structure explanatory drawing of the gravity center position measuring apparatus which concerns on the 1st Embodiment of this invention, AA sectional view taken on the line (a) of (a), (b), BB sectional drawing of (b) C part enlarged view of (c) and (b) (d) Fig.1 (a) DD sectional view Explanatory drawing of the support structure of the platform Theoretical illustration of the generation of restoring force Schematic system configuration diagram of a control system of the center-of-gravity position measuring apparatus according to the first embodiment Microprocessor functional block diagram Side view of vehicle (a) and coordinate system definition explanatory diagram (a ') (b) regarding horizontal center of gravity position of vehicle The figure showing the state of load change when the vehicle is placed on the third platform, and showing the relationship between the position x of the first axle and P ₁₃ (x) and P ₁₃ (t) State diagram (a) of loads acting on the first and second platforms when the vehicle is placed on the first platform and a skeleton (b) showing the resultant action point position for each axle The flowchart explaining the measurement operation | movement of the horizontal surface gravity center position by the gravity center position measuring apparatus of 1st Embodiment. FIG. 2 is a theoretical explanatory view (1) of how to obtain the height of the center of gravity, and is a plan view (a) and a cross-sectional view taken along the line E-E of (a) showing a model of a state where the vehicle is mounted on a third platform. Fig. 11 (a) is a cross-sectional view taken along line FF in Fig. 11 (a), which is a theoretical illustration (2) of how to obtain the center of gravity The flowchart explaining the measurement operation | movement of the gravity center height position by the gravity center position measuring apparatus of 1st Embodiment. Time chart for explaining the measurement operation of the center of gravity height position by the center of gravity position measuring apparatus of the first embodiment The top view explaining the structure of the gravity center position measuring apparatus which concerns on the 2nd Embodiment of this invention. GG sectional view (a) of FIG. 15 and a diagram (b) showing a relative positional relationship of a horizontal coordinate system when a container is loaded on a vehicle. Schematic system configuration diagram of the control system of the gravity center position measuring apparatus of the second embodiment Microprocessor functional block diagram The flowchart explaining the measurement operation | movement of the three-dimensional gravity center position by the gravity center position measuring apparatus of 2nd Embodiment. It is structure explanatory drawing of the modification (1) of the gravity center position measuring apparatus which concerns on the 1st Embodiment of this invention, and is HH sectional view (b) of (a), (a), (a). The JJ sectional view (d) of II sectional drawing (c) and (b) is each shown. A state diagram (a) of a load acting on the left and right wheels of the first axle of the vehicle on the first platform and the second platform, respectively, and a plan view showing the center of gravity position of the vehicle ( b) The flowchart explaining the measurement operation | movement of a horizontal plane gravity center position by the modification (1) of the gravity center position measuring apparatus of 1st Embodiment. It is structure explanatory drawing of the modification (2) of the gravity center position measuring apparatus which concerns on the 1st Embodiment of this invention, and is sectional drawing (b), (b) of KK line of top view (a), (a). LL line sectional view (c) and M part enlarged view of (b) (d) State diagram of load acting when vehicle is placed on second platform (a) and graph (b) showing load change The flowchart explaining the measurement operation | movement of a horizontal plane gravity center position by the modification (2) of the gravity center position measuring apparatus of 1st Embodiment. It is structure explanatory drawing of the modification (3) of the gravity center position measuring apparatus which concerns on the 1st Embodiment of this invention, NN sectional drawing (b) of (a), (a), (a) OO line sectional view (c) and PP line sectional view (d) of (b)

  Next, specific embodiments of the center-of-gravity position measuring apparatus according to the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a structural explanatory view of the center-of-gravity position measuring apparatus according to the first embodiment of the present invention, and is a cross-sectional view taken along the line A-A in FIGS. The C section enlarged view (d) of -B sectional view (c) and (b) is each shown.

<Description of Schematic Configuration of Center of Gravity Position Measuring Device According to First Embodiment>
The center-of-gravity position measuring apparatus 1 shown in FIG. 1 includes a first platform 11, a second platform 12, and a third platform 13.
The first platform 11 and the second platform 12 are arranged on the upstream side of the travel path when the trailer-coupled vehicle 3 (hereinafter simply referred to as “vehicle 3”) travels forward on the installation base 2. Has been.
The third platform 13 is arranged on the downstream side of the forward travel path of the vehicle 3 with respect to the first platform 11 and the second platform 12 on the installation base 2.

Here, the vehicle 3 includes a tractor 3a, a trailer 3b, and a container 3c as shown in FIG.
The tractor 3a is a biaxial towing vehicle having two axles 7, 8 to which wheels 4a, 5a;
The trailer 3b is mounted on the container chassis 301 as a loading platform on which the container 3c is placed, the two axles 9, 9 'supported on the rear part of the container chassis 301, and the left and right of the axles 9, 9'. It is a biaxial towed vehicle that is configured to include wheels 6a, 6a ′; 6b, 6b ′.
The container 3c is a box having a standardized shape and made of steel, aluminum or the like. The container 3c accommodates the cargo 10 therein and is used for transportation.
A coupler 302 as a connecting device is provided at the rear part of the tractor 3a. A king pin 303 is provided at the front part of the trailer 3b. The By releasing the engagement of the king pin 303 with the coupler 302, the trailer 3b can be separated from the tractor 3a. A leg member 304 is provided at a portion near the front portion of the trailer 3b, and the leg member 304 serves to support the front half of the trailer 3b when the trailer 3b is separated from the tractor 3a.
Locking metal fittings 305 are provided at the four corners of the trailer 3b. Locking holes 306 are provided at the four corners of the container 3c so as to correspond to the locking metal fittings 305. As a result, the container 3c is fixed to the trailer 3b. By releasing the engagement between the locking metal fitting 305 and the locking hole 306, the container 3c can be separated from the trailer 3a.
In order to simplify the following description, the two axles 9 and 9 'in FIG. 7 (a) are regarded as one axle 9 as shown in FIG. 7 (a'). To do. In the following description, the front-rear and left-right directions are determined based on the forward direction of the vehicle 3.

<Overview of the first to third platforms>
The first platform 11 is composed of a rectangular plate-like member on which the left wheels 4 a, 5 a, 6 a of the axles 7, 8, 9 of the vehicle 3 can be placed one by one.
The second platform 12 is formed of a rectangular plate-like member on which the right wheels 4b, 5b, 6b of the axles 7, 8, 9 of the vehicle 3 can be placed one by one.
The third platform 13 is formed of a rectangular plate-like member on which all the left and right wheels 4a, 5a, 6a; 4b, 5b, 6b of the vehicle 3 can be placed simultaneously.

<Description of Arrangement of First Load Cell to Fourth Load Cell>
A first load cell 21, a second load cell 22, a third load cell 23, and a fourth load cell 24 are interposed between the installation base 2 and the third mounting base 13, respectively.
The first load cell 21 is disposed so that the left corner of the third platform 13 on the upstream side of the vehicle forward travel path can be supported from below.
The second load cell 22 is disposed so that the left corner of the third platform 13 on the downstream side of the vehicle forward travel path can be supported from below.
The third load cell 23 is arranged so that the right corner of the third platform 13 on the upstream side of the vehicle forward travel path can be supported from below.
The fourth load cell 24 is arranged so that the right corner of the third platform 13 on the downstream side of the vehicle forward travel path can be supported from below.

<Description of basic structure of first load cell to fourth load cell>
As shown in FIG. 3, the first load cell 21 to the fourth load cell 24 are column type load cells using a double convex loading type strain gauge, and include an elastic body 31 and a sealed casing 32.
The elastic body 31 is made of, for example, a metal such as an aluminum alloy or stainless steel and is formed in a substantially cylindrical shape, and is arranged upright with its axis line directed in the vertical direction.
The elastic body 31 has a strain generating portion 33 formed at the central portion in the axial direction, an upper convex surface 34 formed at the upper end, and a lower convex surface 35 formed at the lower end. Each of the upper convex surface 34 and the lower convex surface 35 is formed in a partial spherical shape having a predetermined radius of curvature R.
The elastic body 31 is incorporated in the sealed casing 32 in a state where the strain generating portion 33 is hermetically housed in the sealed casing 32 and the upper end portion and the lower end portion are exposed from the sealed casing 32.
A required strain gauge (not shown) attached to the strain generating portion 33 converts the load applied to the elastic body 31 into an electrical load signal according to the magnitude and outputs the electrical load signal.

<Description of the upper receiving member and the lower receiving member of the first load cell to the fourth load cell>
An upper receiving member 36 is interposed between the upper end portion of the elastic body 31 and the third mounting table 13. The upper receiving member 36 has a horizontal seating surface 37, and is fixed to the third platform 13 in a state where the horizontal seating surface 37 is in contact with the upper convex surface 34 of the elastic body 31.
A lower receiving member 38 is interposed between the lower end portion of the elastic body 31 and the installation base 2. The lower receiving member 38 has a horizontal seating surface 39, and is fixed to the installation base 2 in a state where the horizontal seating surface 39 is in contact with the lower convex surface 35 of the elastic body 31.

<Description of basic configuration of restoring force generation mechanism>
The restoring force generating mechanism includes an upper convex surface 34 of the elastic body 31 and a horizontal seating surface 37 of the upper receiving member 36, and a lower convex surface 35 of the elastic body 31 and a horizontal seating surface 39 of the lower receiving member 38. . The restoring force generating mechanism generates a restoring force F with respect to the horizontal displacement y ₀ of the third platform 13. This restoring force F will be described below with reference to FIG.

<Theoretical explanation of the generation of restoring force>
In FIG. 4, the elastic body 31 of the first load cell 21 to the fourth load cell 24 moves from the vertical state by y _{0 in the} horizontal direction and tilts by θ with the horizontal displacement y ₀ of the third platform 13. The state is shown. Symbols in the figure are defined as follows.
y ₀ : Amount of movement of the upper part of the elastic body 31 S: Length of contact point between the upper and lower parts of the elastic body 31 H: Height of the elastic body 31 (height of the load cells 21 to 24)
A: radius of curvature of upper convex surface 34 (= R)
B: radius of curvature of lower convex surface 35 (= R)
N: Vertical load acting on the elastic body 31 θ: Inclination angle of the elastic body 31 Of the symbols, H, A, and B are known values, and these values are stored in a memory 68 described later.

<Theoretical explanation of the generation of restoring force>
In FIG. 4, if the value of the inclination angle θ of the elastic body 31 is very small, the following equation (1) is established.
tan θ≈y ₀ / H (1)

Further, the contact point length S between the upper and lower portions of the elastic body 31 can be expressed by the following equation (2).
S≈A · tan θ + (B−H) tan θ
= (A + B−H) · y ₀ / H (2)

The ratio K between the vertical load N and the restoring force F can be expressed by the following equation (3).
K = F / N≈S / H = (A + B−H) · y ₀ / H ² (3)

From the equation (3), the restoring force F can be expressed by the following equation (4).
F = N · (A + B−H) · y ₀ / H ² (4)

<Description of actuator giving initial conditions for free vibration>
As shown in FIG. 2, a hydraulic cylinder 40 is disposed in the vicinity of the side on which the third load cell 23 and the fourth load cell 24 are installed in the third platform 13. The hydraulic cylinder 40 pushes the side surface of the third mounting table 13 with the piston rod 40a during the extension operation, and applies a horizontal force to the third mounting table 13, whereby the horizontal pressure is applied to the third mounting table 13. Displacement and speed can be given. The hydraulic cylinder 40 functions as an actuator that gives an initial condition of free vibration to the third platform 13. In place of the hydraulic cylinder 40, for example, a pneumatic cylinder or a magnetic fluid cylinder may be used.
Here, the “initial condition” is a concept including “initial displacement” and “initial velocity”, and is a collective term for these.

<Description of hydraulic circuit of hydraulic cylinder>
The hydraulic cylinder 40 is connected to a hydraulic pump 42 via an electromagnetic valve 41. When the hydraulic pump 42 is driven by the operation of the electric motor 43, the pressure oil from the hydraulic pump 42 is supplied to the head side oil chamber or the bottom side oil chamber of the hydraulic cylinder 40 according to the switching operation of the electromagnetic valve 41. It has become.

<Description of hydraulic cylinder operation>
When a solenoid valve control signal indicating an extension command for the hydraulic cylinder 40 is transmitted from the control device 60 described later to the solenoid valve 41, the solenoid valve 41 performs the following oil path switching operation in accordance with the solenoid valve control signal. To do. That is, the solenoid valve 41 supplies the pressure oil from the hydraulic pump 42 to the bottom side oil chamber of the hydraulic cylinder 40, and at the same time, returns the oil inside the head side oil chamber of the hydraulic cylinder 40 to the tank 44. Switch. As a result, the hydraulic cylinder 40 is extended, and the side surface of the third platform 13 is pushed by the piston rod 40a, so that the horizontal displacement and speed are given to the third platform 13.
On the other hand, when a solenoid valve control signal indicating a contraction command for the hydraulic cylinder 40 is transmitted to the solenoid valve 41 from a control device 60 described later, the solenoid valve 41 responds to the solenoid valve control signal as follows. Perform the switching operation. That is, the solenoid valve 41 supplies the pressure oil from the hydraulic pump 42 to the head side oil chamber of the hydraulic cylinder 40 and at the same time returns the oil in the bottom side oil chamber of the hydraulic cylinder 40 to the tank 44. Switch. As a result, the hydraulic cylinder 40 is contracted and the contact between the third platform 13 and the piston rod 40a is released.

<Description of the free vibration of the third platform>
In order to freely vibrate the third platform 13 in the horizontal direction (y direction), first, initial conditions (initial displacement and initial speed) are given to the third platform 13 by the expansion / contraction operation of the hydraulic cylinder 40. A restoring force F from a restoring force generating mechanism with respect to a displacement in the horizontal direction acts on the third platform 13. In this way, by applying the restoring force F to the horizontal displacement of the third platform 13, the third platform 13 can be freely vibrated in the horizontal direction.

<Description of displacement sensor>
A displacement sensor 45 is arranged in the vicinity of the side on which the first load cell 21 and the second load cell 22 are installed in the third platform 13 so as to face the hydraulic cylinder 40. The displacement sensor 45 functions as a displacement detection unit that detects the displacement of the third stage 13 in a free vibration state. As the displacement sensor 45, various types of sensors can be adopted, and examples thereof include an optical displacement sensor, an eddy current displacement sensor, and a differential transformation displacement sensor.

<Description of acceleration sensor>
An acceleration sensor 46 is disposed in the vicinity of the side on which the first load cell 21 and the second load cell 22 are installed in the third platform 13 so as to face the hydraulic cylinder 40. The acceleration sensor 46 functions as an acceleration detection unit that detects the acceleration of the third platform 13 in a free vibration state. As the acceleration sensor 46, various types of sensors can be employed, such as a capacitance type acceleration sensor, a metal strain gauge type acceleration sensor, a semiconductor strain gauge type acceleration sensor, and a piezoelectric acceleration sensor. It is done.

<Explanation of arrangement of fifth and sixth load cells>
As shown in FIG. 1, a fifth load cell 25 and a sixth load cell 26 are interposed between the installation base 2 and the first platform 11, respectively.
The fifth load cell 25 is disposed so as to support the left side portion of the first mounting base 11 from below.
The sixth load cell 26 is disposed so as to support the right side portion of the first mounting base 11 from below.

<Arrangement description of seventh load cell and eighth load cell>
A seventh load cell 27 and an eighth load cell 28 are interposed between the installation base 2 and the second mounting table 12, respectively.
The seventh load cell 27 is disposed so as to support the left side portion of the second mounting table 12 from below.
The eighth load cell 28 is arranged so that the right side of the second mounting table 12 can be supported from below.

<Functional description of the fifth to eighth load cells>
The fifth load cell 25 to the eighth load cell 28 are strain gauge column type load cells having a general structure in which the restoring force generation mechanism provided in the first load cell 21 to the fourth load cell 24 is not particularly provided. Accordingly, it has a function of converting it into an electrical load signal and outputting it.

<Description of load vertical transmission mechanism>
A required load vertical transmission mechanism 50 is further interposed between the installation base 2 and the second platform 12. The load vertical transmission mechanism 50 includes a leg portion 51 fixed to the installation base 2, a parallelogram-shaped link portion 52, and a platform support portion 53 that supports the second platform 12. The Roverval mechanism 52 eliminates the influence of the eccentric load in the front-rear direction of the second platform 12 and is integrally formed of a metal elastic body. By providing this load vertical transmission mechanism 50 between the installation base 2 and the second platform 12, the seventh load cell 27 and the right load wheels 4b, 5b, 6b of the vehicle 3 through the second platform 12 and The load acting on the eighth load cell 28 can be transmitted only in the vertical direction.
The load vertical transmission mechanism 50 is also interposed between the installation base 2 and the first platform 11 in the same manner, and the first platform 11 is moved from the left wheels 4a, 5a, 6a of the vehicle 3. Thus, the load acting on the fifth load cell 25 and the sixth load cell 26 can be transmitted only in the vertical direction.

<Description of System Configuration of Control System of Center of Gravity Position Measuring Device of First Embodiment>
As shown in FIG. 5, the center-of-gravity position measurement apparatus 1 according to the first embodiment includes a control device 60, an operation device 61, and a display device 62.

<Overview of control device>
The control device 60 mainly includes an amplifier 63, a low-pass filter 64, a multiplexer 65, an A / D converter 66, an I / O circuit 67, a memory 68, and a microprocessor (MPU: “three-dimensional” of the present invention. Corresponds to “centroid position calculating means”.) 69.
The amplifier 63 has a function of amplifying and sending out a signal to be sent to a size that allows A / D conversion.
The low-pass filter 64 has a function of allowing only a low frequency to pass as a signal.
The multiplexer 65 has a function of selectively sending out a plurality of signals to be sent based on a command of the selection control signal.
The A / D converter 66 has a function of converting an analog signal from the multiplexer 65 into a digital signal.
The I / O circuit 67 has a function of exchanging various signals and data among the solenoid valve 41, the operation device 61, the display device 62, the multiplexer 65, the A / D converter 66, and the MPU 69. Have.
The memory 68 includes a PROM, a RAM, and the like, and has a function of storing a predetermined program, basic data, and the like for a long time, and temporarily storing various data, numerical values for calculation, and the like.
The MPU 69 receives necessary signals via the I / O circuit 67 in accordance with instructions of a predetermined program stored in the memory 68, receives necessary data from the memory 68, and performs an operation based on the received signals and data. Has the function to execute.

<Overview of operating device>
The operation device 61 includes operation switches and numerical keys, and is used in various operations such as measurement start / end operations, zero point adjustment operations, use mode switching operations, and numerical value setting operations.

<Overview of display device>
The display device 62 is composed of, for example, a liquid crystal display, and displays measurement results and various data input / output screens.

<Schematic Explanation of Processing Operation of Control System of Center of Gravity Position Measuring Device of First Embodiment>
In the control system of the center-of-gravity position measuring apparatus 1, the signals output from the load cells 21 to 28, the displacement sensor 45, and the acceleration sensor 46 are supplied to an amplifier 63, a low-pass filter 64, a multiplexer 65, and an A / D converter 66. And sent to the MPU 69 via the I / O circuit 67. The MPU 69 takes in a signal from the I / O circuit 67 according to a predetermined program stored in the memory 68, reads various data stored in the memory 68, and determines the vehicle 3 based on these signals and data. Performs calculation of the 3D center of gravity position. The calculation result is displayed on the display device 62.

<Functional explanation of MPU>
In the MPU 69, by executing a predetermined program, as shown in FIG. 6, a width direction gravity center position calculation unit 71, a full length direction gravity center position calculation unit 72, a gravity center height position calculation unit 73, and a solenoid valve control signal generation The functions of the unit 74 and the display signal generation unit 75 are realized. In the following, when the width-direction center-of-gravity position calculation unit 71 and the full-length-direction center-of-gravity position calculation unit 72 are collectively expressed, they are referred to as “horizontal center-of-gravity position calculation unit 70”.

<Theoretical explanation of how to obtain the coordinates (X _G , Y _G ) of the horizontal center of gravity position of the center of gravity G of the vehicle>
Next, how to obtain the coordinates (X _G , Y _G ) of the horizontal center of gravity position of the center of gravity G of the vehicle 3 will be described mainly with reference to FIGS.
In FIG. 7, the X axis is defined along the vehicle center line that passes through the center position in the width direction of the vehicle 3 and extends in the full length direction, the Y axis is defined along the first axle 7, and the first axle 7 of the vehicle 3 and the vehicle An orthogonal coordinate system O-XY is defined by taking the origin at the intersection with the center line.
The x-axis is defined along a center line extending in the full length direction through the center position in the width direction of the third platform 13, and along the center line extending in the width direction through the center position in the length direction of the third platform 13 Then, the y axis is determined, the origin is set at the center of the third stage 13, and the orthogonal coordinate system o-xy is determined.
Assume that the output of each of the load cells 21 to 24 is adjusted to zero when there is no load.

<Explanation of symbol definitions (vehicle-related)>
The meanings of symbols used in FIGS. 7 to 9 and in the theoretical formula are defined as follows.
G: Center of gravity of the vehicle 3 G _i : Resulting point of resultant force of both wheels of the i-th axle of the vehicle 3 i (= 1, 2,..., K): Axle number k: Number of axles X _G : Coordinate system O− center of gravity of the entire length direction of the vehicle 3 in the XY Y _G: gravity center position in the width direction of the vehicle 3 in the coordinate system O-XY x _G: gravity center position of the total length direction of the vehicle 3 in the coordinate system o-xy y _G: coordinate system o The center-of-gravity position in the width direction of the vehicle 3 at -xy B _i : Effective tread width The “tread width” here is the distance between the centers of the left and right wheels (wheel distance).
l _j : Distance between axles j (= 1, 2,..., k−1): Number between axles (k ≧ 2)
CL _T: center line showing the center position in the width direction of the tread width GL _i: vertical line e _i through the resultant force acting point _{G i:} distance between the center line CL _T and the vertical line GL _i

<Explanation of symbol definitions (related to load cells)>
LC1: first load cell 21
LC2: second load cell 22
LC3: Third load cell 23
LC4: Fourth load cell 24
LC5: Fifth load cell 25
LC6: Sixth load cell 26
LC7: Seventh load cell 27
LC8: Eighth load cell 28
a: Center-to-center distance between the first load cell 21 (third load cell 23) and the second load cell 22 (fourth load cell 24) b: First load cell 21 (second load cell 22) and third load cell 23 (fourth load cell 24) B _i : Distance between the center point of the fifth load cell 25 and the operating point of the left wheel load of the i-th axle b _i ': The distance between the center point of the eighth load cell 28 and the right wheel load of the i-th axle Distance to working point C _i : Distance between the center point of the fifth load cell 25 and the vertical line GL _{i 10} : Distance between the centers of the second load cell 22 (fourth load cell 24) and the first axle Of these, a and b are known values, and these values are stored in the memory 68 in advance.

<Explanation of symbol definitions (table-related)>
CL _S: first the platform 11 and the center line b ₀ indicating an intermediate position between the second load platform 12: the width dimension of the first mounting base 11 (second load platform 12) L: third mounting of Dimensions in the full length direction of the table 13 Of the symbols, b ₀ and L are known values, and these values are stored in the memory 68 in advance.

<Description of symbol definition (relative position relation between vehicle and platform)>
f: distance between the X-axis and the x-axis (distance between the center line CL _T and the center line CL _S)

<Explanation of symbol definitions (mechanics)>
W _Li : Wheel load (left side)
W _Ri : Wheel load (right side)
W _i : Axial weight of the i-th axis W: Gross weight P _i : Force acting on the i-th load cell (static load) [= Force acting on the platform from the load cell (static load)]
P _j : force acting on the jth load cell (static load) [= force acting on the platform from the load cell (static load)]
P _ij : P _i + P _j
P = P ₁ + P ₂ + P ₃ + P ₄
^Pi : Effect of the i-th axle on P

<Description of Measurement of X _G , l _j : See FIG. 8>
FIG. 8 is a diagram showing how the load changes when the vehicle is placed on the third platform, and a diagram showing the relationship between the position x of the first axle and P ₁₃ (x) and P ₁₃ (t). It is shown.
For the measurement of X _G, it is essential to measure the _{l j.} Further, l _j can be obtained from the waveforms of the outputs P ₁ (t) to P ₄ (t) of the first load cell 21 to the fourth load cell 24.

<Description of how to obtain l ₁ and l ₂ >
The time when the peak first occurs in the P ₁₃ (t) waveform is taken as the time origin (t = 0), and the time when the extreme value occurs after that is defined as t ₁ , t ₂ , and t ₃ .
Let r be the distance between the position x of the first axle 7 corresponding to P ₁₃ (0) and the vehicle forward travel path upstream end of the third platform 13. This r is equivalent to half the tire ground contact length. Further, s is the distance between the position x of the first axle 7 corresponding to P ₁₃ (0) and the center point of the first load cell 21 (third load cell 23).
For the distance s, the following equation (11) is established.
P ¹ (0) / (a + s) = W ₁ / a (11)
Here, W ₁ = P ¹ (t), 0 <t <t ₁ .

S can be obtained from the above equation (11) as shown by the following equation (12).
s = {P ¹ (0) / W ₁ −1} a (12)

On the other hand, the following equation (13) is established for the distance r and the distance s.
r + s = L / 2−a / 2 (13)

From the equation (13), r can be obtained as shown by the following equation (14).
r = L / 2−a / 2−s (14)

<Determination of the explanation _{l 1>}
With respect to the distance l ₁ between the first axle 7 and the second axle 8, a relational expression represented by the following expression (15) is established.
P ¹ (0) / (a + s) = P ¹ (t ₁ ) / (a + s−l ₁ + r) (15)

From the above formula (15), l ₁ can be obtained as shown in the following formula (16).
l ₁ = (a + s) {1−P ¹ (t ₁ ) / P ¹ (0)} + r (16)

<Determination of description _{l 2>}
In obtaining the distance l ₂ between the second axle 8 and the third axle 9, first, P ¹ (t ₂ ) and P ² (t ₂ ) are obtained.

For P ¹ (t ₂ ), the relational expression expressed by the following expression (17) is established.
P ¹ (0) / (a + s) = P ¹ (t ₂ ) / (a + s−1 ₁ ) (17)

From the equation (17), P ¹ (t ₂ ) can be obtained as shown by the following equation (18).
P ¹ (t ₂ ) = {(a + s−l ₁ ) / (a + s)} P ¹ (0) (18)

^Further, P 2 _{(t 2)} can be obtained from the following equation (19).
P ² (t ₂ ) = P ₁₃ (t ₂ ) −P ¹ (t ₂ ) (19)

<Determination of description _{l 2>}
Next, P ¹ (t ₃ ) and P ² (t ₃ ) are represented by P ¹ (t ₂ ), P ² (t ₂ ), and l ₂ .

The following equation (20) is established for P ¹ (t ₃ ).
P ¹ (t ₂ ) −P ¹ (t ₃ ) = {(l ₂ −r) / (a + s)} P ¹ (0)
... (20)

From the equation (20), P ¹ (t ₃ ) can be obtained as shown in the following equation (21).
P ¹ (t ₃ ) = P ¹ (t ₂ ) − {(l ₂ −r) / (a + s)} P ¹ (0)
... (21)

Further, the following equation (22) is established for P ² (t ₃ ).
^{_{P 2 (t 2) -P 2}} (t 3) = {(l 2 -r) / (a + s)} P 2 (t 2)
(22)

From the equation (22), P ² (t ₃ ) can be obtained as shown in the following equation (23).
^{_{P 2 (t 3) = P}} 2 (t 2) - {(l 2 -r) / (a + s)} P 2 (t 2)
(23)

<Determination of description _{l 2>}
P ₁₃ (t ₃ ) can be expressed by the following equation (24).
P ₁₃ (t ₃ ) = P ¹ (t ₃ ) + P ² (t ₃ ) (24)

The equations (21) and (23) are substituted into the equation (24), respectively.
P ₁₃ (t ₃ ) = P ¹ (t ₂ ) − {(l ₂ −r) / (a + s)} P ¹ (0)
+ P ² (t ₂ ) − {(l ₂ −r) / (a + s)} P ² (t ₂ )
... (25)

The equation (25) can be modified as shown in the following equation (26).
{(L ₂ −r) / (a + s)} · (P ¹ (0) + P ² (t ₂ )) =
P ¹ (t ₂ ) + P ² (t ₂ ) −P ₁₃ (t ₃ ) (26)

From the equation (26), l ₂ can be obtained as shown by the following equation (27).
l ₂ = (a + s) [{(P ¹ (t ₂ ) + P ² (t ₂ ) −P ₁₃ (t ₃ )} / {(P ¹ (0) + P ² (t ₂ )}] + r. 27)

<Determination of the description of _{X G>}
As apparent from FIG. 7 (b), the center-of-gravity position X _G in the overall length direction of the vehicle 3 can be expressed by the following equation (28).
X _G = − {(a / 2−l ₀ ) −x _G } (28)

From the balance of moments when all the wheels 4a, 5a, 6a; 4b, 5b, 6b are placed on the third platform 13 (t ₄ <t <t ₅ : see FIG. 7 (a ′)), (29) is established.
W ₁ l ₀ + W ₂ (l ₀ + l ₁ ) + W ₃ (l ₀ + l ₁ + l ₂ ) −P ₁₃ a = 0
... (29)

From the above equation (29), l ₀ can be obtained as shown in the following equation (30).
l ₀ = {P ₁₃ a−W ₂ l ₁ −W ₃ (l ₁ + l ₂ )} / W (30)

Here, W in the formula (30) is represented by the following formula (31).

前記式（３２）からｘ_Ｇは次式（３４）で示されるように求めることができる。
ｘ_Ｇ＝ａ（Ｐ_２４／Ｐ−１／２） ・・・（３４）

前記式（２８）（３０）（３４）から車両３の全長方向の重心位置Ｘ_Ｇを求めることができる。 <Determination of the description of _{X G>}
Similarly, the following equation (32) is established from the moment balance of the vehicle 3 at time t (t ₄ <t <t ₅ ).
_{(A / 2 + x G)} P = aP 24 ··· (32)

Here, P in the formula (32) is represented by the following formula (33).

Wherein _{x G} from formula (32) can be obtained as shown in the following equation (34).
x _G = a (P ₂₄ / P−1 / 2) (34)

Formula (28) (30) (34) to be able to determine the center of gravity position _{X G} in the overall length direction of the vehicle 3.

<Description of measurement of Y _G and B _i : see FIG. 9>
FIG. 9 shows a state diagram (a) of a load acting on the platforms when the vehicle is placed on the first platform and the second platform, and a skeleton (b) showing the resultant action point position for each axle. Are shown respectively.
To measure the Y _{G, B i} and _{b i, b} i 'measurement is essential.

<Description of how to obtain Y _G and B _i >
As is clear from FIGS. 9A and 9B, the following expression (35) is established with respect to the center of gravity position Y _{G in} the width direction of the vehicle 3.
(W ₁ + W ₂ + W ₃ ) Y _G = W ₁ e ₁ + W ₂ e ₂ + W ₃ e ₃ (35)

From the above equation (35), Y _G can be expressed as the following equation (36).
Y _G = (W ₁ e ₁ + W ₂ e ₂ + W ₃ e ₃ ) / (W ₁ + W ₂ + W ₃ ) (36)

C _i from the equation the moment balance in the state shown in FIG. 9 (a) can be expressed by the following equation (37).
C _i = {b _i W _Li + (b _i + B _i ) W _{R i} } / W _i
= B _i + W _Ri B _i / W _i (37)

Here, W _Ri can be obtained from the following equation (38).
W _Ri = P ⁱ ₇₈ (38)

<Description of how to obtain Y _G and B _i >
E _i As is clear from FIG. 9 (a) can be expressed by the following equation (39).
e _i = b _i + B _i / 2−C _i (39)

When the equation (37) is substituted into the equation (39), e _i can be expressed as the following equation (40).
e _i = b _i + B _i / 2−b _i + W _Ri B _i / W _i
= B _i / 2-W _Ri B _i / W _i
= (1 / 2-W _Ri / W _i ) B _i (40)

図９（ａ）から明らかなようにＢ_ｉは次式（４２）のように表わすことができる。
Ｂ_ｉ＝ｂ−（ｂ_ｉ＋ｂ_ｉ´） ・・・（４２）

ｂ_ｉは、第５ロードセル２５および第６ロードセル２６に作用する荷重の比から次式（４３）から求めることができる。
ｂ_ｉ＝（Ｐ_６／Ｐ_５６）ｂ_０ ・・・（４３）

同様にして、ｂ_ｉ´は第７ロードセル２７および第８ロードセル２８に作用する荷重の比から次式（４４）から求めることができる。
ｂ_ｉ´＝（Ｐ_７／Ｐ_７８）ｂ_０ ・・・（４４）

前記式（４１）（４２）（４３）（４４）から車両３の幅方向の重心位置Ｙ_Ｇを求めることができる。 <Description of how to obtain Y _G and B _i >
Y _G can be expressed by the following equations (41) from the equations (36) and (40).

As is clear from FIG. 9A, B _i can be expressed by the following equation (42).
B _i = b− (b _i + b _i ′) (42)

b _i can be obtained from the following equation (43) from the ratio of the loads acting on the fifth load cell 25 and the sixth load cell 26.
b _i = (P ₆ / P ₅₆ ) b ₀ (43)

Similarly, b _i ′ can be obtained from the following formula (44) from the ratio of loads acting on the seventh load cell 27 and the eighth load cell 28.
b _i ′ = (P ₇ / P ₇₈ ) b ₀ (44)

The center-of-gravity position Y _G in the width direction of the vehicle 3 can be obtained from the equations (41), (42), (43), and (44).

<Description of Measuring Operation of Horizontal Center of Gravity Position of Center of Gravity Position Measurement Device of First Embodiment>
Next, the horizontal barycentric position measurement operation of the center-of-gravity position measuring apparatus 1 will be described below mainly using the functional block diagram of FIG. 6 and the flowchart of FIG. In FIG. 10, symbols “S” and “T” represent steps.

<Description of Processing Contents of Step S1 to Step S3>
The width direction center-of-gravity position calculation unit 71 reads the load signals of the fifth load cell 25 to the eighth load cell 28, and based on the read load signals and the equations (42), (43), and (44), the effective tread width B _i is calculated, and the center-of-gravity position Y _G in the width direction of the vehicle 3 in the coordinate system O-XY is calculated based on the obtained value of the effective tread width B _i and the equation (41) (S1). .
Then, the display signal generation unit 75 generates a display signal that causes the display device 62 to display the calculation result by the width direction gravity center position calculation unit 71 (S2). Thereby, the value of the barycentric position in the width direction of the vehicle 3 is displayed on the display device 62 (S3).

<Description of Processing Contents of Step T1 to Step T3>
The full-length direction center-of-gravity position calculation unit 72 reads the load signals of the first load cell 21 to the fourth load cell 24, and based on the read load signals and the equations (16) and (27), the inter-axle distances l ₁ , l ₂ and the center of gravity of the vehicle 3 in the full length direction in the coordinate system O-XY based on the calculated values of the inter-axle distances l ₁ and l ₂ and the expressions (28), (30), and (34). The position _XG is calculated (T1).
Then, the display signal generation unit 75 generates a display signal that causes the display device 62 to display the calculation result by the full length direction gravity center position calculation unit 72 (T2). Thereby, the value of the barycentric position in the full length direction of the vehicle 3 is displayed on the display device 62 (T3).

<Theoretical explanation of how to find the center of gravity height h of the vehicle>
Next, how to obtain the center of gravity height h of the vehicle 3 will be described below mainly using FIG. 11 and FIG. In the following theoretical explanation, it is assumed that the third platform 13 on which the vehicle 3 is placed is in a free vibration state. The hydraulic cylinder 40 gives an initial condition of free vibration, and the restoring force F from the restoring force generating mechanism is applied, so that the third platform 13 on which the vehicle 3 is placed can be freely moved in the horizontal direction (y direction). Vibrate. In FIG. 12, the y coordinate y _G of the center of gravity G of the vehicle 3 at rest is represented by d. The o-yz coordinate system is a coordinate system fixed in space. In order to simplify the explanation of the theory, it is assumed that the third platform 13 is a rectangular parallelepiped having a constant density. The origin of the coordinate system o-xyz is set at the center of the third platform 13. Assume that the output of each of the load cells 21 to 24 is adjusted to zero when there is no load.

  Here, a new symbol used in the following description is defined.

(Sentence 1)

Of the symbols, m ₀ , c, and e are known values, and these values are stored in the memory 68 in advance.

If the vehicle 3 is rigid, the relative displacement in the Z-direction between the center of gravity G ₀ of the center of gravity G and the third load platform 13 of the vehicle 3 is zero. When the vehicle 3 is a non-rigid body, the relative displacement is not zero, but the amount is very small. Therefore, the amount of the relative displacement is ignored in the following equation of motion. That is, Z ₀ (t) = Z _G (t) is set. At this time, the equation of motion of the system is expressed by the following equations (49) and (50).

The expressions (49) and (50) are established regardless of whether or not the vehicle 3 is a rigid body.
Further, the following equation (51) is obtained as a balance condition for the overturning moment.

ここに、δは、重心Ｇの重心Ｇ_０に対するｙ方向の相対変位である。δは（ｂ／２−ｄ）に比較して微小であるから以下の式変形においては無視する。

Here, [delta] is the relative displacement in the y direction relative to the center of gravity G ₀ of the center of gravity G. Since δ is very small compared to (b / 2−d), it is ignored in the following equation modification.

(Sentence 2)

前記式（５２）より、車両３の重心高さｈを求める次式（５３）が得られる。

From the equation (52), the following equation (53) for obtaining the center-of-gravity height h of the vehicle 3 is obtained.

  In Equation (4) for obtaining the restoring force F described above, the vertical load N acting on the elastic body 31 is Mg (g: gravitational acceleration), and the radii of curvature A and B of the upper convex surface 34 and the lower convex surface 35 of the elastic body 31 are Since both have the predetermined radius R, the restoring force F of the third platform 13 supported by the load cells 21 to 24 can be expressed by the following equation (54).

前記式（５４）を前記式（５３）に代入してｈを書き直すと次式（５５）となる。

Substituting the equation (54) into the equation (53) to rewrite h, the following equation (55) is obtained.

ただし、ｋは次式（５６）で表わされるものである。

However, k is represented by the following equation (56).

(Sentence 3)

(Sentence 4)

  Here, the term “rigid body” refers to a “perfect rigid body” in which deformation due to external force does not occur at all. It includes “deemed rigid bodies” that have no problem. The “non-rigid body” is a generic expression of objects that are deformed by an external force and whose influence cannot be ignored in measuring the height of the center of gravity.

(Sentence 5)

<Description of correction of load signal detected by load cell>
By the way, with the free vibration of the 3rd mounting base 13 in the horizontal direction, the load cells 21 to 24 become rotational vibration. As a result, the load acting in the axial direction of the load cells 21 to 24 is a function of the rotation angle θ. Now, it is assumed that the load P _i ′ (t) detected by the load cells 21 to 24 is the axial load.

ただし、Ｆｉ（ｔ）およびθはそれぞれ次式（５９）および式（６０）で表わされる。

ここに、Ｆ_ｉ（ｔ）は、各ロードセル２１〜２４に生じる復元力Ｆの符号を逆にしたものである。
前記式（５８）により次式（５８）´が得られる。

この式（５８）´によりＰ_ｉ（ｔ）がＰ_ｉ´（ｔ）とｙ_０（ｔ）から求まることがわかる。
なお、傾斜補正の成されたデジタルロードセルを用いる場合は、その出力はＰ_ｉ（ｔ）であるから、上述の補正は不要となる。 At this time, P _i ′ (t) can be expressed by the following equation (58).

However, Fi (t) and θ are represented by the following equations (59) and (60), respectively.

Here, F _i (t) is obtained by reversing the sign of the restoring force F generated in each of the load cells 21 to 24.
The following equation (58) ′ is obtained from the equation (58).

From this equation (58) ′, it can be seen that P _i (t) is obtained from P _i ′ (t) and y ₀ (t).
When a digital load cell with tilt correction is used, the output is P _i (t), and thus the above correction is unnecessary.

<Description of Measurement Operation of Center of Gravity Height Position of Center of Gravity Position Measurement Apparatus of First Embodiment>
The measurement operation of the center-of-gravity height position of the center-of-gravity position measuring apparatus 1 configured as described above will be described below mainly using the functional block diagram of FIG. 6, the flowchart of FIG. 13, and the time chart of FIG. To do. In FIG. 13, the symbol “S” represents a step.
The following description of the measurement operation is an example in the case where the vehicle 3 is a vehicle (cargo truck) carrying a load.

<Description of Processing Contents of Steps S11 to S14>
Wait until the vehicle 3 that has entered the third platform 13 stops (S11).
After the time (t ₁ + Δt) after the minute time Δt has elapsed from the time t ₁ when the vehicle 3 stopped, the horizontal plane gravity center position calculation unit 70 receives the static load signals P _i (i = 1, 2) from the load cells 21 to 24. , together with the read 3,4) to determine the mass of the vehicle 3 (by weight) from the read static load signal _{P i} (S12).
Further, the horizontal plane center-of-gravity position calculation unit 70 calculates k based on the following equation (56) (S13), and executes the processes of step S1 and step T1 (see FIG. 10) described above, respectively. The plane coordinates (x _G , y _G ) of the center of gravity G are calculated (S14).

<Description of Processing Contents of Step S15>
At time t ₂ , the electromagnetic valve control signal generation unit 74 transmits an electromagnetic valve control signal indicating the extension operation of the hydraulic cylinder 40 to the electromagnetic valve 41. As a result, the hydraulic cylinder 40 is extended, and the side surface of the third platform 13 is pushed by the piston rod 40a, so that the horizontal displacement and speed are given to the third platform 13. Thereafter, at a predetermined displacement, the electromagnetic valve control signal generation unit 74 transmits an electromagnetic valve control signal indicating a contraction operation of the hydraulic cylinder 40 to the electromagnetic valve 41. As a result, the hydraulic cylinder 40 is contracted, the contact between the third platform 13 and the piston rod 40a is released, and an initial condition of free vibration is given to the third platform 13. And since the restoring force F from the restoring force generation mechanism with respect to the displacement in the horizontal direction acts on the third platform 13, the third platform 13 freely vibrates in the horizontal direction (y direction).

<Description of processing contents of steps S16 and S17>
(Sentence 6)

<Description of Processing Contents of Step S18>
In between times t ₅ from the third time point t ₄ after the load platform 13 is stationary, the height of the center of gravity position computing unit 73, the dynamic load signal P which is Shutoku static loads signal P _i and step S16 obtained in step S12 ΔP (t) and ΔP ₃₄ (t) are calculated based on _i (t), respectively.

<Description of Processing Contents of Step S19>
In a period from after time t ₅ at time t _6, the height of the center of gravity position computing unit 73 computes the center-of-gravity height h of the center of gravity G of the vehicle 3 based on the following equation (55). Note that the measured value of h is the average value of h calculated by Equation (55) at each sampling time within a predetermined time interval.

<Description of Processing Contents of Step S20>
Then, the front time signal generating unit 75 generates a display signal for causing the display device 62 to display the value of the center of gravity height h obtained as a result of the calculation in step S19. Thereby, the value of the center-of-gravity height h obtained by the calculation in step S19 is displayed on the display device 62.

<Description of the effect of the center of gravity position measuring device>
According to the center-of-gravity position measuring apparatus 1, it is possible to measure the three-dimensional center-of-gravity position of the vehicle 3, that is, the horizontal center-of-gravity position G (X _G , Y _G ) and the center-of-gravity height h with a simple and inexpensive configuration. Effective data that contributes to prevention of the rollover of the vehicle 3 can be provided to the driver or the like.

  By the way, in the above, the measuring method of the gravity center position of the whole vehicle 3 which loaded the container 3C which accommodated the cargo 10 was demonstrated. However, the container 3C is transported by various means and loaded on another vehicle depending on the time. At this time, depending on the combination with another vehicle, there may be a dangerous center-of-gravity position that tends to roll over as a whole. Therefore, in the following, a specific measurement object is selected from a plurality of measurement object candidates as required, such as the gravity center position of the container 3C itself and the gravity center position when the container 3C and the vehicle 3 alone are combined. A centroid measurement method for measuring the position of the centroid as an object will be described.

  Here, a new symbol used in the following description is defined.

<Explanation of symbol definitions>
m ₁ : Mass of the tractor 3a alone (tow vehicle alone) m ₂ : Mass of the trailer 3b alone (towed vehicle alone) m ₃ : Mass of the container 3c alone (load alone) m ₄ : Cargo 10 alone (load alone) Mass m ₁₂ : Mass of the vehicle 3 alone m ₂₃ : Mass of the entire trailer 3b (no cargo 10) m ₃₄ : Mass of the entire container 3c m ₁₂₃ : Mass of the entire vehicle 3 (no cargo 10) m ₂₃₄ : Entire trailer 3b ( mass m ₁₂₃₄ cargo 10 Yes): vehicle 3 across (the mass of the cargo 10 Yes) G _1: tractor 3a single center of gravity G _2: trailer 3b single center of gravity G _3: container 3c single center of gravity G _4: cargo 10 single the center of gravity G _12: vehicle 3 single center of gravity G _23: center of gravity G ₃₄ of the entire trailer 3b (cargo 10 no): container 3c of the center of gravity of the whole G _123: vehicle 3 across (cargo 10 No The center of gravity G _234: total trailer 3b centroid G ₁₂₃₄ of (freight 10 having): vehicle 3 center of gravity of the whole (the cargo 10 _{Yes) (X 1, Y 1,} Z 1): coordinate centroid _{G 1 (X 2, Y} 2 , Z ₂ ): coordinates of the center of gravity G ₂ (X ₃ , Y ₃ , Z ₃ ): coordinates of the center of gravity G ₃ (X ₄ , Y ₄ , Z ₄ ): coordinates of the center of gravity G ₄ (X ₁₂ , Y ₁₂ , Z _12): coordinates of the center of gravity _{G 12 (X 23, Y 23} , Z 23): coordinates of the center of gravity _{G 23 (X 34, Y 34} , Z 34): coordinates of the center of gravity _{G 34 (X 123, Y 123} , Z 123) : Coordinates of the center of gravity G ₁₂₃ (X ₂₃₄ , Y ₂₃₄ , Z ₂₃₄ ): coordinates of the center of gravity G ₂₃₄ (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ): coordinates of the center of gravity G ₁₂₃₄

<Explanation of how to find the mass and center of gravity of the entire vehicle (with cargo)>
The mass m ₁₂₃₄ of the entire vehicle 3 (cargo 10), that is, the combination of the tractor 3a, the trailer 3b, the container 3c, and the cargo 10 is the above-mentioned step for the entire vehicle 3 (cargo 10). It is obtained by executing the process of S12 (see FIG. 13).
Also, the coordinates (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ) of the center of gravity G ₁₂₃₄ of the entire vehicle 3 (with cargo 10) are the same as those in steps S1, T1 (see FIG. 10) with respect to the entire vehicle 3 (with cargo 10). ) And the processes of steps S11 to S19 (see FIG. 13) are executed.

<How to find the mass and center of gravity of the entire vehicle (no cargo)>
The mass m ₁₂₃ of the entire vehicle 3 (no cargo 10), that is, the combination of the tractor 3a alone, the trailer 3b alone, and the container 3c alone is the same as that of step S12 (FIG. 13) with respect to the entire vehicle 3 (no cargo 10). This is obtained by executing the processing of (see).
Further, the coordinates (X ₁₂₃ , Y ₁₂₃ , Z ₁₂₃ ) of the center of gravity G ₁₂₃ of the entire vehicle 3 (without the cargo 10) are the same as the steps S1, T1 (see FIG. 10) with respect to the entire vehicle 3 (without the cargo 10). ) And the processes of steps S11 to S19 (see FIG. 13) are executed.

<Description of how to find the mass and center of gravity of a single vehicle>
Vehicle 3 alone, i.e. the mass m ₁₂ Although the combination of the tractor 3a alone and trailer 3b alone, with respect to the vehicle 3 itself is determined by the processing of step S12 (see FIG. 13) is executed.
Further, the coordinates (X ₁₂ , Y ₁₂ , Z ₁₂ ) of the center of gravity G ₁₂ of the vehicle 3 alone are the same as those in steps S 1 and T 1 (see FIG. 10) and steps S 11 to S 11 for this vehicle 3 alone. This is obtained by executing the process of S19 (see FIG. 13).
Here, although the position of the center of gravity of the vehicle 3 alone may slightly change due to the difference in the driver, the amount of fuel mounted, etc., these are small changes that can be ignored with respect to the whole. Therefore, the value measured once for the center of gravity position of the vehicle 3 alone can be used as a fixed value after the next time. In addition, you may use the design value at the time of vehicle design, without measuring.

<Description of known values stored in memory>
The values of the masses m ₁₂₃₄ , m ₁₂₃ , m ₁₂ and the coordinates of the centers of gravity G ₁₂₃₄ , G ₁₂₃ , G ₁₂ (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ), (X ₁₂₃ , Y ₁₂₃ , Z ₁₂₃ ), The values (X ₁₂ , Y ₁₂ , Z ₁₂ ) are stored in the memory 68 as known values.

<Explanation of how to calculate the mass and center of gravity of the entire container>
Next, how to determine the mass m ₃₄ and the center of gravity G ₃₄ of the entire container 3c, that is, the cargo 10 stored in the container 3c alone, based on the known values stored in the memory 68 will be described.
The relational expressions represented by the following expressions (71), (72), (73), and (74) are established for the mass and the center of gravity between the entire vehicle 3 (having the cargo 10), the single vehicle 3 and the entire container 3c.
m ₁₂₃₄ = m ₁₂ + m ₃₄ (71)
m ₁₂₃₄ X ₁₂₃₄ = m ₁₂ X ₁₂ + m ₃₄ X ₃₄ (72)
m ₁₂₃₄ Y ₁₂₃₄ = m ₁₂ Y ₁₂ + m ₃₄ Y ₃₄ (73)
m ₁₂₃₄ Z ₁₂₃₄ = m ₁₂ Z ₁₂ + m ₃₄ Z ₃₄ (74)
The mass m ₃₄ and the center of gravity G ₃₄ (X ₃₄ , Y ₃₄ , Z ₃₄ ) of the entire container 3c are the same as the mass m ₁₂₃₄ and the center of gravity G ₁₂₃₄ (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ) of the entire vehicle 3 (with cargo 10). Based on the mass m ₁₂ and the center of gravity G ₁₂ (X ₁₂ , Y ₁₂ , Z ₁₂ ) of the vehicle 3 alone, it is obtained as follows.
From the equation (71), the mass m ₃₄ of the entire container 3c is obtained by the following equation (75).
m ₃₄ = m ₁₂₃₄ −m ₁₂ (75)
From the equations (72), (73), and (74), the center of gravity G ₃₄ (X ₃₄ , Y ₃₄ , Z ₃₄ ) of the entire container 3c is obtained by the following equations (76), (77), and (78).
X ₃₄ = (m ₁₂₃₄ X ₁₂₃₄ −m ₁₂ X ₁₂ ) / m ₃₄ (76)
Y ₃₄ = (m ₁₂₃₄ Y ₁₂₃₄ −m ₁₂ Y ₁₂ ) / m ₃₄ (77)
Z ₃₄ = (m ₁₂₃₄ Z ₁₂₃₄ −m ₁₂ Z ₁₂ ) / m ₃₄ (78)
The value of the mass m ₃₄ of the entire container 3c and the coordinates (X ₃₄ , Y ₃₄ , Z ₃₄ ) of the center of gravity G ₃₄ thus obtained are stored in the memory 68 as unique values of the entire container 3c. Is done.

<Description of how to calculate the mass and center of gravity of a single container>
Next, how to determine the mass m ₃ and the center of gravity G ₃ of the container 3c alone will be described based on the known values stored in the memory 68.
Regarding the mass and the center of gravity between the entire vehicle 3 (no cargo 10), the vehicle 3 alone, and the container 3c alone, the following relational expressions (81) (82) (83) (84) are established.
m ₁₂₃ = m ₁₂ + m ₃ (81)
_{m 123 X 123 = m 12 X} 12 + m 3 X 3 ··· (82)
m ₁₂₃ Y ₁₂₃ = m ₁₂ Y ₁₂ + m ₃ Y ₃ (83)
_{m 123 Z 123 = m 12 Z} 12 + m 3 Z 3 ··· (84)
The mass m ₃ and the center of gravity G ₃ (X ₃ , Y ₃ , Z ₃ ) of the container 3c alone are the same as the mass m ₁₂₃ and the center of gravity G ₁₂₃ (X ₁₂₃ , Y ₁₂₃ , Z ₁₂₃ ) of the entire vehicle 3 (no cargo 10). Based on the mass m ₁₂ and the center of gravity G ₁₂ (X ₁₂ , Y ₁₂ , Z ₁₂ ) of the vehicle 3 alone, it is obtained as follows.
From the equation (81), the mass m ₃ of the container 3c alone is obtained by the following equation (85).
m ₃ = m ₁₂₃ −m ₁₂ (85)
From the equations (82), (83), and (84), the center of gravity G ₃ (X ₃ , Y ₃ , Z ₃ ) of the container 3c alone is obtained by the following equations (86), (87), and (88).
_{X 3 = (m 123 X 123} -m 12 X 12) / m 3 ··· (86)
_{Y 3 = (m 123 Y 123} -m 12 Y 12) / m 3 ··· (87)
_{Z 3 = (m 123 Z 123} -m 12 Z 12) / m 3 ··· (88)
The value of the mass m ₃ of the single container 3c and the coordinates (X ₃ , Y ₃ , Z ₃ ) of the center of gravity G ₃ thus determined are stored in the memory 68 as unique values of the single container 3c. The

<Description of how to determine the mass and center of gravity of a single cargo (1)>
Next, how to determine the mass m ₄ and the center of gravity G ₄ of a single cargo based on the known values stored in the memory 68 will be described.
Regarding the mass and the center of gravity between the entire vehicle 3 (with cargo 10), the entire vehicle 3 (without cargo 10), and the cargo 10 alone, the following relational expressions (91) (92) (93) (94) are expressed. To establish.
m ₁₂₃₄ = m ₁₂₃ + m ₄ (91)
m ₁₂₃₄ X ₁₂₃₄ = m ₁₂₃ X ₁₂₃ + m ₄ X ₄ (92)
m ₁₂₃₄ Y ₁₂₃₄ = m ₁₂₃ Y ₁₂₃ + m ₄ Y ₄ (93)
m ₁₂₃₄ Z ₁₂₃₄ = m ₁₂₃ Z ₁₂₃ + m ₄ Z ₄ (94)
The mass m ₄ and the center of gravity G ₄ (X ₄ , Y ₄ , Z ₄ ) of the cargo 10 alone are the mass m ₁₂₃₄ and the center of gravity G ₁₂₃₄ (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ) of the entire vehicle 3 (with the cargo 10). Based on the mass m ₁₂₃ and the center of gravity G ₁₂₃ (X ₁₂₃ , Y ₁₂₃ , Z ₁₂₃ ) of the entire vehicle 3 (no cargo), it is obtained as follows.
From the equation (91), the mass m ₄ of the cargo 10 is obtained by the following equation (95).
m ₄ = m ₁₂₃₄ −m ₁₂₃ (95)
From the equations (92), (93), and (94), the center of gravity G ₄ (X ₄ , Y ₄ , Z ₄ ) of the cargo 10 is obtained by the following equations (96), (97), and (98).
_{X 4 = (m 1234 X 1234} -m 123 X 123) / m 4 ··· (96)
_{Y 4 = (m 1234 Y 1234} -m 123 Y 123) / m 4 ··· (97)
Z ₄ = (m ₁₂₃₄ Z ₁₂₃₄ −m ₁₂₃ Z ₁₂₃ ) / m ₄ (98)
Thus, the mass and center of gravity of the cargo 10 are obtained, and if the type of the cargo 10 is known, the approximate loading state of the cargo 10 in the container 3c can be estimated.

<Description of how to determine the mass and center of gravity of a single cargo (2)>
Other methods for obtaining the mass m ₄ and the center of gravity G ₄ of the single cargo will be described.
Regarding the mass and the center of gravity between the entire container 3c, the container 3c alone, and the cargo 10 alone, the relational expressions represented by the following expressions (101) (102) (103) (104) are established.
m ₃₄ = m ₃ + m ₄ (101)
m ₃₄ X ₃₄ = m ₃ X ₃ + m ₄ X ₄ (102)
m ₃₄ Y ₃₄ = m ₃ Y ₃ + m ₄ Y ₄ (103)
_{m 34 Z 34 = m 3 Z} 3 + m 4 Z 4 ··· (104)
The mass m ₄ and the center of gravity G ₄ (X ₄ , Y ₄ , Z ₄ ) of the cargo 10 alone are the mass m ₃₄ and the center of gravity G ₃₄ (X ₃₄ , Y ₃₄ , Z ₃₄ ) of the entire container 3c and the container 3c alone. Based on the mass m ₃ and the center of gravity G ₃ (X ₃ , Y ₃ , Z ₃ ), it is obtained as follows.
From the equation (101), the mass m ₄ of the cargo 10 alone is obtained by the following equation (105).
m ₄ = m ₃₄ −m ₄ (105)
From the equations (102), (103), and (104), the center of gravity G ₄ (X ₄ , Y ₄ , Z ₄ ) of the cargo 10 is obtained by the following equations (106), (107), and (108).
_{X 4 = (m 34 X 34} -m 3 X 3) / m 4 ··· (106)
_{Y 4 = (m 34 Y 34} -m 3 Y 3) / m 4 ··· (107)
Z ₄ = (m ₃₄ Z ₃₄ -m ₃ Z ₃ ) / m ₄ (108)
Thus, the mass and center of gravity of the cargo 10 are obtained, and if the type of the cargo 10 is known, the approximate loading state of the cargo 10 in the container 3c can be estimated.

According to the gravity center position measuring apparatus 1 of the first embodiment, the following effects (1) to (4) can be obtained.
(1) The center of gravity of the container 3c loaded with the cargo 10 can be known by measuring the position of the center of gravity of the entire vehicle 3 on which the entire container 3c containing the cargo 10 is loaded and the vehicle 3 alone. .
(2) When the center of gravity of the entire container 3c in which the cargo 10 is accommodated is found, if the current loading state is dangerous, the safest combination in combination with the previously known center of gravity of the vehicle 3 Can be changed.
(3) By linking the center of gravity of the entire container 3c in which the cargo 10 is accommodated and data such as the shipper and weight of the container 3c into a database, it is possible to know the tendency of the cargo loading state for each shipper. .
(4) By storing the information on the center of gravity of the entire container 3c in which the cargo 10 is stored in an RFID (Radio Frequency IDentification) tag attached to the container 3c, for example, an optimal arrangement of the container 3c is preliminarily set when shipping. I can know.

[Second Embodiment]
FIG. 15 is a plan view for explaining the structure of the center-of-gravity position measuring apparatus according to the second embodiment of the present invention.
In the center-of-gravity position measuring apparatus 91 of the second embodiment, the same or similar parts as those of the center-of-gravity position measuring apparatus 1 of the first embodiment are designated by the same reference numerals, and detailed description thereof is omitted. The following description will focus on differences from the gravity center position measuring apparatus 1 of the first embodiment.

The center-of-gravity position measuring device 91 of this embodiment is an RFID reader 92 that reads information stored in an RFID tag 310 (see FIGS. 7A and 7A ′) attached to an appropriate position of the tractor 3a in the vehicle 3. And four corners are provided with container platforms 93 supported by the first load cell 21, the second load cell 22, the third load cell 23 and the fourth load cell 24.
Here, the container platform 93 is formed of a rectangular plate-like member having a size and strength sufficient to place the entire container 3c in which the cargo 10 is accommodated in the container 3c alone, and basically the entire container 3c. It is used only for measuring the weight and center of gravity.

As shown in FIG. 17, the RFID reader 92 is connected to the I / O circuit 67, and information read by the RFID reader 92 from the RFID tag 310 is read into the MPU 69 via the I / O circuit 67. And stored in the memory 68.
Here, as information stored in the RFID tag 310, for example, mass information {m ₁ , m ₂ , m ₁₂ } regarding the vehicle 3 and barycentric position information {G ₁ (X ₁ , Y ₁ , Z ₁ ), _{G 2 (X 2, Y 2} , Z 2), G 12 (X 12, Y 12, Z 12)}, wheelbase and Wa距, information such as ground clearance dimension _{T H} of the vehicle specifications of the trailer 3b Can be mentioned.
The mass information {m ₃ } and the gravity center position information {G ₃ (X ₃ , Y ₃ , Z ₃ )} regarding the container 3c alone are stored in the memory 68 in advance as known values.

<Functional explanation of MPU>
In the MPU 69, the function of the vehicle three-dimensional center-of-gravity position calculation unit 94 as shown in FIG. 18 is realized by executing a predetermined program.

<Theoretical Explanation of How to Obtain Horizontal Center of Gravity Coordinate G ₃₄ (X ₃₄ , Y ₃₄ ) of Center of Gravity G ₃₄ of Entire Container>
Next, how to obtain the horizontal center-of-gravity coordinates G ₃₄ (X ₃₄ , Y ₃₄ ) of the center of gravity G ₃₄ of the entire container 3c will be described mainly with reference to FIGS. 15 and 16.

<Description of definition of coordinate system o-xyz>
On the surface of the container platform 93, the x axis is defined along the width direction center line extending in the full length direction through the center position in the width direction of the container platform 93, and the container platform on the surface of the container platform 93. The y-axis is defined along the full-length center line extending in the width direction through the center position in the full-length direction of the table 93, the z-axis is defined along the vertical line passing through the intersection of the x-axis and the y-axis, and the x-axis The coordinate system o-xyz is determined by taking the origin o at the intersection of the y axis and the z axis.

<Description of definition of coordinate system O′-X′Y′Z ′>
An X ′ axis is defined along the width direction center line extending in the full length direction through the center position in the width direction of the whole container 3c on the bottom surface of the whole container 3c, and the center in the full length direction of the whole container 3c on the bottom surface of the whole container 3c. The Y ′ axis is defined along the center line in the full length direction passing through the position and extending in the width direction, the Z ′ axis is defined along the vertical line passing through the intersection of the X ′ axis and the Y ′ axis, the X ′ axis, Y The origin O 'is taken at the intersection of the' axis and the Z 'axis to define a coordinate system O'-X'Y'Z'.

<Description of definition of coordinate system coordinate system O-XYZ>
The X axis is defined along the intersection line of the vertical plane extending in the full length direction passing through the center position in the width direction of the vehicle 3 (see FIG. 7) and the wheel ground contact surface of the vehicle 3, and passes through the first axle 7 in the width direction. The Y axis is defined along the intersection line between the extending vertical plane and the wheel ground contact surface of the vehicle 3, and the Z axis is defined along the vertical line passing through the intersection of the X axis and the Y axis. The coordinate system O-XYZ is determined with the origin O at the intersection of the Z axis.

<Explanation of the marks on the container platform>
In measuring the position of the center of gravity, for example, the entire container 3c is placed at a predetermined position on the container platform 93 using, for example, a crane or a forklift. At this time, in order to facilitate positioning of the entire container 3c with respect to the container mount 93, the surface of the container mount 93 is made to correspond to the respective corners of the bottom four corners of the entire container 3c. An alignment mark 95 is attached.
When the entire container 3c is placed on the container platform 93 so that the bottom four corners of the entire container 3c are aligned with these marks 95, the distance between the X ′ axis and the x axis is δ ₁ as shown in FIG. The distance between the Y ′ axis and the y axis is δ ₂ , and δ ₁ and δ ₂ are stored in the memory 68 in advance as known values.
The external dimensions of the container 3c alone are fixed values according to international standards, and the external dimensions of the container platform 93 are design values. When the entire container 3c is placed at a predetermined position indicated by four marks 95, If the relative positional relationship between the entire container 3c and the container platform 93 is defined, the planar center of gravity of the entire container 3c projected on the plane coordinates of the container platform 93 is obtained, whereby the entire container 3c is obtained. The planar center-of-gravity position of the entire container 3c on its own plane coordinates can be obtained.
In general, δ ₁ = 0 and δ ₂ = 0, that is, the predetermined positions indicated by the four marks 95 are defined so that the center of the entire container 3C and the center of the container platform 93 coincide. Is preferred.

<Theoretical description of how to obtain the horizontal center of gravity coordinates (x ₃₄ , y ₃₄ ) of the center of gravity G ₃₄ >
Next, the surface when the projected horizontal centroid coordinates of the entire container 3c, i.e. the center of gravity G ₃₄ in the entire container 3c placed on the loading table 93 for the container in a horizontal plane of the loading table 93 for the container (o-xy plane) A method for obtaining the coordinates (x ₃₄ , y ₃₄ ) of the center of gravity G ₃₄ above will be described.
In order to simplify the explanation of the theory, it is assumed that the container platform 93 is a rectangular parallelepiped having a constant density. Assume that the output of each of the load cells 21 to 24 is adjusted to zero when there is no load. The meanings of symbols in FIG. 15 and symbols used in the theoretical formula are defined as follows.

<Explanation of symbol definitions>
G ₀ : Center of gravity of the container platform 93 a: Distance between the load cell 21 (23) and the load cell 22 (24) b: Distance between the load cell 21 (22) and the load cell 23 (24) c: For container Height of mounting base H: Height of load cells 21 to 24 (height of elastic body 31)
P _i : Static load acting on each load cell 11 to 14 (i = 1, 2, 3, 4)
P: Own weight of the entire container 3c (= P ₁ + P ₂ + P ₃ + P ₄ )
P ₁₂ : P ₁ + P ₂
P ₂₄ : P ₂ + P ₄
Of the above symbols, a, b, c, H, and R are known values, and these values are stored in the memory 68 in advance.

<Theoretical explanation of how to obtain the coordinates (x ₃₄ , y ₃₄ ) of the center of gravity G _{34 on} the o-xy plane>
The following formulas (115) and (116) are satisfied as moment balance conditions.

P ₂₄ a−P (a / 2 + x ₃₄ ) = 0 (115)
P ₁₂ b−P (b / 2 + y ₃₄ ) = 0 (116)

From the above equations (115) and (116), the following equations (117) and (118) are obtained.

x ₃₄ = a (P ₄ / P−1 / 2) (117)
y ₃₄ = b (P ₁₂ / P−1 / 2) (118)

Therefore, the coordinates (x ₃₄ , y ₃₄ ) on the o-xy plane of the center of gravity G ₃₄ are calculated by substituting the calculated values of P ₂₄ , P ₁₂ and P into the above formulas (117) and (118). Can be sought.

<Theoretical explanation of how to obtain the coordinates (X ′ ₃₄ , Y ′ ₃₄ ) on the O′-X′Y ′ plane of the center of gravity G ₃₄ >
As is clear from FIG. 15, the following equations (121) and (122) are established.
x ₃₄ = X ′ ₃₄ + δ ₂ (121)
_{y 34 = Y'34 + δ 1} ··· (122)
These formula (121) _X'from (122) ₃₄ and _Y'34 can be respectively expressed by the following formula (123) and the following equation (124).
X ′ ₃₄ = x ₃₄ −δ ₂ (123)
Y ′ ₃₄ = y ₃₄ −δ ₁ (124)

<Theoretical explanation of how to obtain the coordinates (X ₃₄ , Y ₃₄ ) of the center of gravity G _{34 on} the O-XY plane>
In the vehicle 3, when the entire container 3c is placed on the trailer 3b, as shown in FIG. 16B, the distance between the X axis and the X ′ axis is δ ₃ , and the Y axis and the Y ′ axis Is δ ₄ , and δ ₃ and δ ₄ are stored in the memory 68 as known values.
Note that in the vehicle 3 in which the entire container 3c is loaded on the trailer 3b, the vehicle center line that normally extends through the center position in the width direction of the vehicle 3 and extends in the entire length direction and the center position in the width direction of the entire container 3c are passed. Since the center line in the width direction extending in the full length direction coincides with the design, the distance δ ₃ between the X axis and the X ′ axis is zero.

As is apparent from FIG. 16B, the following expressions (131) and (132) are established.
X ₃₄ = X ′ ₃₄ + δ ₄ (131)
_{Y 34 = Y'34 + δ 3} ··· (132)
From these formulas (131) and (132) and the above formulas (123) and (124), X ₃₄ and Y ₃₄ can be expressed by the following formulas (133) and (134), respectively.
X ₃₄ = x ₃₄ −δ ₂ + δ ₄ (133)
Y ₃₄ = y ₃₄ −δ ₁ + δ ₃ (134)
Thus, the coordinates _{(X 34, Y 34)} on the O-XY plane of the center of gravity _{G 34,} coordinates in the formula (117) (118) of the center of gravity _{G 34} obtained from o-xy plane _{(x 34, y 34} ).

<Theoretical explanation of how to find the center of gravity height h of the entire container 3c>
Next, how to obtain the center-of-gravity height h of the entire container 3c will be described below mainly using FIG. 15 and FIG. In the following theoretical explanation, it is assumed that the container platform 93 on which the entire container 3c is placed is in a free vibration state. By applying the initial condition of free vibration in the hydraulic cylinder 40 and applying the restoring force F from the restoring force generating mechanism, the container platform 93 on which the entire container 3c is placed can be freely moved in the horizontal direction (y direction). Vibrate. In FIG. 16, the y coordinate y ₃₄ of the center of gravity G ₃₄ of the entire container 3c at rest is represented by d. The o-yz coordinate system is a coordinate system fixed in space.

  Here, a new symbol used in the following description is defined.

(Sentence 7)

Of the symbols, m ₀ and e are known values, and these values are stored in the memory 68 in advance.

If the entire container 3c is rigid, z-direction relative displacement between the center of gravity G ₀ of the center of gravity G ₃₄ and placing containers stand 93 in the entire container 3c is zero. When the entire container 3c is non-rigid, the relative displacement is not zero, but the amount is very small. Therefore, the amount of the relative displacement is ignored in the following equation of motion. That is, z ₀ (t) = z _G (t) is set. At this time, the equation of motion of the system is expressed by the following equations (149) and (150).

The expressions (149) and (150) hold regardless of whether or not the entire container 3c is a rigid body.
Further, the following formula (151) is obtained as a balance condition of the overturning moment.

ここに、δは、重心Ｇ_３４の重心Ｇ_０に対するｙ方向の相対変位である。δは（ｂ／２−ｄ）に比較して微小であるから以下の式変形においては無視する。

Here, δ is a relative displacement in the y direction with respect to the center of gravity G ₀ of the center of gravity G ₃₄ . Since δ is very small compared to (b / 2−d), it is ignored in the following equation modification.

(Sentence 8)

前記式（１５２）より、コンテナ３ｃ全体の重心高さｈを求める次式（１５３）が得られる。

From the equation (152), the following equation (153) for obtaining the center-of-gravity height h of the entire container 3c is obtained.

  In Equation (4) for obtaining the restoring force F described above, the vertical load N acting on the elastic body 31 is Mg (g: gravitational acceleration), and the radii of curvature A and B of the upper convex surface 34 and the lower convex surface 35 of the elastic body 31 are Since both have the predetermined radius R, the restoring force F of the container platform 93 supported by the load cells 21 to 24 can be expressed by the following equation (154).

前記式（１５４）を前記式（１５３）に代入してｈを書き直すと次式（１５５）となる。

Substituting the equation (154) into the equation (153) and rewriting h yields the following equation (155).

ただし、ｋは次式（１５６）で表わされるものである。

However, k is represented by the following formula (156).

(Sentence 9)

(Sentence 10)

  Here, the term “rigid body” refers to a “perfect rigid body” in which deformation due to external force does not occur at all. It includes “deemed rigid bodies” that have no problem. The “non-rigid body” is a generic expression of objects that are deformed by an external force and whose influence cannot be ignored in measuring the height of the center of gravity.

(Sentence 11)

<Description of correction of load signal detected by load cell>
By the way, with the free vibration of the container platform 93 in the horizontal direction, the load cells 21 to 24 become rotational vibration. As a result, the load acting in the axial direction of the load cells 21 to 24 is a function of the rotation angle θ. Now, it is assumed that the load P _i ′ (t) detected by the load cells 21 to 24 is the axial load.

ただし、Ｆｉ（ｔ）およびθはそれぞれ次式（１５９）および式（１６０）で表わされる。

ここに、Ｆ_ｉ（ｔ）は、各ロードセル２１〜２４に生じる復元力Ｆの符号を逆にしたものである。
前記式（１５８）により次式（１５８）´が得られる。

この式（１５８）´によりＰ_ｉ（ｔ）がＰ_ｉ´（ｔ）とｙ_０（ｔ）から求まることがわかる。
なお、傾斜補正の成されたデジタルロードセルを用いる場合は、その出力はＰ_ｉ（ｔ）であるから、上述の補正は不要となる。 At this time, P _i ′ (t) can be expressed by the following equation (158).

However, Fi (t) and θ are represented by the following equations (159) and (160), respectively.

Here, F _i (t) is obtained by reversing the sign of the restoring force F generated in each of the load cells 21 to 24.
The following equation (158) ′ is obtained from the equation (158).

From this equation (158) ′, it can be seen that P _i (t) is obtained from P _i ′ (t) and y ₀ (t).
When a digital load cell with tilt correction is used, the output is P _i (t), and thus the above correction is unnecessary.

<Theoretical explanation of how to find Z ₃₄ of the center of gravity G ₃₄ >
As is clear from FIG. 7B, the following equation (161) is established.
_{Z 34 = Z'34 + T H} ··· (161)
Z ′ ₃₄ = z ₃₄ = h
Therefore, _Z34 is obtained from the following equation (162).
_{Z 34 = h + T H ···} (162)
In this manner, the Z coordinate (Z ₃₄ ) of the center of gravity G ₃₄ can be obtained using the center of gravity height h obtained from the equation (155).

<Description of Measurement Operation of Center of Gravity Height Position of Center of Gravity Position Measurement Device of Second Embodiment>
The measurement operation of the center-of-gravity height position of the center-of-gravity position measuring apparatus 91 configured as described above will be described below mainly using the functional block diagram of FIG. 18 and the flowchart of FIG. In FIG. 19, the symbol “S” represents a step.
The following description of the measurement operation is an example when the entire container 3 c is placed on the container platform 93.

ｘ_３４＝ａ（Ｐ_４／Ｐ−１／２） ・・・（１１７）
ｙ_３４＝ｂ（Ｐ_１２／Ｐ−１／２） ・・・（１１８） <Description of Processing Contents of Steps S31 to S34>
First, the entire container 3c is placed at a predetermined position on the container mounting 93 according to the mark 95 (S31).
Next, after the time (t ₁ + Δt) after the minute time Δt has elapsed from the time t ₁ at which the entire container 3c is placed at a predetermined position on the container platform 93, the horizontal plane center-of-gravity position calculation unit 70 performs the load cell 21. The static load signal P _i (i = 1, 2, 3, 4) from ˜24 is read, and the mass m ₃₄ of the entire container 3c is obtained from the read static load signal P _i (S32).
Then, the horizontal center of gravity position calculating unit 70, thereby calculating the k based on the following formula (156) (S33), o-xy of the formula (7) in the entire container 3c based on (8) the center of gravity _{G 34} The coordinates (x ₃₄ , y ₃₄ ) on the plane are calculated (S34).

x ₃₄ = a (P ₄ / P−1 / 2) (117)
y ₃₄ = b (P ₁₂ / P−1 / 2) (118)

<Description of Processing Contents of Step S35>
At time t ₂ , the electromagnetic valve control signal generation unit 74 transmits an electromagnetic valve control signal indicating the extension operation of the hydraulic cylinder 40 to the electromagnetic valve 41. As a result, the hydraulic cylinder 40 is extended, the side surface of the container platform 93 is pushed by the piston rod 40a, and a horizontal displacement and speed are given to the container platform 93. Thereafter, at a predetermined displacement, the electromagnetic valve control signal generation unit 74 transmits an electromagnetic valve control signal indicating a contraction operation of the hydraulic cylinder 40 to the electromagnetic valve 41. As a result, the hydraulic cylinder 40 is contracted, the contact between the container platform 93 and the piston rod 40a is released, and an initial condition of free vibration is given to the container platform 93. Since the restoring force F from the restoring force generating mechanism for the horizontal displacement acts on the container mounting 93, the container mounting 93 freely vibrates in the horizontal direction (y direction).

<Description of processing contents of steps S16 and S17>
(Sentence 12)

<Description of Processing Contents of Step S38>
In a period from time t ₄ after the loading table 93 for the container is stationary at time t _5, the height of the center of gravity position computing unit 73, the dynamic load signal P _i which is Shutoku static loads signal P _i and step S16 obtained in step S12 Based on (t), ΔP (t) and ΔP ₃₄ (t) are respectively calculated.

<Description of Processing Contents of Step S39>
In a period from after time _{t 5} at time _{t 6,} the height of the center of gravity position computing unit 73 computes the center-of-gravity height h of the container 3c of the center of gravity of the whole _{G 34} based on the following equation (55). Note that the measured value of h is the average value of h calculated by Equation (55) at each sampling time within a predetermined time interval.

<Description of Processing Contents of Step S40>
The horizontal plane center-of-gravity position calculation unit 70 calculates the O of the center of gravity G ₃₄ based on the following expressions (133) (134) and the values of the coordinates (x ₃₄ , y ₃₄ ) on the o-xy plane calculated in step S34. -Calculate the value of the coordinates (X ₃₄ , Y ₃₄ ) on the XY plane.
X ₃₄ = x ₃₄ −δ ₂ + δ ₄ (133)
Y ₃₄ = y ₃₄ −δ ₁ + δ ₃ (134)
The center-of-gravity height position calculation unit 73 calculates the value of the Z-coordinate (Z ₃₄ ) of the center of gravity G ₃₄ based on the following equation (162) and the value of the center-of-gravity height h calculated in step S39.
_{Z 34 = h + T H ···} (162)
In this way, the value of the three-dimensional barycentric coordinate (X ₃₄ , Y ₃₄ , Z ₃₄ ) in the coordinate system O-XYZ of the barycentric G ₃₄ can be obtained.

<Description of Processing Contents of Step S41>
Next, the vehicle three-dimensional center-of-gravity position calculation unit 94 calculates the coordinates (X ₃₄ , Y ₃₄ , Z) of the mass m _{34 of the} whole container 3c obtained in step S32 and the center of gravity G ₃₄ of the whole container 3c obtained in step S40. ₃₄ ), the value of the mass m ₁₂ of the vehicle 3 alone and the value of the coordinates (X ₁₂ , Y ₁₂ , Z ₁₂ ) of the center of gravity G ₁₂ stored in the memory 68, the following equation (171) with obtaining the vehicle 3 total mass _{m 1234} from obtaining the following equation (172) (173) vehicle from (174) 3 whole coordinates of the center of gravity _{G 1234 (X 1234, Y 1234} , Z 1234).
m ₁₂₃₄ = m ₁₂ + m ₃₄ (171)
X ₁₂₃₄ = (m ₁₂ X ₁₂ + m ₃₄ X ₃₄ ) / m ₁₂₃₄ (172)
m ₁₂₃₄ Y ₁₂₃₄ = (m ₁₂ Y ₁₂ + m ₃₄ Y ₃₄ ) (173)
m ₁₂₃₄ Z ₁₂₃₄ = (m ₁₂ Z ₁₂ + m ₃₄ Z ₃₄ ) (174)

<Description of Processing Contents of Step S22>
Then, the time signal generating unit 75 obtains the values of the coordinates (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ) of the three-dimensional center of gravity G ₁₂₃₄ in the coordinate system O-XYZ of the entire vehicle 3 obtained as a result of the calculation in step S41. A display signal to be displayed on the display device 62 is generated. Thereby, the values of the coordinates (X ₁₂₃₄ , Y ₁₂₃₄ , Z ₁₂₃₄ ) of the center of gravity G ₁₂₃₄ obtained by the calculation in step S 41 are displayed on the display device 62.

<Description of Effects of Center of Gravity Position Measuring Device of Second Embodiment>
According to the center-of-gravity position measuring device 91 of the second embodiment, the three-dimensional center-of-gravity position of the entire container 3c can be measured, and the entire three-dimensional of the vehicle 3 when the entire container 3c is loaded on the vehicle 3 alone. The position of the center of gravity can be measured.

  As described above, the center-of-gravity position measuring apparatus of the present invention has been described based on a plurality of embodiments. However, the present invention is not limited to the configurations described in the above-described embodiments, and the configurations described in the embodiments are appropriately combined. The configuration can be changed as appropriate without departing from the spirit of the invention.

<Description of another example of acceleration detecting means>
For example, in each of the above-described embodiments, the example in which the acceleration sensor 46 is used as the acceleration detection unit that detects the acceleration of the third platform 13 or the container platform 93 in the free vibration state has been described. Is not to be done. For example, the center-of-gravity height position calculation unit 73 can obtain the acceleration of the third platform 13 by executing the differential calculation twice based on the detection signal of the displacement sensor 45. In this case, the acceleration sensor 46 becomes unnecessary. There may be a mode in which the differential calculation is not performed by the center-of-gravity height position calculation unit 73 but an acceleration calculation unit is provided separately, and the acceleration calculation unit executes the differential calculation. The same applies to other embodiments.

<Description of other means related to acquisition of vehicle center of gravity position information, etc.>
In the second embodiment, the RFID tag 310 is attached to the tractor 3a of the vehicle 3, and the vehicle specifications, mass information, gravity center position information, etc. relating to the vehicle 3 (hereinafter simply referred to as “center of gravity position information, etc.). ”) And the center of gravity position information and the like related to the vehicle 3 is acquired by reading the center of gravity position information and the like stored in the RFID tag 310 with the RFID reader 92. 3 may be acquired by manual input by manual operation of the operation device 61, and the vehicle type is specified based on the image information from the imaging means for imaging the vehicle 3, and the vehicle 3 is stored in the vehicle database. You may make it acquire the gravity center position information etc. regarding.

<Description of another example of the center of gravity position measuring apparatus>
Further, instead of the centroid position measuring apparatus 1 of the first embodiment, the centroid position measuring apparatus 1A shown in FIG. 20, the centroid position measuring apparatus 1B shown in FIG. 23, and the centroid position measuring apparatus shown in FIG. Even if 1C is used, the same operation effect as the gravity center position measuring apparatus 1 of the first embodiment can be basically obtained. Hereinafter, these gravity center position measuring apparatuses 1A, 1B, and 1C will be described in order. In each of the center-of-gravity position measuring apparatuses 1A, 1B, and 1C described below, the same or similar parts as those of the center-of-gravity position measuring apparatus 1 of the first embodiment are given the same reference numerals in the drawings, and detailed descriptions thereof are given. In the following, description will be made focusing on differences from the centroid position measuring apparatus 1 of the first embodiment.

[Modification (1) of the center-of-gravity position measuring apparatus of the first embodiment]
FIG. 20 is a structural explanatory view of a modified example (1) of the center-of-gravity position measuring apparatus according to the first embodiment of the present invention. Sectional view (c) taken along the line II of (a) and sectional view (d) taken along the line JJ of (b) are respectively shown.
FIG. 21 also shows a state diagram (a) of the load acting on the first and second platforms when the left and right wheels of the first axle of the vehicle are respectively placed on the first and second platforms. A plan view (b) showing the position of the center of gravity is shown.

<Description of Schematic Configuration of Modified Example (1) of Center of Gravity Position Measuring Device of First Embodiment>
The center-of-gravity position measuring apparatus 1A shown in FIG. 20 is installed on the first mounting base 11A, the second mounting base 12A, the third mounting base 13A, and the installation base 2, and the third mounting base 13A. The first load cell 21A, the second load cell 22A, the third load cell 23A, and the fourth load cell 24A, and the sixth load cell 26A that is installed on the third platform 13A and supports the first platform 11A, And a seventh load cell 27A that is installed on the third platform 13A and supports the second platform 12A.

<Description of the first to third platforms>
11A of 1st platforms are comprised with the square-shaped plate-shaped member in which the wheel 4a, 5a, 6a of the left side of each axle shaft 7,8,9 of the vehicle 3 can mount 1 each.
The second platform 12A is formed of a rectangular plate-like member on which the right wheels 4b, 5b, 6b of the axles 7, 8, 9 of the vehicle 3 can be placed one by one.
The third platform 13A is formed of a rectangular plate-like member on which all the left and right wheels 4a, 5a, 6a; 4b, 5b, 6b of the vehicle 3 can be placed simultaneously.
The first platform 11A and the second platform 12A are arranged on the third platform 13A on the upstream side of the travel path when the vehicle 3 travels forward, and are integrated with the third platform 13A. Built in.

<Description of the concave portion of the third platform>
As shown in FIG. 21 (a), a first recess 76a, a second recess 76b, and a third recess 76c are formed at the upstream end of the vehicle forward travel path in the third platform 13A. Yes.
The first recess 76a can accommodate the first platform 11A such that the surface of the first platform 11A and the surface of the third platform 13A are flush with each other. a concave portion formed on the third mounting base 13A so exists a predetermined clearance S ₁ between.
The second recess 76b can accommodate the second platform 12A so that the surface of the second platform 12A and the surface of the third platform 13A are flush with each other. a concave portion formed on the third mounting base 13A so exists a predetermined clearance S ₂ between.
Here, the predetermined clearance _{S 1,} when the left wheel 4a of each axle 7, 8, 9 of the vehicle 3, 5a, 6a are placed on the first mounting base 11A, FLEXIBLE first mounting base 11A is slightly Even so, the size is determined so that the first mounting base 11A does not interfere with the third mounting base 13A. Further, as the predetermined clearance S ₂ is also a predetermined clearance S _1, even bent the second mounting base 12A is slightly in size so that the second mounting base 12A does not interfere with the third mounting base 13A Is determined.
The third recess 76c can accommodate both the sixth load cell 26A and the seventh load cell 27A, and the surface of each of the first platform 11A and the second platform 12A and the surface of the third platform 13A are separated from each other. It is a recessed part formed in the 3rd mount 13A so that these mounts 11A and 12A can be accommodated so that it may become flush.

<Explanation of respective coupling portions of the first platform and the third platform, and the second platform and the third platform>
The first mounting base 11A is accommodated over substantially the left half of the first concave portion 76a and the third concave portion 76c of the third mounting base 13A. The left end portion of the first mounting base 11 </ b> A and the third mounting base 13 </ b> A are coupled by an elastic support body 77.
Here, the elastic support body 77 maintains a support state in which, when an external force is applied to the first mounting base 11A, a reaction force proportional to the displacement generated by the external force is applied to the first mounting base 11A. It is comprised with the member which can do. In the present embodiment, the plate-like member constituting the first mounting base 11A and the plate-like member constituting the third mounting base 13A are integrally joined, and an upward convex R chamfer is applied to the joint portion. Thus, an elastic support 77 is formed.
The second mounting base 12A is accommodated over substantially the right half of the second recess 76b and the third recess 76c of the third mounting base 13A. The right end portion of the second mounting table 12A and the third mounting table 13A are also coupled by an elastic support 77.

<Description of Arrangement of First Load Cell to Fourth Load Cell>
21 A of 1st load cells are arrange | positioned so that the left corner | angular part in the vehicle forward travel path | route upstream in the 3rd mounting base 13A can be supported from lower side. Here, the center point of the first load cell 21A and the elastic support point of the first mounting base 11A by the elastic support body 77 coincide with each other in the vertical direction.
The second load cell 22A is disposed so that the left corner of the third platform 13A on the downstream side of the vehicle forward travel path can be supported from below.
The third load cell 23A is arranged so that the right corner of the third platform 13A on the upstream side of the vehicle forward travel path can be supported from below. Here, the center point of the third load cell 23 </ b> A and the elastic support point of the second mounting base 12 </ b> A by the elastic support body 77 coincide with each other in the vertical direction.
The fourth load cell 24A is arranged so that the right corner of the third platform 13A on the downstream side of the vehicle forward travel path can be supported from below.

<Arrangement explanation of 6th load cell and 7th load cell>
The sixth load cell 26A is installed in the third recess 76c and is arranged so as to support the right side of the first mounting base 11A from the lower side.
The seventh load cell 27A is installed in the third recess 76c and is arranged so as to support the left side of the second mounting table 12A from the lower side.

<Description of measurement of Y _G and B ₁ >
In the structure in which the first platform 11A and the second platform 12A are integrally coupled to each other via the third platform 13A and the elastic support body 77, B _i (B ₁ ) Can only be determined. The reason is that all the axial loads on the third platform 13A act on the first load cell 21A and the third load cell 23A.
For the measurement of _YG, the measurement of B ₁ and b ₁ , b ₁ ′ is indispensable.

<Determination of the description of _{B 1:} see FIG. 21>
The following equations (181), (182), (183), and (184) are established with respect to the load acting on the first platform 11A and the second platform 12A and the reaction force from the load cells 21A, 23A, 26A, and 27A.
P ₆ = W _L1 b ₁ / b ₀ (181)
P ₇ = W _R1 b ₁ ′ / b ₀ (182)
P ₁ = W _L1 (b ₁ ′ + B ₁ ) / b + W _R1 b ₁ ′ / b (183)
P ₃ = W _R1 (b ₁ + B ₁ ) / b + W _L1 b ₁ / b (184)

From the equations (181) to (184), b ₁ can be obtained from the following equation (185), and b ₁ ′ can be obtained from the following equation (186).
b ₁ = αbP ₆ / {P ₁ + α (P ₆ −P ₇ )} (185)
b ₁ ′ = αbP ₇ / {P ₃ + α (P ₇ −P ₆ )} (186)
Here, α = b ₀ / b.

By substituting the formula (185) following equation (186) (187), can be obtained _{B 1.}
B ₁ = b− (b ₁ + b ₁ ′) (187)

<Description of how to obtain the _{Y G:} see FIGS. 7 and 21>
As is clear from FIG. 7B, Y _G can be obtained from the following equation (188).
Y _G = y _G −f (188)

Here, f is obtained from the following equation (189) assuming that it is approximately equal to f ₁ .
_{f = b / 2- (b 1} + B 1/2)
= (B ₁ '-b ₁ ) / 2 (189)

In FIG. 21A, the following equation (190) is established from the balance of moments.
(B / 2 + y _G ) P = bP ₁₂ (190)

From the above formula (190), y _G can be expressed as the following formula (191).
y _G = b (P ₁₂ / P−1 / 2) (191)

The center-of-gravity position Y _G in the width direction of the vehicle 3 can be obtained from the equations (188), (189), and (191).

<Description of Measurement Operation of Horizontal Center of Gravity Position of Modification Example (1) of Center of Gravity Position Measurement Apparatus of First Embodiment>
Next, the measurement operation of the horizontal center of gravity position of the center of gravity position measuring apparatus 1A will be described below mainly using the functional block diagram of FIG. 6 and the flowchart of FIG. In FIG. 22, symbols “S” and “T” each represent a step.

<Description of Processing Contents of Steps S51 and T51>
The width-direction center-of-gravity position calculation unit 71 reads the load signals of the first load cell 21A, the third load cell 23A, the sixth load cell 26A, and the seventh load cell 27A, and the read load signals and the equations (185) (186) (187). ) and on the basis, as well as calculating the effective tread widths _{B 1,} based on the equation (185) (186) (189), the distance between the X-axis and the x-axis (center line CL _T and the center line CL _S (Distance) f ₁ is calculated (S51).
Further, the width-direction center-of-gravity position calculation unit 71 reads the load signals of the first load cell 21A to the fourth load cell 24A, and based on the read load signal and the equation (191), the vehicle 3 in the coordinate system O-XY. calculating a centroid position _{y G} in the width direction (T51).

<Description of Processing Contents of Step S52 to Step S54>
Widthwise center-of-gravity position computing unit 71, and _{f 1} calculated in step S51, based on the _{y G} calculated in step T51, the equation (188), the width direction of the vehicle 3 in the coordinate system O-XY calculating a center of gravity position _{Y G} (S52).
Then, the display signal generation unit 75 generates a display signal that causes the display device 62 to display the calculation result by the width direction gravity center position calculation unit 71 (S53). Thereby, the value of the barycentric position in the width direction of the vehicle 3 is displayed on the display device 62 (S54).

<Description of Processing Contents of Step T51 to Step T53>
The full length direction gravity center position calculation unit 72 reads the load signals of the first load cell 21A to the fourth load cell 24A, and based on the read load signals and the equations (16) and (27), the inter-axle distances l ₁ , l ₂ and the center of gravity of the vehicle 3 in the full length direction in the coordinate system O-XY based on the calculated values of the inter-axle distances l ₁ and l ₂ and the expressions (28), (30), and (34). calculating the position _{X G} (T51).
Then, the display signal generation unit 75 generates a display signal that causes the display device 62 to display the calculation result by the full length direction gravity center position calculation unit 72 (T52). Thereby, the value of the barycentric position in the full length direction of the vehicle 3 is displayed on the display device 62 (T53).

<Description of Measurement Operation of Center of Gravity Height Position of Modification Example (1) of Center of Gravity Position Measurement Device of First Embodiment>
In addition, about the measurement operation | movement of the gravity center height position of 1 A of gravity center position measurement apparatuses, the symbol used by the theoretical formula in the theoretical description of how to obtain | require the gravity center height h of the vehicle 3 by the gravity center position measurement apparatus 1 of 1st Embodiment. Is newly defined as follows, and then the mounting assembly 80A (described later in the description of the new definition) is leveled by the operation of the expansion and contraction of the hydraulic cylinder 40 and the restoring force from the restoring force generating mechanism. An operation similar to the measurement operation of the center-of-gravity height position of the center-of-gravity position measurement apparatus 1 of the first embodiment is basically performed by freely vibrating in the direction. Thereby, the value of the center of gravity height h of the vehicle 3 is obtained, and the obtained value of the center of gravity height h is displayed on the display device 62.

<Explanation of new definitions of symbols used in the theoretical formula for determining the height of the center of gravity of a vehicle>
The meanings of symbols in FIGS. 11 and 12 and symbols used in the theoretical formula are newly defined as follows. In the following, only newly defined items will be described.
G ₀ : A mounting assembly including the first mounting table 11A, the second mounting table 12A and the third mounting table 13A, the sixth load cell 26A and the seventh load cell 27A, and elastic supports 77 and 77. Center of gravity of 80A a: Distance between load cell 21A (23A) and load cell 22A (24A) b: Distance between load cell 21A (22A) and load cell 23A (24A) c: Height of mounting assembly 80A H: Height of load cells 21A-24A (height of elastic body 31)
P _i : Static load acting on each of the load cells 21A to 24A (i = 1, 2, 3, 4)
m ₀ : Mass of the mounting assembly 80A e: Distance from the lower surface of the mounting assembly 80A to the center of gravity G ₀ P _i (t): Dynamic load acting on the load cells 21A to 24A (i = 1, 2, 3, 4)
F ₁₂ (t): Sum of forces acting on the mounting assembly 80A from the load cells 21A, 22A in the horizontal direction F ₃₄ (t): Sum of forces acting on the mounting assembly 80A in the horizontal direction from the load cells 23A, 24A

<Description of Effects of Modification Example (1) of Center of Gravity Position Measurement Device of First Embodiment>
According to the center-of-gravity position measuring apparatus 1A according to the modification (1), it is possible to obtain the same operational effects as those of the center-of-gravity position measuring apparatus 1 according to the first embodiment.
Furthermore, according to the center-of-gravity position measuring apparatus 1A, the first mounting base 11A and the third mounting base 13A are coupled by the elastic support 77, and the second mounting base 12A and the third mounting base 13A. Are combined by the elastic support body 77, and the first mounting base 11A and the second mounting base 12A are integrally incorporated into the third mounting base 13A. In addition, the fifth load cell 25 and the eighth load cell 28 required in the center-of-gravity position measuring apparatus 1 of the first embodiment can be omitted, and the apparatus can be simplified.

[Modification (2) of the center-of-gravity position measuring apparatus of the first embodiment]
FIG. 23 is a structural explanatory view of a modification (2) of the center-of-gravity position measuring apparatus according to the first embodiment of the present invention, and is a plan view (a), a cross-sectional view taken along line KK in FIG. The LL sectional view (c) of (b) and the M section enlarged view (d) of (b) are each shown.
FIG. 24 shows a state diagram of a load acting on the platform when the vehicle is mounted on the second platform.

<Description of Schematic Configuration of Modified Example (2) of Center of Gravity Position Measuring Device of First Embodiment>
The center-of-gravity position measuring apparatus 1B shown in FIG. 23 includes a first mounting base 11B and a second mounting base 12B.
The first platform 11B is disposed on the installation base 2 on the upstream side of the travel route when the vehicle 3 such as a truck or trailer travels forward.
The second platform 12B is disposed on the downstream side of the forward travel path of the vehicle 3 with respect to the first platform 11B on the installation base 2.

<Description of the first to third platforms>
The first platform 11 </ b> B is composed of a rectangular plate-like member on which the left wheels 4 a, 5 a, 6 a of the axles 7, 8, 9 of the vehicle 3 can be placed one by one.
The second platform 12 is composed of a rectangular plate-like member on which all the left and right wheels 4a, 5a, 6a; 4b, 5b, 6b of the vehicle 3 can be placed simultaneously.

<Description of Arrangement of First Load Cell to Fourth Load Cell>
A first load cell 21B, a second load cell 22B, a third load cell 23B, and a fourth load cell 24B are interposed between the installation base 2 and the second platform 12B.
The first load cell 21B is arranged so that the left corner of the second platform 12B on the upstream side of the vehicle forward travel path can be supported from below.
The second load cell 22B is disposed so that the left corner of the second platform 12B on the downstream side of the vehicle forward travel path can be supported from below.
The third load cell 23B is arranged so that the right corner of the second platform 12B on the upstream side of the vehicle forward travel path can be supported from below.
The fourth load cell 24B is arranged so that the right corner of the second platform 12B on the downstream side of the vehicle forward travel path can be supported from below.

<Explanation of arrangement of fifth and sixth load cells>
A fifth load cell 25B and a sixth load cell 26B are interposed between the installation base 2 and the first mounting base 11B.
The fifth load cell 25B is arranged so as to support the left side portion of the first mounting base 11B from the lower side.
The sixth load cell 26B is arranged so as to support the right side portion of the first mounting base 11B from the lower side.

<Description of load vertical transmission mechanism>
The load vertical transmission mechanism 30 described above is interposed between the installation base 2 and the first mounting base 11B.

<Description of how to obtain the _{Y G:} see FIG. 24 (a) (b)>
Y _G can be obtained from the following equation (201) as described above.
Y _G = (W ₁ e ₁ + W ₂ e ₂ + W ₃ e ₃ ) / (W ₁ + W ₂ + W ₃ ) (201)

Moreover, as is clear from FIG. 24 (a), _{e i} can be obtained from the following equation (202).
e _i = b _i + B _i / 2−C _i (202)

b _i can be obtained by the following equation (203).
b _i = (P ₆ / P ₅₆ ) b ₀ (203)

C _i can be expressed by the following equation (204).
C _i = {b _i W _Li + (b _i + B _i ) W _{R i} } / W _i
= B _i + W _Ri B _i / W _i (204)

Meanwhile, _{W i} and _{W Li} can be respectively expressed by the following formula (205) and the following equation (206).
W _i = W _Li + W _Ri (205)
W _Li = P ⁱ ₅₆ (206)

From the equations (205) and (206), W _Ri can be obtained by the following equation (207).
W _Ri = W _i −P ⁱ ₅₆ (207)

Therefore, b _i and C _i can be obtained. Therefore, as long demanded _{B i,} the formula (202) from the I can ask _{e i,} using the _{e i,} so that the formulas (201) can be obtained _{Y G.}

<Description of Determination of _{B i:} FIG. 24 (a), the reference (b)>
From the balance of moments related to the i-th axle wheel load in the second platform 12B, the following equations (208) and (209) are established.
b _i W _Li + (b _i + B _i ) W _R ⁱ −bP ⁱ ₃₄ = 0 (208)
b _i W _Li + (b _i + B _i ) (W _i −W _Li ) −bP ⁱ ₃₄ = 0 (209)

_{B i} From these formulas (208) (209) can be obtained as shown in the following formula (210).
B _i = (bP ⁱ ₃₄ −b _i W _i ) / (W _i −W _Li ) (210)
However,
P ¹ ₃₄ = P ₃₄ (t) (0 <t <t ₁ )
P ² ₃₄ = P ₃₄ (t) −P ¹ ₃₄ (t ₂ <t <t ₃ )
P ³ ₃₄ = P ₃₄ (t) −P ² ₃₄ (t ₄ <t <t ₅ )
It is.
Incidentally, _{P i} from FIG _{8, P} 34 (t) can be obtained from FIG. 24 (b).

<Description of Measuring Operation of Horizontal Center of Gravity Position of Modification Example (2) of Center of Gravity Position Measurement Device of First Embodiment>
Next, the horizontal plane gravity center position measuring operation of the gravity center position measuring apparatus 1B will be described below mainly using the functional block diagram of FIG. 6 and the flowchart of FIG. In FIG. 25, symbols “S” and “T” each represent a step.

<Description of Processing Contents of Step S61 to Step S63>
Widthwise center-of-gravity position computing unit 71 reads the load signals of the first load cell 21B~ sixth load cell 26B, respectively, and the load signal read, based on the above formula (210), as well as calculating the effective tread widths B _i Then, e _i is calculated from the calculated effective tread width B _i and the equation (202), and the width of the vehicle 3 in the coordinate system O-XY is calculated from the equation (201) based on the calculated e _i. It calculates a direction of the _{Y G} (S61).
Then, the display signal generation unit 75 generates a display signal that causes the display device 62 to display the calculation result by the width direction gravity center position calculation unit 71 (S62). Thereby, the value of the barycentric position in the width direction of the vehicle 3 is displayed on the display device 62 (S63).

<Description of Processing Contents of Step T61 to Step T63>
The full length direction gravity center position calculation unit 72 reads the load signals of the first load cell 21B to the fourth load cell 24B, and based on the read load signals and the equations (16) and (27), the inter-axle distances l ₁ , l ₂ and the center of gravity of the vehicle 3 in the full length direction in the coordinate system O-XY based on the calculated values of the inter-axle distances l ₁ and l ₂ and the expressions (28), (30), and (34). It computes the position _{X G} (T61).
Then, the display signal generation unit 75 generates a display signal that causes the display device 62 to display the calculation result by the full length direction gravity center position calculation unit 72 (T62). Thereby, the value of the barycentric position in the full length direction of the vehicle 3 is displayed on the display device 62 (T63).

<Description of Measurement Operation of Center of Gravity Height Position of Modification Example (2) of Center of Gravity Position Measurement Device of First Embodiment>
In addition, about the measurement operation | movement of the gravity center height position of the gravity center position measuring apparatus 1B, the symbol used by the theoretical formula by the theoretical description of how to obtain | require the gravity center height h of the vehicle 3 by the gravity center position measuring apparatus 1 of 1st Embodiment. Is newly defined as follows, and the second platform 12B is freely vibrated in the horizontal direction by the operation of the expansion and contraction of the hydraulic cylinder 40 and the restoring force from the restoring force generating mechanism. The same operation as the measurement operation of the center-of-gravity height position of the center-of-gravity position measuring apparatus 1 of the first embodiment is performed. Thereby, the value of the center of gravity height h of the vehicle 3 is obtained, and the obtained value of the center of gravity height h is displayed on the display device 62.

<Explanation of new definitions of symbols used in the theoretical formula for determining the height of the center of gravity of a vehicle>
The meanings of symbols in FIGS. 11 and 12 and symbols used in the theoretical formula are newly defined as follows. In the following, only newly defined items will be described.
G ₀ : Center of gravity of the second platform 12B a: Distance between the load cell 21B (23B) and the load cell 22B (24B) b: Distance between the load cell 21B (22B) and the load cell 23B (24B) c: First 2 height 12B: height of load cells 21B-24B (height of elastic body 31)
P _i : Static load acting on each of the load cells 21B to 24B (i = 1, 2, 3, 4)
m ₀ : Mass of the second mounting table 12B e: Distance from the lower surface of the second mounting table 12B to the center of gravity G ₀ P _i (t): Dynamic load acting on the load cells 21B to 24B (i = 1, 2, 3, 4)
F ₁₂ (t): Sum of forces acting on the second platform 12B in the horizontal direction from the load cells 21B, 22B F ₃₄ (t): Forces acting on the second platform 12B in the horizontal direction from the load cells 23B, 24B Sum of

<Description of Effects of Modification (2) of Center of Gravity Position Measuring Device of First Embodiment>
Also with the centroid position measuring apparatus 1B, the same effects as the centroid position measuring apparatus 1 of the first embodiment can be obtained.
Furthermore, according to the center-of-gravity position measuring apparatus 1B, the second platform 12, the seventh load cell 27, and the eighth load cell 28, which are required in the center-of-gravity position measuring apparatus 1 of the first embodiment, can be omitted. Thus, the apparatus can be simplified.

[Modification (3) of the center-of-gravity position measuring apparatus of the first embodiment]
FIG. 26 is a structural explanatory view of a modification (3) of the center-of-gravity position measuring apparatus according to the first embodiment of the present invention, and is a plan view (a), a cross-sectional view taken along line NN in (a), The OO line sectional drawing (c) of (a) and the PP sectional view (d) of (b) are shown, respectively.

<Description of Schematic Configuration of Modified Example (3) of Center of Gravity Position Measuring Device of First Embodiment>
The center-of-gravity position measuring apparatus 1C shown in FIG. 26 includes a first loading table 11C, a second loading table 12C, and a first load cell 21C that is installed on the installation base 2 and supports the second loading table 12C. A second load cell 22C, a third load cell 23C, and a fourth load cell 24C, and a sixth load cell 26C that is installed on the second platform 12C and supports the first platform 11C.

<Description of the first platform and the second platform>
11C of 1st platforms are comprised with the square-shaped plate-shaped member in which the wheel 4a, 5a, 6a of the left side of each axle shaft 7,8,9 of the vehicle 3 can mount 1 each.
The second platform 12C is formed of a rectangular plate-like member on which all the left and right wheels 4a, 5a, 6a; 4b, 5b, 6b of the vehicle 3 can be placed simultaneously.
The first platform 11C is arranged on the second platform 12C on the upstream side of the travel path when the vehicle 3 travels forward, and is integrated into the second platform 12C.

<Description of the concave portion of the second platform>
A first recess 58a and a second recess 58b are formed at the upstream end of the vehicle forward travel path in the second platform 12C.
The first recess 58a can accommodate the first platform 11C such that the surface of the first platform 11C and the surface of the second platform 12C are flush with each other. a recess formed in the second mounting base 12C so exists a predetermined clearance S ₃ between.
Here, the predetermined clearance _{S 3,} when the left wheel 4a of each axle 7, 8, 9 of the vehicle 3, 5a, 6a are placed on the first mounting base 11C, FLEXIBLE first mounting base 11C slightly Even so, the size is determined so that the first mounting base 11C does not interfere with the second mounting base 12C.
The second recess 58b can accommodate the sixth load cell 26C, and can accommodate the first platform 11C so that the surface of the first platform 11C and the surface of the second platform 12C are flush with each other. It is a recessed part formed in the 2nd mounting base 12C so that it may become possible.

<Description of the connecting portion between the first platform and the second platform>
The first platform 11C is accommodated from the first recess 58a to the second recess 58b of the second platform 12C. The left end portion of the first mounting base 11C and the second mounting base 12C are also coupled by an elastic support 77.

<Description of Arrangement of First Load Cell to Fourth Load Cell>
The first load cell 21C is disposed so as to be able to support the left corner of the second platform 12C on the upstream side of the vehicle forward travel path from below. Here, the center point of the first load cell 21 </ b> C and the elastic support point of the first mounting base 11 </ b> C by the elastic support body 77 coincide with each other in the vertical direction.
The second load cell 22C is arranged so that the left corner of the second platform 12C on the downstream side of the vehicle forward travel path can be supported from below.
The third load cell 23C is arranged so that the right corner of the second platform 12C on the upstream side of the vehicle forward travel path can be supported from below.
The fourth load cell 24C is arranged so that the right corner of the second platform 12C on the downstream side of the vehicle forward travel path can be supported from below.

<Explanation of 6th load cell arrangement>
The sixth load cell 26C is installed in the second recess 58b and is arranged so as to support the right side of the first mounting base 11C from the lower side.

<Description of Measurement Operation of Horizontal Position in Horizontal Plane of Modification Example (3) of Center of Gravity Position Measuring Device of First Embodiment>
About the measurement operation of the horizontal center of gravity position of the center of gravity position measurement apparatus 1C configured as described above, basically the same operation as the measurement operation of the horizontal center of gravity position of the center of gravity position measurement apparatus 1B is performed. Thereby, the value of the horizontal center of gravity position of the vehicle 3 is obtained, and the obtained value of the horizontal center of gravity position is displayed on the display device 62.

<Description of Measurement Operation of Center of Gravity Height Position of Modified Example (3) of Center of Gravity Position Measurement Apparatus of First Embodiment>
On the other hand, regarding the measurement operation of the center-of-gravity height position of the center-of-gravity position measuring apparatus 1C, symbols used in the theoretical formulas in the theoretical explanation of how to determine the center-of-gravity height h of the vehicle 3 by the center-of-gravity position measuring apparatus 1 of the first embodiment Is newly defined as follows, and then the mounting assembly 80C (described later in the description of the new definition) is leveled by the expansion / contraction operation of the hydraulic cylinder 40 and the restoring force from the restoring force generating mechanism. An operation similar to the measurement operation of the center-of-gravity height position of the center-of-gravity position measurement apparatus 1 of the first embodiment is basically performed by freely vibrating in the direction. Thereby, the value of the center of gravity height h of the vehicle 3 is obtained, and the obtained value of the center of gravity height h is displayed on the display device 62.

<Explanation of new definitions of symbols used in the theoretical formula for determining the height of the center of gravity of a vehicle>
The meanings of symbols in FIGS. 11 and 12 and symbols used in the theoretical formula are newly defined as follows. In the following, only newly defined items will be described.
G ₀ : Center of gravity of the stage assembly 80C including the first stage 11C and the second stage 12C, the sixth load cell 26C, and the elastic support 77 a: load cell 21C (23C) and load cell 22C ( B: distance between the load cell 21C (22C) and the load cell 23C (24C) c: height of the mounting assembly 80C H: height of the load cells 21C to 24C (height of the elastic body 31) )
P _i : Static load acting on each of the load cells 21C to 24C (i = 1, 2, 3, 4)
m ₀ : Mass of the mounting assembly 80C e: Distance from the lower surface of the mounting assembly 80C to the center of gravity G ₀ P _i (t): Dynamic load acting on the load cells 21C to 24C (i = 1, 2, 3, 4)
F ₁₂ (t): sum of forces acting on the mounting assembly 80C in the horizontal direction from the load cells 21C, 22C F ₃₄ (t): sum of forces acting on the mounting assembly 80C in the horizontal direction from the load cells 23C, 24C

<Description of Effects of Modification (3) of Center of Gravity Position Measuring Device of First Embodiment>
According to the center-of-gravity position measuring apparatus 1C according to the modification (3), it is possible to obtain the same effects as those of the center-of-gravity position measuring apparatus 1B of the third embodiment.
Further, according to the center-of-gravity position measuring apparatus 1C, the first mounting base 11C and the second mounting base 12C are coupled by the elastic support body 77, and the first mounting base 11C is integrated with the second mounting base 12C. Therefore, the apparatus can be made compact, and the fifth load cell 25B required in the gravity center position measuring apparatus 1B of the third embodiment can be omitted. The apparatus can be simplified.

  The center-of-gravity position measurement apparatus of the present invention can measure the three-dimensional center-of-gravity position of a measurement object selected from a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle that combines them. Since it has characteristics, it can be suitably used for the purpose of providing effective data that contributes to prevention of vehicle rollover.

1,91 Center of gravity position measuring device 3 Trailer connected vehicle 3c Container 10 Cargo 68 Memory (memory means)
69 MPU (3D center of gravity position calculation means)

Claims (2)

One of a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle including a combination of the single vehicle and the load is determined as a measurement target, and the three-dimensional center-of-gravity position of the measurement target is measured. A center of gravity position measuring method,
A 3D centroid position of the measurement object is calculated based on the mass of the measurement object candidates other than those selected as the measurement object and the 3D centroid position information among the plurality of measurement object candidates. A center-of-gravity position measurement method comprising a three-dimensional center-of-gravity position calculation step. One of a plurality of measurement object candidates including a single vehicle, a load, and the entire vehicle including a combination of the single vehicle and the load is determined as a measurement target, and the three-dimensional center-of-gravity position of the measurement target is measured. A center-of-gravity position measuring device,
Storage means for storing the mass of the measurement object candidate other than the one selected as the measurement object and the three-dimensional barycentric position information among the plurality of measurement object candidates,
3D centroid position calculating means for calculating the 3D centroid position of the measurement object based on the mass of the measurement object candidate and the 3D centroid position information stored in the storage means, Center of gravity position measuring device.

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