JPH0195981A - Steering device for trailer - Google Patents

Abstract

PURPOSE:To ensure safety during steering, by a method wherein a bending angle sensor to detect a bending angle between a tractor and a trailer is situated, and an alarm device is actuated when the action of a power steering is brought into a steering state in a non-safe region during control of steering by means of the bending angle sensor. CONSTITUTION:A tractor 1 is provided with front wheels 3 power-steered according to control of a steering handle 4 and rear wheels 8 to which the power of an engine is transmitted through a transmission device. The front end part of a coupling lever 20 of the front part of a trailer 2 is coupled to the hitch part of the rear end of the car body of the tractor 1 by means of a pin 21. In this case, a bending angle sensor 22 to detect the rotation angle, around a pin 21, of the coupling lever 20 as a bending angle a and a bending angle setter 23 are provided at the rear part the tractor 1. During reverse steering after setting of a bending angle, when the action of a power steering enters a non-safe region in which the action of the power steering is over a given control region detected by a steering sensor and is brought into a non-safe state, an alarm device is actuated.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a control device for a trailer connected to a tractor.

BACKGROUND ART AND PROBLEMS TO BE SOLVED BY THE INVENTION A trailer that is connected to the rear side of a tractor and towed requires a skilled skill to perform a reverse steering operation.

In order to turn the trailer in the same direction from side to side while backing up, first turn the front wheels in the same direction as the trailer so that the tractor is steered in the opposite direction to the direction of the trailer. This cutting steering operation is followed by a rounding steering operation in which the front wheels are steered in the opposite direction to the trailer, and the setting of each of these steering angles is different from the backward speed. Depending on the state of the road surface, it may be difficult to maintain proper steering control as the steering angle may be cut too far or the vehicle speed may be too high.

Means for Solving the Problems This invention provides a turning angle sensor Q for detecting a turning angle (A) between a tractor (1) and a trailer (2) connected thereto.
A, and an alarm device 124 that issues an alarm when steering is in an unsafe area during steering control using the turning angle sensor (2).

Effect of the invention Tractor (1) when moving the trailer (2) backwards
By setting the turning angle (A) between the trailer (2) and the trailer (2), the tractor (1) is steered backward.

By steering the front wheels (3) by automatic steering, the front wheels (3) are steered in the same direction as the reverse steering of the trailer (1), and the set turning angle ( Bring it closer to A). Subsequently, turning is performed by the detection of the turning angle sensor (23), and the front wheel (3) of the cutting steering is moved to the trailer (2).
By steering in the opposite direction to the reverse steering, the vehicle is turned to turn angle (A).

When the reverse steering is finished, the angle of the front wheels (3) is returned to the parallel state with the trailer (2) by the detection of the turning angle sensor Qδ, and the tractor (1) and the trailer (2) are aligned on a straight line. line up.

Automatic steering control is continued by the detection of such a turning angle sensor (23), but when the actual turning angle exceeds the turning angle (A) of the control area set by the setting, this is detected by the alarm device (to). This alarm causes the operator to temporarily stop driving or apply manual control force, etc.
The backward steering of the trailer (2) is maintained within the control range to ensure safe steering.

Effects of the Invention By setting the turning angle (A) between the tractor (1) and the trailer (2) in advance during reverse steering as described above, the turning angle (A) determined by the turning angle sensor ffa can be maintained. The front wheels (3) receive cutting steering and turning steering, and are automatically steered to a certain backward position, but the control is based on the actual turning angle. When the turning angle (A) of the area is exceeded and the steering condition is in the unsafe area, the warning device c! Since the alarm is issued at 4, reverse steering can be safely maintained within the control range.

Embodiment In addition, when turning the tractor (1), the power steering (5
), and left and right rear wheels (8) are provided at the rear to which power is transmitted from an engine (6) via a transmission device (7). (9) is the cockpit. +
l [I is a front wheel axle that supports the front wheels (3) in a freely steerable manner, and the power steering (5) includes a steering sensor (Il) that detects the steering angle of the steering handle (4).
1, and a steering force sensor aδ that detects the operating force of the steering handle (4). The transmission device (7) is also provided with a clutch (13) that turns on and off the transmission to the rear wheels (8), and a steering brake (14) that brakes the rotation of the left and right rear wheels (8). (19 is this brake pedal, OQ is the brake cylinder operated by the brake control valve of the hydraulic circuit. ff7) is the vehicle speed sensor, which is configured to detect the rotation of a part of the transmission mechanism of the rear wheel (8). The transmission device is equipped with a transmission, a forward/reverse switching device, etc., and is also provided so that the forward/reverse switching can be performed by a forward/reverse switch (1) 1).

The trailer (2) has a pair of left and right wheels (eyes) and a connecting rod (
The front end of the tractor (a) is connected to the hitch at the rear end of the vehicle body of the tractor (1) with a pin 1) so as to be rotatable left and right. Further, a bending angle sensor (manufactured by Co., Ltd.) is provided at the rear end of the tractor body to detect the rotation angle of the connecting rod (to) around the pin Q1) as a bending angle (A). Further, a turning angle setting device (to) for setting a turning angle (A) is provided at the rear of the vehicle body of the tractor (1).

(To) is an alarm device consisting of a buzzer, sound, lamp, etc. that warns when the deflection angle of the front wheels (3) exceeds a predetermined range.

Regarding the control of the automatic reverse steering system (B) consisting of a microcomputer (CPU) etc., the microcomputer (CPU) etc.
CPU) has a trailer (2) for the tractor (1).
The relationship between the reverse speed and the steering angle of the front wheels (3) to obtain the bending angle (A) of the connection part is registered, and while outputting the power steering (5) according to this relationship, the target The steering control is performed to obtain the turning angle (A), and the relationship with these steering angles, etc. is registered by graphical etc. using experimental values for each turning angle (A), and the automatic reverse steering control is controlled. It is used as a standard.

Turn the handle of the bending angle setting device (to) to set the bending angle (A) that was estimated in advance. If the turning direction of the roller (2) relative to the tractor (1) is to the left (Fig. 1), the bending angle (A) is also set as the left bending angle. When the reverse switch (1) is turned ON at 1tr, the power steering (5) and the power steering sensor (marks, etc.) cause the front wheels (k) to turn to the right at a certain angle and control the turning steering (Figure 6). When the cutting angle (C) is detected by the turning angle sensor ■ by this cutting steering control, the power steering (5) and the power steering sensor (
1)) etc., the front wheels (3) are steered to the left, which is opposite to the cutting steering, and turning steering control is performed (first
figure). When the turn angle (A) reaches the set angle due to this turn steering, it is detected by the turn angle sensor Qa, so the power steering (5) and the power steering sensor 0υ etc. move the front wheels (3) to the set angle. The vehicle is steered to the right, which is the opposite direction to the steering control, and returns to a straight-ahead attitude. When this front wheel (3) is in a straight-ahead position, it is detected by the turning angle sensor (
2) detects this, brakes the brake (le), and disengages the clutch (fukoku) to stop the retreat (Fig. 7). The cutting angle (C) is automatically determined by the setting of the turning angle (A). .

The power steering (5) is connected to the steering wheel (
4) In addition to the operating force, automatic reverse steering is activated by the detection of turning angles (A), (C), etc. by the turning angle sensor t2X5 as described above, but this power steering (
When the operation of 5) exceeds the predetermined control range detected by the power steering sensor OD and becomes unsafe, the operation of the power steering (5) is checked or the alarm device +241 is activated. Detect and alert.

In addition to the steering using the power steering (5), when the vehicle speed is too high or when the steering angle control is insufficient, the steering Brake (14
1, clutch (13, etc.) will be activated automatically, and even with this, if the speed still exceeds the steering control range or if the steering is incomplete.

The alarm device e4 issues an alarm.

Further, this alarm device Q4 is activated when the steering wheel (4) is operated by the driver in the automatic steering control described above.

It may also be provided to issue a warning when redirection control enters an incomplete region due to operation of the clutch (13, steering brake TI4, etc.).

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, and FIGS. 1 and 2 are plan views showing the operating state, FIG. 3 is a side view, FIG. 4 is a partially enlarged plan sectional view, and FIG. The block diagram and FIGS. 6 and 7 are plan views showing the operation. In the figure, (1) is a tractor, (2) is a trailer, and (3) is a tractor.
) indicates the front wheels, (5) indicates the power steering, (1) 1 indicates the forward/reverse switch, +25 indicates the turning angle setting device, and Q=@ indicates the alarm device.

Claims (1)

[Claims] A turning angle sensor (22) that detects the turning angle (A) between the tractor (1) and the trailer (2) connected thereto, and a turning angle sensor (22) that detects the turning angle (A) between the tractor (1) and the trailer (2) connected thereto, and a turning angle sensor (22) that detects the turning angle (A) and the turning angle sensor (22) that detects the turning angle (A). A trailer control device equipped with an alarm device (24) that issues an alarm depending on the direction of the trailer.