JPH07276951A - Road surface inclination angle display device - Google Patents

Abstract

PURPOSE:To provide a road surface inclination angle display device displaying correct road surface inclination even in the case of being used for a vehicle of such constitution as to move wheels vertically to a body frame to perform attitude control, thereby making the vehicle easy to drive. CONSTITUTION:In a hill traveling vehicle, a body frame is controlled in the attitude so as to be always horizontal by moving wheels 16a-16d in the vertical direction of the body frame. Moving quantity detecting sensors detect the moving quantities h1-h4 of the respective wheels 16a-16d in the vertical direction of the body frame. A CPU computes road surface inclination angles alpha, beta corresponding to the longitudinal and lateral directions of the body frame on the basis of the moving quantities h1-h4 of the respective wheels 16a-16d detected by the moving quantity detecting sensors, and lights the lighting part of a road surface inclination indicator on the basis of the road surface inclination angles alpha, beta.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road surface inclination angle display device, and more particularly, to a road surface inclination angle display device for a vehicle for controlling the attitude of the vehicle frame by moving wheels vertically with respect to a vehicle body frame. is there.

[0002]

2. Description of the Related Art In a conventional road surface inclination angle display device, an inclination angle sensor is provided on a vehicle body frame of a vehicle, and the inclination angle sensor detects the inclination angle of the vehicle body frame. Then, the detected inclination angle of the vehicle body frame is displayed as a road surface inclination angle on a road surface inclination display portion provided on the vehicle, and the driver confirms the inclination angle of the road surface to determine whether or not the road surface can run.

[0003]

By the way, in a mountain traveling vehicle which travels in a mountain, for example, each wheel supported by the body frame is moved in the vertical direction with respect to the body frame to control the attitude of the frame, The running body frame is held horizontally so that the driver can easily drive the mountain traveling vehicle. That is, in a mountain traveling vehicle, since the vehicle body frame is held horizontally during traveling on a slope, the conventional road surface inclination angle display device cannot display an accurate road surface inclination angle. Therefore, it is difficult for the driver to determine whether or not the vehicle can run, and it is difficult to drive the mountain traveling vehicle.

The present invention has been made in order to solve the above problems, and a first object of the present invention is to provide an accurate control even when used in a vehicle in which the wheels are vertically moved with respect to the vehicle body frame to control the attitude. It is an object of the present invention to provide a road surface inclination angle display device capable of displaying a road surface inclination angle and making it easier to drive the vehicle.

A second object of the present invention is to provide a road surface inclination angle display device capable of displaying the inclination direction of the road surface to make it easier to drive the vehicle. Further, a third object is to display the road surface inclination angles with respect to the front-rear direction and the left-right direction of the vehicle body frame so that the road surface inclination angle can be easily recognized and the vehicle can be driven more easily. To provide.

[0006]

In order to solve the above problems, the invention according to claim 1 moves a pair of left and right front wheels and rear wheels supported by a body frame in a vertical direction with respect to the body frame. In the road surface inclination angle display device, the vehicle is provided with a road surface inclination display unit for performing attitude control so that the frame always has a predetermined inclination angle, and the road surface inclination display unit displays the road surface inclination angle. ,
A movement amount detection sensor for detecting the movement amount of each wheel in the vertical direction of the vehicle body frame, a calculation means for calculating a road surface inclination angle based on a detection signal of the movement amount detection sensor, and a road surface calculated by the calculation means. Display control means for displaying the inclination angle on the road surface inclination display portion.

According to a second aspect of the present invention, in the road surface inclination angle display device according to the first aspect, there is provided a judgment means for judging the inclination direction of the road surface based on the detection signal of the movement amount detection sensor,
Display control means for displaying the inclination direction of the road surface on the road surface inclination display portion based on the judgment result of the judgment means.

According to a third aspect of the present invention, in the road surface inclination angle display device according to the first aspect, a movement amount detecting sensor for detecting an amount of movement of each wheel in the vertical direction of the vehicle body frame, and detection by the movement amount detecting sensor. 1st which calculates the road surface inclination angle with respect to the front-back direction of a vehicle body frame based on a signal
Calculating means, second calculating means for calculating a road surface inclination angle with respect to the left-right direction of the vehicle body frame based on a detection signal from the movement amount detecting sensor, and vehicle body frame calculated by the first and second calculating means. And a display control means for displaying each road surface inclination angle with respect to the front-rear and left-right directions on the road surface inclination display section.

[0009]

Therefore, according to the first aspect of the invention, the wheels are moved in the vertical direction with respect to the body frame so that the body frame always has a predetermined inclination angle. At this time, the movement amount detection sensor detects the movement amount of each wheel in the vertical direction of the vehicle body frame, and the calculation means calculates the road surface inclination angle based on the detection signal of the movement amount detection sensor. Then, the display control means causes the road surface inclination display unit to display the road surface inclination angle calculated by the calculation means. Therefore, an accurate road surface inclination angle is displayed even in a vehicle in which the body frame is attitude-controlled.

According to the invention of claim 2, in addition to the operation of the invention of claim 1, the judging means judges the inclination direction of the road surface based on the detection signal of the movement amount detecting sensor, and the display controlling means judges the judgment result. Based on this, the road surface inclination display section displays the road surface inclination direction. Therefore, the driver can recognize the inclination direction of the road surface.

According to the third aspect of the present invention, the wheels are vertically moved with respect to the body frame so that the body frame always has a predetermined inclination angle. At this time, the movement amount detection sensor detects the movement amount of each wheel in the vertical direction of the vehicle body frame. The first calculation means calculates the road surface inclination angle of the vehicle body frame with respect to the front-rear direction based on the detection signal of the movement amount detection sensor, and the second calculation means calculates the lateral direction of the body frame based on the detection signal of the movement amount detection sensor. Calculate the road surface inclination angle with respect to. Then, the display control means causes the road surface inclination display section to display the road surface inclination angles with respect to the front-rear direction and the left-right direction of the vehicle body frame based on the calculation results of the first and second calculation means. Therefore, the driver can easily recognize the road surface inclination angle.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a mountain traveling vehicle will be described below with reference to FIGS.

As shown in FIGS. 1 to 3, a driver's seat 3 is provided at the center of a body frame 2 of a mountain traveling vehicle 1. A roof frame 4 is disposed on the upper side of the vehicle body frame 2, and the roof frame 4 is supported by a plurality of support frames 5 that project upward from the vehicle body frame 2. Suspension devices 9a to 9d are respectively arranged on the left front part, the right front part, the left rear part, and the right rear part of the body frame 2 so as to extend in the vertical direction.
Are supported by the vehicle body frame 2 and the roof frame 4.

The suspension devices 9a to 9d include outer cylinders 10a to 10d supported by the vehicle body frame 2 and the roof frame 4, respectively.
Inner cylinder 11 inserted in the outer cylinders 10a to 10d so as to be able to move forward and backward
a to 11d and a hydraulic cylinder (not shown) built in the inner cylinders 11a to 11d. The outer cylinder 1
Servo valves 12a to 12d are provided at the upper ends of the servo valves 12a to 12d, respectively.
The hydraulic cylinder is connected to a hydraulic oil supply source (not shown) via. Then, by supplying the hydraulic oil to the hydraulic cylinder, the inner cylinders 11a to 11d are changed to the outer cylinders 10a to 10d.
Go back and forth from d. Further, the servo valves 12a to 12d are adapted to adjust the amount of hydraulic oil supplied to the hydraulic cylinders by changing the valve openings, and to change the advancing / retreating amounts of the inner cylinders 11a to 11d.

As shown in FIGS. 2 and 3, the suspension device 9a,
Front support brackets 15 are attached to the tips of the inner cylinders 11a and 11b of 9b, respectively, and front wheels 16a and 16b are rotatably supported by the front support brackets 15 respectively. Also, the inner cylinders 11c and 11d of the suspension devices 9c and 9d, respectively.
Rear support brackets 17 are attached to the front ends of the rear support brackets 17, and rear wheels 16c and 16d are rotatably supported by the rear support brackets 17 respectively. A hydraulic motor 18f for driving the front wheels 16a and 16b is supported by the front support bracket 15, and the hydraulic motor 18f is arranged so as to be located inside the wheels of the front wheels 16a and 16b. A hydraulic motor 18r for driving the rear wheels 16c and 16d is supported on the rear support bracket 17, and the hydraulic motor 18r
The r is arranged so as to be located inside the wheels of the rear wheels 16c and 16d. In FIG. 2, the left front wheel 18a,
Only the hydraulic motors 18f and 18r of the rear wheel 18c are shown.

As shown in FIG. 1, a steering cylinder 19 is provided at the front of the vehicle body frame 2, and the steering cylinder 19 is connected to the suspension devices 9a, 9b on the front side. When the steering handle 20 provided on the driver's seat 3 is rotated, the steering cylinder 1
9 is driven so that the suspension devices 9a and 9b rotate about their respective axes in the same direction by the same amount.

Further, as shown in FIGS. 2 and 3, the suspension devices 9a to 9d are provided with movement amount detection sensors 21a to 21d for detecting the movement amounts of the inner cylinders 11a to 11d in the advancing and retracting directions. That is, each of the wheels 16a to 16 in the vertical direction of the body frame 2 is detected by the movement amount detection sensors 21a to 21d.
The amount of movement of d can be known.

A front and rear inclination angle sensor 22 and a left and right inclination angle sensor 23 are attached to the lower surface of the body frame 2 at a position corresponding to the driver's seat 3. The front-rear tilt angle sensor 22 detects the front-rear tilt angle of the body frame 2 with respect to the horizontal plane, and the left-right tilt angle sensor 23 detects the left-right tilt angle of the body frame 2 with respect to the horizontal plane. Then, when the mountain traveling vehicle 1 approaches the slope while traveling and the body frame 2 inclines, the servo valves 12a to 12d change the valve opening of the valves 12a to 12d based on the detection signals of the inclination sensors 22 and 23. It changes and each inner cylinder 11a-11d is advanced and retracted. As the inner cylinders 11a to 11d move back and forth, the wheels 16a to 16d move up and down with respect to the vehicle body frame 2, and the attitude of the vehicle body frame 2 is controlled to be horizontal.

As shown in FIGS. 1 and 4, a road surface inclination indicator 25 as a road surface inclination display unit is attached to the front portion of the roof frame 4. A front and rear inclination level meter 26 is formed on the road surface inclination indicator 25 so as to extend in the vertical direction with respect to the indicator 25. A plurality of lighting portions 27 are formed in the front-rear tilt level meter 26, and as the inclination angle of the road surface with respect to the front-rear direction of the vehicle body frame 2 increases, the lighting portions 27 sequentially light up toward the upper and lower ends.

On the road surface inclination indicator 25, a horizontal inclination level meter 28 is formed so as to extend in the left-right direction from the center of the front-rear inclination level meter 26. A plurality of lighting parts 29 are formed in the left and right inclination level meter 28 so that the lighting parts 29 are sequentially illuminated toward the left and right ends as the inclination angle of the road surface with respect to the left and right direction of the vehicle body frame 2 increases.

Further, outside the level meters 26 and 28, eight inclination direction display portions 30 are arranged at equal intervals on the same circumference.
To 37 are formed, and the inclination direction oblique display portion 30 at the upper end is arranged above the front and rear inclination level meter 26. And
The other inclination direction display portions 31 to 37 are sequentially arranged clockwise from the inclination direction display portion 30, and one of them is turned on to display the inclination direction of the road surface.

Next, the electrical construction of the road surface inclination angle display device of this embodiment will be described. As shown in FIG. 5, a central processing unit (hereinafter referred to as a CPU) 41 as a first calculation means, a second calculation means, a judgment means, and a display control means has a read only memory (ROM) 42, a read A writable memory (RAM) 43 is connected. CPU41
Executes various processes in accordance with predetermined program data stored in the ROM 42, and the RAM 43 temporarily stores various calculation results of the CPU 41. CP
The U41 is provided with the respective inclination angle sensors 22 and 23 and the respective movement amount detection sensors 21a to 21 through the interface 44.
d is connected. The CPU 41 is connected to the road surface inclination indicator 25 and the servo valves 12a to 12d.

The front-rear tilt angle sensor 22 detects the front-rear tilt angle of the body frame 2 with respect to the horizontal plane, and the left-right tilt angle sensor 23 detects the left-right tilt angle of the body frame 2 with respect to the horizontal plane. The CPU 41 changes the valve opening degree of the servo valves 12a to 12d so that the vehicle body frame 2 becomes horizontal based on the detection signals of the respective angle sensors 22 and 23 input via the interface 44.
Then, by changing the valve opening degree, the inner cylinders 11a to 11d are moved back and forth, so that the vehicle body frame 2 becomes horizontal.
16d are moved up and down with respect to the body frame 2. At this time, the CPU 41 controls the servo valves 12a-12a so that the sum of the movement amounts of the wheels 16a-16d is always constant.
d is controlled. The amount of movement of the wheels 16a to 16d is the same as that of the wheels 16a to 16d which are running on a horizontal plane.
It takes a positive value when moving downward from the position of 16d with respect to the body frame 2, and takes a negative value when moving upward.

The moving amount detecting sensors 21a to 21d are adapted to the wheels 16a to 16d based on the moving amounts of the inner cylinders 11a to 11d.
The respective movement amounts of the vehicle body frame 2 in the vertical direction are detected. Based on the detection signals of the movement amount detection sensors 21a to 21d input through the interface 44, the CPU 41 moves the movement amounts h1 to h at that time as shown in FIG.
Figure out four. The solid lines in FIG. 6 indicate the positions of the wheels 16a to 16d when the mountain traveling vehicle 1 is traveling on a horizontal road surface. Further, the two-dot chain line indicates the wheels 16a to 16d when the wheels 16a to 16d are moved by the moving amounts h1 to h4, respectively, in order to control the attitude of the vehicle body frame 2 horizontally by traveling on the slope.
Indicates the position of.

The CPU 41 controls the amount of movement h1 of the left front wheel 16a.
And an average movement amount H1 of the movement amount h2 of the right front wheel 16b and an average movement amount H2 of the movement amount h3 of the left rear wheel 16c and the movement amount h4 of the right rear wheel 16d. Furthermore, CPU
Reference numeral 41 denotes a road surface inclination angle α with respect to the front-rear direction of the vehicle body frame 2 based on the difference H1-H2 between the average movement amounts H1 and H2 and the distance X between the front suspensions 9a and 9b and the rear suspensions 9c and 9d. Calculate Then, the CPU 41 sequentially lights an appropriate number of lighting portions 27 of the front-rear inclination level meter 26 toward both upper and lower ends based on the calculated road surface inclination angle α in the front-rear direction.

Next, the CPU 41 averages the moving amount H of the moving amount h1 of the left front wheel 16a and the moving amount h3 of the left rear wheel 16c.
3 and the amount of movement h2 of the front right wheel 16b and the rear right wheel 16d
The average moving amount H4 with the moving amount h4 is calculated. Furthermore, C
The PU 41 calculates the road surface inclination angle β with respect to the left-right direction of the vehicle body frame 2 based on the difference H3-H4 between the average movement amounts H3 and H4 and the distance Y between the left suspension devices 9a and 9c and the right suspension devices 9b and 9d. To do. Then, the CPU 41 turns on an appropriate number of lighting portions 29 of the left / right inclination level meter 28 sequentially toward the left and right ends based on the calculated road surface inclination angle β in the left / right direction.

Further, the CPU 41 carries out a judgment process for judging the inclination direction of the road surface based on the movement amounts h1 to h4 of the wheels 16a to 16d, and the inclination direction display section 3 according to the judgment result.
Turn on 0 to 37. That is, when the wheels 16a and 16b among the wheels 16a to 16d move to the body frame 2 side by the same amount (in this case, the wheels 16c and 16d move to the opposite body frame 2 side by the same amount), the CPU 41 goes up. It is judged that it is a slope, and the inclination direction display unit 3 shown in FIG.
Turn 0 on.

Among the wheels 16a to 16d, the wheels 16c, 1
When 6d moves to the body frame 2 side by the same amount (in this case, the wheels 16a and 16b move to the opposite body frame 2 side by the same amount), the CPU 41 determines that it is a down slope, and the inclination direction display unit 34 Light up.

Among the wheels 16a to 16d, the wheels 16a, 1
When 6c moves to the body frame 2 side by the same amount (in this case, the wheels 16b and 16d move to the opposite body frame 2 side by the same amount), the CPU 41 determines that the slope is upward to the left and displays the tilt direction. The part 36 is turned on.

Among the wheels 16a to 16d, the wheels 16b and 1
When 6d moves to the body frame 2 side by the same amount (in this case, the wheels 16a and 16c move to the opposite body frame 2 side by the same amount), the CPU 41 determines that the slope is an upward slope and displays the tilt direction. The part 32 is turned on.

Among the wheels 16a to 16d, the wheel 16a
When only one moves to the side of the body frame 2 the CPU4
It is determined that the slope 1 is an upward slope to the left, and the slope direction display portion 37 is turned on. The wheel 16 among the wheels 16a to 16d
If only b moves to the side of the body frame 2 most, the CPU
Reference numeral 41 determines that the slope is a front right upward slope, and turns on the tilt direction display portion 31. Wheel 1 among wheels 16a-16d
When only 6c moves to the body frame 2 side, CP
U41 determines that the slope is an upper left slope, and turns on the tilt direction display portion 35. When only the wheel 16d among the wheels 16a to 16d moves to the body frame 2 side, C
The PU 41 determines that the slope is an upper right slope, and turns on the tilt direction display unit 33.

Next, the operation of the above road surface inclination angle display device will be described. As shown in FIG. 7, when the mountain traveling vehicle 1 climbs straight up the slope, the front wheels 16a and 16b move upward by the same amount with respect to the vehicle body frame 2 in order to make the vehicle body frame 2 horizontal, and the rear wheels 16c and 16d move downward with respect to the body frame 2 by the same amount. Note that only the wheels 16a and 16c are shown in FIG.

At this time, the movement amount detection sensors 21a to 21
d detects the movement amounts h1 to h4 of the wheels 16a to 16d, and the CPU 41 calculates the average movement amounts H1 to H4 based on the movement amounts h1 to h4. In this case, the average movement amount H1 =
Moving amount h1 = moving amount h2, average moving amount H2 = moving amount h3
= Movement amount h4, average movement amounts H3, H4 = 0. CP
U41 determines the inclination angle α of the road surface with respect to the front-rear direction of the vehicle body frame 2 based on the difference H1-H2 between the average movement amounts H1 and H2 and the distance X between the front suspensions 9a and 9b and the rear suspensions 9c and 9d. Calculate Then, the CPU 41 determines the front-rear inclination level meter 2 based on the front-rear direction road surface inclination angle α.
The lighting unit 27 of No. 6 is turned on.

Further, the CPU 41 determines the road surface relative to the left-right direction of the vehicle body frame 2 based on the difference H3-H4 between the average movement amounts H3 and H4 and the distance Y between the left suspension devices 9a and 9c and the right suspension devices 9b and 9d. Calculate β as the tilt angle. In this case, H3−H4 = 0, so β becomes 0, and CPU
Reference numeral 41 does not turn on the lighting portion 29 of the horizontal tilt level meter 28.

Further, among the wheels 16a to 16d, the wheel 1
Since 6a and 16b move to the body frame 2 side by the same amount, the CPU 41 determines that the road surface is an upslope and turns on the inclination direction display unit 30.

Next, when the mountain traveling vehicle 1 travels laterally on a slope as shown in FIG. 8, the left wheels 16a and 16c are the same as above the vehicle body frame 2 in order to make the vehicle body frame 2 horizontal. The right wheels 16b, 16d move downward with respect to the vehicle body frame 2 by the same amount. still,
Only the wheels 16c and 16d are shown in FIG.

At this time, the movement amount detecting sensors 21a to 21
d detects the movement amounts h1 to h4 of the wheels 16a to 16d, and the CPU 41 calculates the average movement amounts H1 to H4 based on the movement amounts h1 to h4. In this case, the average movement amount H1,
H2 = 0, average moving amount H3 = moving amount h1 = moving amount h3,
The average moving amount H4 = moving amount h2 = moving amount h4. CP
U41 is the difference between the average moving distances H1 and H2 and the front suspension 9
The inclination angle α of the road surface with respect to the front-rear direction of the vehicle body frame 2 is calculated based on the distance X between the a and 9b and the rear suspension devices 9c and 9d. In this case, since the difference H1-H2 between the average movement amounts H1 and H2 is 0, α is 0, and the CPU 41 does not turn on the lighting unit 27 of the front-rear tilt level meter 26.

Further, the CPU 41 determines the road surface in the left-right direction of the vehicle body frame 2 based on the difference H3-H4 between the average movement amounts H3 and H4 and the distance Y between the left suspension devices 9a and 9c and the right suspension devices 9b and 9d. The tilt angle β is calculated. Then, the CPU 41 turns on the lighting portion 29 of the left / right inclination level meter 28 based on the road surface inclination angle β in the left / right direction.

Further, among the wheels 16a to 16d, the wheel 1
Since 6a and 16c move to the body frame 2 side by the same amount, the CPU 41 determines that the road surface is an upward slope to the left and turns on the inclination direction display unit 36.

Even when the mountain traveling vehicle 1 goes up and down on the slope, the road surface inclination angles α, β with respect to the front-rear and left-right directions of the vehicle body frame 2 are calculated in the same manner as described above, and the angles α, β is each inclination level meter 26, 28
Is displayed in.

As described above in detail, in this embodiment, the wheel 1
The average moving amounts H1 to H4 are calculated based on the moving amounts h1 to h4 of 6a to 16d, and the differences between the average moving amounts H1 to H2 and H3 are calculated.
Based on −H4 and the distances X and Y, the tilt angles α and β of the body frame 2 with respect to the front-rear and left-right directions were calculated. Therefore, even if the vehicle body frame 2 is mounted on the mountain traveling vehicle 1 whose posture is controlled so as to be always horizontal, the accurate road surface inclination angle α,
β can be displayed, and the mountain traveling vehicle 1 can be easily driven.

Further, in this embodiment, the wheels 16a to 16d are provided.
Of the vehicle body frame 2 in the vertical direction from h1 to h4
The tilt direction of the road surface is displayed based on. Therefore, the driver can confirm the inclination direction of the road surface, and the mountain traveling vehicle 1 can be driven more easily.

Further, in this embodiment, the road surface inclination angle is divided into the road surface inclination angle α with respect to the front-rear direction of the vehicle body frame 2 and the road surface inclination angle β with respect to the left-right direction. Therefore, the driver can easily recognize the inclination angle of the road surface, and can further easily drive the mountain traveling vehicle 1.

The present invention is not limited to the above embodiment, but may be embodied by being modified as follows. (1) In the present embodiment, the attitude control is performed so that the body frame 2 is always horizontal, but the attitude control may be performed so that the body frame 2 always has a predetermined inclination angle. For example, when the posture is controlled so that the front-back and left-right inclination angles of the body frame 2 are both 5 °, the calculated road surface inclination angle α,
By adding 5 ° to β, it is possible to display accurate road surface inclination angles α and β.

(2) In this embodiment, the road surface inclination angles α, β in the front-rear and left-right directions of the vehicle body frame 2 are calculated, but it is also possible to calculate only the road surface inclination angle α in the front-rear direction of the vehicle body frame 2. Good. Alternatively, only the road surface inclination angle β in the left-right direction of the vehicle body frame 2 may be calculated. In this case, the circuit configuration of the road surface inclination display device can be simplified.

(3) In this embodiment, the wheels 16a to 16 are provided.
Although the determination processing for determining the inclination direction of the road surface is performed based on the movement amounts h1 to h4 of d, this determination processing may be omitted. In this case, the circuit configuration of the road surface inclination display device can be simplified.

(4) In this embodiment, each level meter 26, 2 is based on the road surface inclination angles α, β in the front-rear and left-right directions.
Although the number of the eight lighting units 27 and 29 to be lit is changed to display the road surface inclination angles α and β, the present invention is not limited to this. That is, the road surface inclination indicator 25 is provided with two digital display portions, one of the digital display portions displays the road surface inclination angle α based on the road surface inclination angles α and β, and the other digital display portion displays the road surface inclination angle β. It may be displayed. In this case, a more precise and accurate road surface inclination angle can be displayed, and the driver can further easily recognize the road surface inclination angle.

(5) In this embodiment, the servo valve 12a
12d are provided on the upper ends of the suspension devices 9a to 9d, the positions of the servo valves 12a to 12d may be appropriately changed. In this case, the servo valves 12a to 12d can be provided at convenient positions.

(6) Although the present invention is embodied in the mountain traveling vehicle 1 in this embodiment, the mountain traveling vehicle 1 is a vehicle in which the wheels are moved with respect to the body frame to control the attitude of the frame.
You may implement in vehicles other than. For example, the method may be applied to an uneven terrain vehicle that travels on an uneven terrain where the road surface is not leveled, or a forestry vehicle that runs on a forest. In this case as well, the inclination angles α and β of the road surface can be accurately displayed, so that the driver can easily drive those vehicles.

Next, technical ideas other than the claims which can be understood from the above-mentioned embodiments will be described below together with their effects. (1) In the road surface inclination angle display device according to claim 3, the judgment means for judging the road surface inclination angle based on the detection signal of the movement amount detection sensor, and the road surface inclination direction based on the judgment result of the judgment means. A road surface inclination display device, comprising: a display control unit for displaying on a road surface inclination display unit.

In this case, the road surface inclination angle with respect to the front-back and left-right directions of the vehicle body frame can be displayed, and the road surface inclination direction can also be displayed, which makes it easier for the driver to drive the vehicle. In the present specification, a mountain traveling vehicle refers to a vehicle in which wheels are vertically moved with respect to a vehicle body frame to control a posture of the vehicle body frame, and the vehicle travels on an uneven road where the road surface is not leveled. Includes level ground vehicles and forestry vehicles that travel in forest areas.

[0052]

As described in detail above, according to the first aspect of the invention, the road surface inclination angle is calculated based on the detection signal of the movement amount detection sensor for detecting the movement amount of each wheel in the vertical direction of the vehicle body frame. Therefore, even if the vehicle is controlled in such a manner that the wheels are moved in the vertical direction of the body frame so that the frame always has a predetermined inclination angle, the accurate road surface inclination angle can be displayed and the vehicle can be driven. It can be made easier.

According to the second aspect of the invention, the inclination direction of the road surface is displayed based on the detection signal of the movement amount detection sensor. Therefore, the driver can confirm the inclination direction of the road surface, and it becomes easier to drive the mountain traveling vehicle.

According to the third aspect of the present invention, the road surface inclination angles with respect to the front and rear and left and right directions of the vehicle body frame are calculated based on the detection signal of the movement amount detection sensor, and the respective road surface inclination angles are displayed respectively. Therefore, the driver can easily recognize the road surface inclination angle, and can further easily drive the mountain traveling vehicle.

[Brief description of drawings]

FIG. 1 is a perspective view showing a mountain traveling vehicle of the present embodiment.

FIG. 2 is a schematic side view showing a mountain traveling vehicle of the present embodiment.

FIG. 3 is a perspective view showing a suspension device, a front support bracket, a rear support bracket, and a wheel.

FIG. 4 is a front view showing a road surface inclination indicator.

FIG. 5 is a block circuit diagram showing an electrical configuration of a road surface inclination angle display device.

FIG. 6 is a schematic diagram showing a state in which the road surface is inclined and each wheel is moved.

FIG. 7 is a schematic diagram showing movement of wheels when a mountain traveling vehicle goes straight up a slope.

FIG. 8 is a schematic diagram showing movement of wheels when a mountain traveling vehicle travels laterally on a slope.

[Explanation of Codes] 1 ... Mountain traveling vehicle as a vehicle, 2 ... Body frame, 16
a, 16b ... Wheels as front wheels, 16c, 16d ... Wheels as rear wheels, 21a to 21d ... Movement amount detection sensor, 25 ... Road surface inclination indicator as a road surface inclination display unit, 4
DESCRIPTION OF SYMBOLS 1 ... 1st calculating means, 2nd calculating means, CPU as a judgment means, a display control means, h1-h4 ... Wheel movement amount with respect to the up-down direction of a vehicle body frame, (alpha), (beta) ... Front-back and left-right direction of a vehicle body frame Road slope angle to.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shunichi Shibasaki 1 Toyota-cho, Toyota-shi, Aichi Toyota Automobile Co., Ltd.

Claims (3)

[Claims] 1. A vehicle in which a pair of left and right front wheels and rear wheels supported by a vehicle body frame are moved in the vertical direction with respect to the vehicle body frame to perform posture control so that the frames always have a predetermined inclination angle. In a road surface inclination angle display device that is provided with a road surface inclination display unit and displays the road surface inclination angle of the vehicle on the road surface inclination display unit, a movement amount detection sensor for detecting an amount of movement of each wheel in a vertical direction of a vehicle body frame. A road surface including a calculating means for calculating a road surface inclination angle based on a detection signal of the movement amount detecting sensor, and a display control means for displaying the road surface inclination angle calculated by the calculating means on the road surface inclination display section. Inclination angle display device. 2. The road surface inclination angle display device according to claim 1, wherein a judgment means for judging the inclination direction of the road surface based on a detection signal of a movement amount detection sensor, and a road surface inclination based on the judgment result of the judgment means. A road surface inclination angle display device, comprising: a display control unit for displaying a direction on a road surface inclination display unit. 3. The road surface inclination angle display device according to claim 1, wherein a movement amount detection sensor for detecting an amount of movement of each wheel in a vertical direction of the body frame, and a vehicle body frame based on a detection signal of the movement amount detection sensor. First calculating means for calculating a road surface inclination angle with respect to the front-rear direction, second calculating means for calculating a road surface inclination angle with respect to the left-right direction of the vehicle body frame based on a detection signal of the movement amount detection sensor, And a display control means for displaying on the road surface inclination display section each road surface inclination angle with respect to the front-back and left-right directions of the vehicle body frame calculated by the second calculation means.