JPH01138407A - Inclination confirmation device for industrial vehicle - Google Patents

Abstract

PURPOSE:To let a driver recognize the inclination state of the vehicle by judging which of inclination ranges stored in a storage means the outputs of inclination sensors on the vehicle belong to and displaying the inclination area and direction according to the judgement result. CONSTITUTION:The inclination sensors which detect the front-rear and right-left tilt angles of the vehicle are provided on two orthogonal planes of the vehicle, and a display part 12, a buzzer, a computer, etc., are installed in the driver's room. Further, four stages of initial, stable, caution, and warning inclination ranges are set according to the front-rear and right-left tilt angles of the vehicle and stored in a ROM, and inclination display areas of the initial range 19, stable range 20, caution range 21, and warning range 22 are sectioned with four concentric circles. Then, when the output signals of the inclination sensors are inputted to a CPU, the CPU reads inclination ranges that the tilt angles belong to out of the ROM and makes the inclination display area corresponding to the inclination range illuminate while indicating the inclination direction with an arrow 23. The areas 19-22 illuminate in different colors. Further, when the warning inclination range is entered, the buzzer sounds.

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Field of Industrial Application) This invention relates to an inclination confirmation device for an industrial vehicle.

(Prior Art) Industrial vehicles such as forklifts are used to transport heavy objects and often travel under heavy loads. For this reason, when the vehicle is running on a slope, due to dents in the tires due to uneven air pressure in the left and right tires, tilting of the mast, etc., sudden stops or sudden turns of the vehicle may occur. When you perform the operation,
A large inertial force acts on the vehicle due to the load, and the vehicle is operated in an unstable state.

Therefore, there is a need for a confirmation device that can avoid unstable vehicle operation by making the driver aware of the tilted state of the vehicle, prompting the driver to return the vehicle from the tilted position to the normal position before making a sudden stop, etc. ing.

(Problems to be Solved by the Invention) As mentioned above, this invention attempts to solve the problem that a vehicle operates unstable due to inertia force when a large load is applied. The purpose is to confirm the inclination of industrial vehicles by making the driver aware of the inclining state of the vehicle, encouraging the driver to return the vehicle from the inclining position to its normal position before making a sudden stop, and thereby avoiding unstable vehicle operation. The goal is to provide equipment.

Structure of the Invention (Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides an inclination method that detects the inclination angle of the vehicle and the inclination direction through the inclination angle when the vehicle inclines. an angle detecting means; a storage means for storing a tilt range roughly divided into a plurality of stages according to the running stability of the vehicle so as to correspond to the tilt angle of the vehicle; and a memory for storing the tilt angle detected by the tilt angle detecting means. A device comprising a determining means for determining which of a plurality of slope ranges stored by the means belongs, and a display means for displaying a slope area corresponding to the slope range along with a slope direction based on the judgment result of the judgment means. It is.

(Function) By employing the above-mentioned means, the present invention detects the inclination angle of the vehicle and the inclination direction through this inclination angle when the vehicle runs at an incline due to the load received from the fork or attachment. Based on this detection operation, the determining means determines to which of a plurality of tilt ranges the inclination angle is preset according to the magnitude of vehicle running stability and stored in the storage means. Then, according to the result of this determination, the display means displays the tilt area and the tilt direction corresponding to the applicable tilt range.

(Example) Hereinafter, a first example of the present invention will be described in detail with reference to FIGS. 1 to 9.

FIG. 1 shows a forklift, in which a heavy object 4 is placed on a fork 3 that is movably mounted on a mast 2 at the front of a vehicle 1, and the vehicle 1 is in a loaded state. First and second inclination sensors 5 a + 5 b as inclination angle detection means are respectively provided on two surfaces perpendicular to each other in the upper part of the mast 2 , of which the first inclination sensor 5 a is arranged in the longitudinal direction of the vehicle 1 . The second inclination sensor 5b detects the inclination angle in the left-right direction.

A panel 10 is provided at the front of the driver's cab 9 of the vehicle 1, a display section 12 as a display means made of a CRT is arranged on an instrument panel 11 on the upper surface thereof, and a buzzer 13 is provided on the side. Furthermore, a computer 14 is installed within the panel 10.

FIG. 2 shows the electrical configuration of this embodiment. That is, the inclination sensors 5a and 5b are connected to a central processing unit (hereinafter referred to as CPU) 16 as a determining means via an interface 15 built in the computer 14.
U16 has a read-only memory (RO
M) 17 and readable and writable memory (RA
M) 1B is connected. Further, a display section 12 and a buzzer 13 are connected to the CPU 16.

The angle of inclination of the vehicle 1 in each of the longitudinal and lateral directions is divided into four stages according to the size in the table below (in the case of an engine counter vehicle): initial inclination range, stable inclination range, caution inclination range, and warning inclination range. Separated.

That is, the inclination angle of the vehicle 1 is 9" or less in each direction, 10" or less in each direction.
The initial slope range, stable slope range, caution slope range, and caution slope range in the forward and reverse directions are set in the order of 9 to 146 degrees, 15 to 19 degrees, and 20 inches or more. Initial tilt range and stable tilt range in the left and right directions, in the following order: 1. The tilt angle in each left and right direction is 7° or less, 8° or more and 9° or less, 10° or more and 13° or less, and 14° or more. A caution tilt range and a caution tilt range are respectively set.The ROM 17 stores tilt range data indicating the tilt range set according to the tilt angles of the vehicle 1 in each of the front and rear directions and in each of the left and right directions. .

In addition, as shown in FIG. 3(b), FIG. 4(b), FIG. 5(b), and FIG. Area 19, Stable slope display area 20, Caution slope display area 21, Warning slope display area 2
2 is divided outward from the center by four concentric circles. Then, Fig. 3(a), Fig. 4(a), Fig. 5(
a), as shown in FIG. 6(a), the vehicle 1
When the inclination angle is in the initial inclination range, stable inclination range, caution inclination range, or warning inclination range,
), as shown by diagonal lines in FIG. 4(b), FIG. 5(b), and FIG. 6(b), the corresponding areas 19 to 22
are lit in green, yellow, orange, or red, respectively, and the direction in which the vehicle 1 is tilted is indicated by an arrow 23.

As shown in FIG. 7, the tilt sensors 5a and 5b have a weight 8 attached to the sliding shaft 7 of the potentiometer 6, and when the vehicle 1 is not tilted, the central reference point O of the potentiometer 6 is set.
A weight 8 is brought into contact with the reference voltage 7 to output a signal corresponding to the reference voltage.

When the vehicle 1 tilts forward or to the left, the contact point between the weight 8 and the potentiometer 6 moves to the left of the center reference point 0, as shown by the solid line, and when the vehicle 1 tilts backward or to the right, , as shown by the two-dot chain line, the contact point moves to the right of the central reference point O, and sends a signal to the computer 14 in accordance with the comparison voltage value with respect to the reference voltage in accordance with the tilting direction and tilting angle of the vehicle 1. It is designed to be output.

Then, based on this signal, the CPU 16 reads out the tilt range corresponding to the tilt angle of the vehicle 1 in the corresponding tilt direction from the tilt range data stored in the ROM 17, and outputs a signal based on the read result to the display unit 12. . After this,
Based on this signal, the display unit 12 lights up one of the four concentric areas 19 to 22 as appropriate to inform the driver of the inclination state of the vehicle 1, and also indicates the inclination state of the vehicle 1 using the arrow 23. Show direction. Then, when the vehicle 1 is in the caution slope range or the warning slope range, the CPU 16 activates the buzzer 13.
outputs a signal to perform an alarm action.

Now, let us explain the operation of the slope confirmation device having the above configuration in the eighth section.
This will be explained according to the diagram.

When the tilt sensors 5a, 5b detect the tilt of the vehicle 1, in step 31 (hereinafter simply referred to as S), a signal indicating the tilt angle and the tilt direction is input to the CPU 16. Then, based on these two signals, the CPU 16 reads the tilt range to which the tilt angle belongs from the tilt range data stored in the ROM 17, and determines in S2 whether the tilt angle belongs to the initial tilt range. This judgment result is Y
In the case of ES, the initial tilt display area 19 of the display section 12 is lit in green in S3, and the display section 12 is further operated to display the tilt direction using the arrow 23.

If the determination result in S2 is NO, the CPU 6 determines whether the tilt angle of the vehicle 1 is within the stable tilt range in S4, and if it is within the stable tilt range, the CPU 6 displays the display unit 12 in S5.
The stable tilt display area 20 of is lit in yellow, and
The display section 12 is driven to display the direction of inclination using the arrow 23. Moreover, when the judgment result of S4 is NO, S6
In step S7, it is determined whether the tilt angle belongs to the caution-required tilt range, and if YES, the caution-required tilt display area 21 of the display unit 12 is lit in orange, and the arrow 23 is used to display the tilt direction. The display unit 12 is driven and operated, and a signal is output to the buzzer 13 to perform an alarm operation.

When it is determined in S6 that the inclination angle of the vehicle 1 is outside the caution inclination range, the warning inclination display area of the display unit 12 is lit in red in S8, and the arrow 23 is set to indicate the inclination direction of the vehicle 1. A signal is output to the display unit 12 to drive it, and at the same time a signal is output to the buzzer 13 to cause it to perform an alarm operation.

In the above-mentioned inclination degree confirmation device, when the vehicle 1 inclines in each of the front and rear directions and in each of the left and right directions, the inclination sensors 5a and 5b detect the inclination angle and the inclination direction via this. Based on this detection result, the CPU 16 reads from the ROM 17 the tilt range to which the tilt angle in each tilt direction belongs in accordance with the signals output from the tilt sensors 5a and 5b. This inclination range is preset according to the running stability of the vehicle 1, and in response to a signal from the CPU 6, the inclination display areas 19 to 22 corresponding to the inclination range are lit up in different colors on the display unit 12, i.e. A display indicating running stability according to the inclination state of the vehicle 1 is displayed, and the direction of inclination of the vehicle 1 is indicated by an arrow. Therefore, when the vehicle 1 is running, the driver must use the display unit 12.
The running stability of the vehicle 1 can be confirmed by the display, and if necessary, appropriate operations can be performed to return the vehicle 1 from an unstable tilted position to a stable normal position.

In addition, when the inclination angle of the vehicle 1 is within the caution inclination display range or warning inclination range that adversely affects vehicle running stability, C
The buzzer 13 is driven by a signal from the PU 16 to perform an alarm operation. Therefore, even when the driver neglects to check the display unit 12, the above-mentioned warning alerts the driver.
It becomes possible to change the posture of the vehicle 1 to an appropriate position.

Note that when the vehicle 1 is tilted in a direction other than front and rear and left and right, for example, in an oblique direction, two tilt sensors 5a are used.

It is also possible to find the direction of inclination by the vector sum of the voltage values output from 5b, and to display this direction on the display section 12 with the arrow 23.

Next, a second embodiment of the present invention will be described with reference to FIG. 9.10.

In this embodiment, as shown in FIGS. 9(a) and 9(b), four inclined display areas 19 to 22 of the display section 12 are divided into four concentric ellipses.

It is assumed that the major axis of these ellipses is equal to the diameter of the corresponding concentric circles in the first embodiment. This is because the inclination in the left-right direction of the vehicle 1 has a greater influence on the running stability of the vehicle 1 than the inclination in the longitudinal direction (as shown in the table, the upper limit inclination angles of the left-right and front-rear inclination ranges are different). Corresponding to
Then, the inclination in the front-back direction where the upper limit value is high is indicated by arrow 2 in the major axis direction.
3, which aims to increase the visual sense of presence regarding the running stability of the vehicle 1.

With the above configuration, as shown in FIG.
In addition to the process corresponding to FIG.
In the case of S, a process of appropriately reducing the arrow 23, which is set to be displayed by the length in the major axis direction, is required in step 312.

Note that the present invention is not limited to the embodiments described above, and can be applied to (1) providing inclination sensors 5a, 5b at locations other than the mast 2, (2) installing industrial vehicles other than forklifts, such as shovel loaders, aerial work vehicles, etc. Any changes can be made without departing from the spirit of the invention, such as attaching inclination sensors 5a and 5b to the shovel arm and lifting boom, respectively.

Effects of the Invention As detailed above, according to the present invention, by making the driver aware of the tilted state of the vehicle, the driver is encouraged to return the vehicle from the tilted position to the normal position before suddenly stopping, etc. This has the excellent effect of avoiding unstable operation.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a first embodiment of the invention, FIG. 2 is a block diagram showing the electrical configuration of the invention, and FIG.
) is a side view showing the vehicle leaning towards the front within the initial inclination range, Fig. 3(b) is a plan view showing the display unit that displays this condition, and Fig. 4(a) is a side view showing the vehicle leaning towards the rear within the initial inclination range. Figure 4(b) is a side view showing the vehicle tilting within the tilting range; Figure 4(b) is a plan view showing the display unit that displays this condition; Figure 5(a) is the vehicle tilting to the left within the caution required tilting range. A front view showing a vehicle that
FIG. 5(b) is a plan view showing the display unit that displays this state, FIG. 6(a) is a front view showing the vehicle leaning to the right within the warning tilt range, and FIG. 6(b) 7 is a front view showing the specific configuration of the tilt sensor, FIG. 8 is a flowchart showing the operation of the CPU, and FIGS. 9(a) and (b) are FIG. 10 is a plan view showing the display unit in the second embodiment, and a flowchart showing the operation of the CPU in the second embodiment. A vehicle 1, a fork 3 as an attachment, inclination sensors 5a and 5b as a detection means, a display section 12 as a display means, a CPU 16 as a judgment means, and R as a storage means.
OM17, Initial tilt display area 19, Stable tilt display area 20, Caution tilt display area 21, and Caution tilt display area 22 as tilt areas Patent applicant Toyota Industries Corporation Agent
Patent Attorney On 1) Hiroshi Nobuo Figure 2 Figure 9 (b)

Claims (1)

[Claims] 1. When a vehicle is tilted, a tilt angle detecting means detects a tilt angle of the vehicle and a tilt direction based on the tilt angle; a storage means for storing inclination ranges roughly divided into a plurality of stages according to running stability; and a determining means for determining to which of the plurality of inclination ranges stored in the storage means the inclination angle detected by the inclination angle detection means belongs. A tilt confirmation device for an industrial vehicle, comprising: a display means for displaying a tilt area corresponding to the tilt range along with a tilt direction based on the determination result of the determination means.