Clearing device and piste-grooming vehicle

Abstract

1. A clearing device for a vehicle and a piste-grooming vehicle having such a clearing device 2.1 A clearing device for a vehicle, having a clearing shield for processing a surface, and an actuating device for spatially controlling the clearing shield relative to the vehicle, wherein the actuating device is designed to change a position and / or a setting of the clearing shield relative to the surface, is known. 2.2 According to the invention, a detecting device for detecting an actual clearing-shield loading on the clearing shield and a control unit are provided, wherein the control unit is designed to control the actuating device in dependence on the actual clearing-shield loading for the purpose of changing the actual clearing-shield loading by changing the position and / or setting of the clearing shield. 2.3 Use for piste-grooming vehicles

Description

[0001] The invention relates to a clearing device for a piste grooming vehicle, wherein the clearing device comprises a clearing blade for working a surface and an adjusting device for spatially controlling the clearing blade relative to the vehicle, wherein the adjusting device is designed to change a position and / or orientation of the clearing blade relative to the surface. Furthermore, the invention relates to a piste grooming vehicle with such a clearing device.

[0002] Such a clearing device is known from a PistenBully 600 from the applicant. The PistenBully 600 is a snow grooming vehicle and has a front-mounted clearing device with a snow blade, which is detachably attached to a front carrier. Using hydraulic adjusting means, the position and / or orientation of the snow blade relative to the surface can be changed, in particular by raising, lowering, tilting, or slanting the snow blade. Electrohydraulic actuators are provided to control the hydraulic adjusting means and thus change the position and / or orientation. These actuators are controlled from the driver's cab via an actuating element in the form of a joystick. The position and / or orientation of the snow blade is changed by the driver of the snow grooming vehicle moving and holding the joystick accordingly.This operation is relatively complex and requires skill and concentration from the driver of the piste grooming vehicle when operating the joystick.

[0003] Documents WO-A-2010015967 and JP-A-2003013419 show similar clearing devices.

[0004] The object of the invention is to provide a clearing device and a piste grooming vehicle of the type mentioned above, which enable simplified operation and in particular automated operation regardless of the skill or concentration of the user.

[0005] This object is achieved by a clearing device according to claim 1.

[0006] With the solution according to the invention, the control unit takes over the control of the adjusting device in order to change the position and / or orientation of the clearing blade depending on the detected actual clearing blade load. This eliminates the need for a user to control the adjusting device and consequently changing the position and / or orientation of the clearing blade is simplified and independent of the user's skill or concentration. Furthermore, the invention provides a sensor device for detecting a volume of a depression in the surface. The control unit is designed to adjust the actual clearing blade load depending on the detected volume of the depression such that the actual clearing blade load corresponds to the volume of the depression. The sensor device can be arranged on the clearing blade and / or on the vehicle.Preferably, the sensor device can comprise a camera, an ultrasonic sensor, and / or a radar or lidar sensor that determines the volume of the recess. This allows the recess to be completely filled in a single step, without the need for rework.

[0007] The adjusting device can be designed to attach the clearing blade to the vehicle, preferably by means of a support arm and / or an adjusting means of the adjusting device. The adjusting device can preferably be designed to change the position and / or orientation of the clearing blade relative to the surface and / or relative to the vehicle when the clearing blade is attached to the vehicle with the adjusting device.

[0008] Surface processing can involve clearing the surface, including filling depressions in the surface, and / or removing material from the surface with the dozer blade. Preferably, surface processing can involve pushing material to a desired position with the dozer blade. By processing the surface, the topography of the surface can be changed with the dozer blade.

[0009] The clearing blade is preferably designed to work a snow surface or a bulk material surface, such as in particular a sand or gravel surface of a beach, or an earth surface, in particular in the field of agriculture or the construction industry. In the case of a snow surface, the processing of the surface can be clearing and / or removing snow, in particular for creating or maintaining a ski slope. In the case of a sand surface, the processing of the surface can be clearing and / or removing sand, in particular for creating or maintaining a beach or a dune. In the case of a bulk material or earth surface, the processing of the surface can be clearing bulk material, in particular gravel, milled material or earth.

[0010] The actual dozer blade load can be a load on the dozer blade that occurs during surface processing and acts on the dozer blade. The actual dozer blade load can act on the vehicle via the actuating device, particularly in the form of a clearing pressure or a clearing force. The actual dozer blade load can depend on the mass of the material being pushed with the dozer blade and / or on the material being removed from the surface by the dozer blade.

[0011] The actual dozer blade load can be changed by either increasing or decreasing the actual dozer blade load. To increase the actual dozer blade load, the control unit can control the actuator in such a way that more material is pushed with the dozer blade and / or more material is removed from the surface. To decrease the actual dozer blade load, the control can be set in such a way that less material is pushed with the dozer blade and / or less material is removed from the surface.

[0012] In an embodiment of the invention, the control unit has a memory with maximum values ​​of a target dozer blade load. The control unit is designed to compare the detected actual dozer blade load with a maximum value of the target dozer blade load and, depending on the comparison, to control the actuating device such that the actual dozer blade load does not exceed the maximum value of the target dozer blade load. The maximum value of the target dozer blade load can be a value that can act on the vehicle at most so that the surface can be worked with the vehicle and the clearing device. Additionally or alternatively, the clearing device can suffer damage if the actual dozer blade load exceeds the maximum value of the target dozer blade load. Consequently, by controlling the actuating device in this way, damage to the clearing device is advantageously prevented and / or the surface can be worked.

[0013] In a further embodiment of the invention, the memory contains additional values ​​of a target blade load. The control unit is designed to compare the detected actual blade load with at least one value of the target blade load and, depending on the comparison, to control the actuating device such that the actual blade load corresponds to the value of the target blade load. The value of the target blade load can correspond to a snow transport, a sand transport, or a bulk material transport required for the creation or maintenance of a ski slope, a beach, a dune, or a construction site surface. Advantageously, the clearing device simplifies surface processing because only the value of the target blade load is specified to the clearing device.

[0014] In a further embodiment of the invention, the detection device for detecting an actual dozer blade load is designed to detect at least one physical clearing parameter, in particular a clearing volume, a clearing pressure acting on a dozer blade front surface, or the like. A computing unit is assigned to the detection device in order to derive an actual dozer blade load from the at least one physical clearing parameter. An assignment table with various values ​​of the clearing parameter and associated values ​​of the actual dozer blade load can be stored in the computing unit, wherein the computing unit derives the actual dozer blade load from the detected clearing parameter using the assignment table. The clearing volume can be a volume of material that is pushed with the dozer blade. By detecting the at least one physical clearing parameter, a simple and compact design of the clearing device is possible.

[0015] In a further embodiment of the invention, the detection device for detecting the actual dozer blade load comprises at least one mechanical sensor, at least one optical sensor, an electrical sensor, and / or at least one acoustic sensor, in particular a camera, a strain gauge, an ultrasonic sensor, a radar sensor, a capacitive sensor, and / or a pressure sensor. Such sensors enable reliable and accurate detection of the actual dozer blade load.

[0016] In a further embodiment of the invention, the sensor system is mounted on the dozer blade. This makes direct detection of the actual dozer blade load particularly easy.

[0017] The object underlying the invention is also achieved by a piste grooming vehicle with a previously described clearing device, wherein the surface is a snow surface. The piste grooming vehicle is preferably designed to create or maintain a ski slope, a fun park, or a halfpipe on the snow surface.

[0018] Further advantages and features of the invention will become apparent from the claims and the following description of preferred embodiments of the invention, which are illustrated with reference to the drawings. In the drawings: Fig. 1 a side view of a clearing device according to the invention, Fig. 2 a side view of an embodiment of the clearing device according to Fig. 1 , Fig. 3 a side view of another embodiment of the clearing device according to Fig. 1 , Fig. 4 a side view of a piste grooming vehicle and the clearing device according to Fig. 1, Fig. 5 a side view of the piste grooming vehicle and the clearing device according to Fig. 1 in a manner consistent with the representation Fig. 4 different functional positions, Fig. 6 a side view of the piste grooming vehicle with a clearing device according to Fig. 1 , Fig. 7 a side view of the piste grooming vehicle in a version to the illustration according to Fig. 6 different functional position, Fig. 8 a side view of the piste grooming vehicle in a different position to the illustration according to Figs. 6 and 7 further different functional position and Fig. 9 a side view of the piste grooming vehicle and a depression in a surface.

[0019] Fig. 1shows a clearing device 10 according to the invention for a piste grooming vehicle. The clearing device 10 has a clearing blade 20 for working a surface and an adjusting device 30 for spatially controlling the clearing blade 20 relative to the piste grooming vehicle. Typically, the surface is worked with the clearing blade 20 when the clearing blade 20 is attached to the piste grooming vehicle with the adjusting device 30, and the piste grooming vehicle travels on the surface together with the clearing device 10. The piste grooming vehicle is a civilian tracked vehicle in the form of a snowcat.

[0020] The adjusting device 30 is designed to change a position and / or orientation of the dozer blade 20 relative to the surface when the dozer blade 20 is attached to the vehicle with the adjusting device 30. In particular, the adjusting device 30 can raise, lower, tilt, and / or incline the dozer blade 20. To change the position and / or orientation, the adjusting device can have at least one hydraulic, electrical, and / or pneumatic actuating means. In the case of the hydraulic actuating means, a single- or double-acting hydraulic cylinder can be provided.

[0021] In the embodiment shown, the Fig. 1The actuating device 30 has a hydraulic actuating means in the form of two hydraulic cylinders 34. In an embodiment not shown, the actuating device can have more than two hydraulic cylinders, in particular four, five, or six hydraulic cylinders. The two hydraulic cylinders 34 are suitable for transferring relatively high forces, which typically occur during surface treatment, from the snow blade 20 to the piste grooming vehicle.

[0022] Furthermore, the clearing device 10 of the Fig. 1a detection device 40 for detecting an actual dozer blade load of the dozer blade 20. Typically, the actual dozer blade load is a load on the dozer blade 20 that occurs during surface processing and acts on the dozer blade 20. Since the load on the dozer blade 20 is transferred to the vehicle by means of the actuating device 30 during surface processing, the pressure of a hydraulic fluid in the hydraulic cylinders 34 increases. Therefore, the detection device 40 has a pressure sensor 46 on each of the hydraulic cylinders 34 for detecting the pressure of the hydraulic fluid. The measured pressure of the hydraulic fluid corresponds to the actual dozer blade load.

[0023] To derive the actual dozer blade load from the measured pressure, a computing unit 47 is assigned to the detection device 40. The derivation can be performed using an assignment table stored in a memory of the computing unit 47. The assignment table contains various hydraulic fluid pressure values ​​and corresponding values ​​of the actual dozer blade load. The computing unit 47 can derive the actual dozer blade load from the measured pressure by interpolation or extrapolation using the assignment table.

[0024] In addition to the pressure sensors 46, the detection device 40 includes an ultrasonic sensor 43. The ultrasonic sensor 43 is arranged on a dozer blade front surface 21. Using the ultrasonic sensor 43, a volume of material pushed by the dozer blade 20 during surface processing can be detected. The measured volume of the material corresponds to the actual dozer blade load. The actual dozer blade load is also derived using an assignment table of a computing unit 47 of the ultrasonic sensor 43, in which various volume values ​​of the pushed material and corresponding values ​​of the actual dozer blade load are stored.

[0025] Furthermore, the clearing device 10 has a control unit 50 with a memory 52, which is designed to control the actuating device 30 depending on the actual dozer blade load for the purpose of changing, in particular reducing or increasing, the actual dozer blade load by changing the position and / or orientation of the dozer blade 20. By controlling the actuating device 30 in this way, there is no longer any need for a user to control the actuating device 30, whereby the actuation of the actuating device 30 is simplified and independent of the skill or concentration of the user.

[0026] In an embodiment not shown, the detection device may comprise only a number of pressure sensors or only a number of ultrasonic sensors.

[0027] Fig. 2shows a view of another embodiment of a clearing device 10'. For better understanding, identical and functionally equivalent elements are given the same reference numerals. In this respect, reference can be made to the above explanations regarding the embodiment of the Fig. 1 so that essentially only the existing differences will be discussed below.

[0028] The detection device 40 comprises a camera 41 and a capacitive sensor 45. The chamber 41 is arranged on the front surface 21 of the dozer blade and is oriented such that the camera 41 can take a photograph of the material being pushed by the dozer blade 20 during surface processing. A computing unit 47 is associated with the camera 41, which can determine the volume of the material by analyzing the photograph. Furthermore, the computing unit 47 is configured to derive the actual dozer blade load from the volume of the material. This can be done, for example, using an allocation table, as previously described.

[0029] The capacitive sensor 45 is arranged on the front surface 21 of the dozer blade and extends from a base 22 of the dozer blade to a height of the dozer blade 20 that typically comes into contact with the material during surface processing. When material is pushed with the dozer blade 20, it comes into contact with the capacitive sensor 45, which then generates a height signal. From the height signal, the capacitive sensor 45 determines the height of the pushed material relative to the base 22. Furthermore, the capacitive sensor 45 is assigned a computing unit 47, which derives the actual dozer blade load from the determined height.

[0030] In an embodiment not shown, the detection device may comprise only a number of cameras or only a number of capacitive sensors.

[0031] Fig. 3shows a view of a further embodiment of a clearing device 10". For better understanding, the same reference numerals are used for identical and functionally equivalent elements. In this respect, reference can be made to the above statements on the embodiments of the Fig. 1 and 2 so that essentially only the existing differences will be discussed below.

[0032] The adjusting device 30' of the Fig. 3 The clearing device 10" shown has a hydraulic cylinder 34 and a rigid support arm 32 for attaching the clearing blade 20 to the vehicle.

[0033] The detection device 40 comprises strain gauges 42 and a radar sensor 44. The radar sensor 44 is arranged on the front surface 21 of the dozer blade. The radar sensor 44 can detect the volume of material being pushed by the dozer blade 20 during surface processing. The measured volume of the material corresponds to the actual dozer blade load. A computing unit 47 of the radar sensor 44 is also configured to derive the actual dozer blade load from the volume of the material. This can be done, for example, using the allocation table, as previously described.

[0034] Additionally, a strain gauge 42 is arranged on each of the hydraulic cylinder 34 and the support arm 32. The strain gauges 42 measure the strain of the support arm 32 and the hydraulic cylinder 34. Each strain gauge 42 is assigned a computing unit 47, which is designed to derive the actual dozer blade load from the measured strain.

[0035] In an embodiment not shown, the detection device may comprise only a number of radar sensors or only a number of strain gauges. In another embodiment not shown in the Fig. 1 to 3 In the embodiment shown, the detection device can detect the actual dozer blade load by means of any combination of a number of cameras, strain gauges, ultrasonic sensors, radar sensors, capacitive sensors and / or pressure sensors.

[0036] Fig. 4 and 5 show a side view of the clearing device 10 according to Fig. 1and a piste grooming vehicle 500, wherein the clearing device 10 is attached to the piste grooming vehicle 500 by means of the adjusting device 30. In Fig. 4 and 5 The snow blade 20 is shown during the processing of a surface 15 of a construction site. For this purpose, the snow grooming vehicle 500, together with the clearing device 10, travels in a processing direction 90, and simultaneously, the snow blade 20 clears material 17 in the form of gravel by pushing the gravel 17 to a desired position. During the processing of the surface 15, the detection device 40 continuously detects the actual snow blade load.

[0037] A maximum value of a target blade load is stored in the memory 52 of the control unit 50. The clearing device 10 will be damaged if the actual blade load exceeds the maximum value of the target blade load. In addition, the maximum value of the target blade load corresponds to the maximum power of a drive of the piste grooming vehicle 500 for working the surface 15. In other words: if the actual blade load exceeds the maximum value of the target blade load, the power of the piste grooming vehicle 500 is insufficient for working the surface 15 with the device 10.

[0038] To ensure the processing of the surface 15 with the piste grooming vehicle 500, the control unit 50 compares the detected actual blade load with the maximum value of the target blade load during processing. Depending on the comparison, the control unit 50 controls the adjusting device 30 such that the actual blade load decreases by changing the position and / or orientation of the blade 20 relative to the piste grooming vehicle 500 until the actual blade load is equal to or less than the maximum value of the target blade load.

[0039] Fig. 4 shows the case where the actual blade load is below or equal to the maximum value of the target blade load. Fig. 5shows that the maximum value of the target dozer blade load has been exceeded by the actual dozer blade load. As a result of this exceedance, the control unit 50 has activated the actuating device 30 in such a way that the actual dozer blade load decreases by moving the dozer blade 20 away from the surface 15, whereby less material 17 is pushed by the dozer blade 20. By reducing the material 17 to be pushed, the actual dozer blade load is reduced. The control unit 50 activates the actuating device 30 until the maximum value of the target dozer blade load is no longer exceeded.

[0040] Fig. 6, 7 and 8 show a side view of a piste grooming vehicle 1000 with a clearing device 10 according to Fig. 1 The piste grooming vehicle 1000 is designed for the construction and maintenance of snow slopes, especially ski slopes, on a snow surface. Fig. 6 to 8The snow grooming vehicle 1000 is depicted during the processing of a surface 15 in the form of the snow surface. To this end, the snow grooming vehicle 1000 travels in a processing direction 90. The actual snow blade load depends on the mass of snow being pushed with the snow blade.

[0041] A further value of a target blade load is stored in the memory 52 of the control unit 50. The further value of the target blade load corresponds to a snow transport required for the preparation or maintenance of the ski slope. During the processing of the surface 15, the control unit 50 compares the detected actual blade load with the further value of the target blade load and controls the actuating device 30 such that the actual blade load corresponds to the further value of the target blade load.

[0042] Fig. 7shows the case where the detected actual dozer blade load is below the further value of the target dozer blade load. To increase the actual dozer blade load, the control unit 50 controls the adjusting device 30 such that more material is pushed with the dozer blade 20 by removing more material from the surface 15 by the dozer blade 20. This is achieved by the dozer blade 20 piercing the surface 15.

[0043] Fig. 8 shows the case where the detected actual dozer blade load exceeds the further value of the target dozer blade load. To reduce the actual dozer blade load, the control unit 50 controls the adjusting device 30 such that less material is pushed with the dozer blade 20. This is achieved by moving the dozer blade 20 away from the surface 15.

[0044] Fig. 9shows the surface 15 in the form of the snow surface, a depression 18 in the surface 15 and the piste grooming vehicle 1000 with the clearing device 10 according to Fig. 1 The depression 18 is to be filled with the piste grooming vehicle 1000. For this purpose, a sensor device 60 is provided for detecting the volume of the depression 18. In the exemplary embodiment of the Fig. 9 The sensor device 60 shown is arranged on the snow plow 20. The sensor device 60 is a camera designed to take a photograph of the depression 18 and, using the photograph, determine the volume of the depression 18. Consequently, to fill the depression 18 with snow, a volume of snow 19 equal to the volume of the depression 18 is required.

[0045] Furthermore, the sensor device 60 determines a value of the target dozer blade load, which corresponds to the volume of the depression 18 and is required to fill the depression 18. The control unit 50 is designed to compare the detected actual dozer blade load with the value of the target dozer blade load for filling the depression 18 and, depending on the comparison, to control the actuating device 30 such that the actual dozer blade load corresponds to the value of the target dozer blade load for filling the depression 18. In other words, the control unit 50 is designed to adjust the actual dozer blade load depending on the detected volume of the depression 18 such that the actual dozer blade load corresponds to the volume of the depression 18.

[0046] This makes it possible to completely fill the recess 18 in a single work step with the piste grooming vehicle 1000, without any rework being necessary.

[0047] In an embodiment not shown, the sensor device can determine the volume of the depression by means of any combination of a number of cameras, ultrasonic sensors and / or radar sensors.

Claims

1. A clearing device (10, 10', 10") for a piste maintenance vehicle (500), with a clearing blade (20) for grooming a surface (15) and a setting device (30, 30') for spatial control of the clearing blade (20) relative to the vehicle (500), wherein the setting device (30, 30') is designed to alter a position and / or orientation of the clearing blade (20) relative to the surface, having a sensing unit (40) for sensing an actual clearing blade load on the clearing blade (20) and a control unit (50) which is designed to control the setting device (30, 30') depending on the actual clearing blade load, for the purpose of altering the actual clearing blade load by altering the position and / or orientation of the clearing blade (20), characterized in that a sensor unit (60) is provided for sensing a volume of a depression (18) in the surface (15) and in that the control unit (50) is designed to adjust the actual clearing blade load, depending on the sensed volume of the depression (18), such that the actual clearing blade load corresponds to the volume of this depression (18).

2. The clearing device (10, 10', 10") according to claim 1, characterized in that the control unit (50) has a memory (52) with maximum values for a set clearing blade load, and in that the control unit (50) is designed to compare the sensed actual clearing blade load with a maximum value for the set clearing blade load and to control the setting device (30, 30'), depending on the result of the comparison, such that the actual clearing blade load does not exceed the maximum value for the set clearing blade load.

3. The clearing device (10, 10', 10") according to claim 2, characterized in that the memory (52) contains further values for a set clearing blade load and in that the control unit (50) is designed to compare the sensed actual clearing blade load with at least one value for the set clearing blade load and to control the setting device (30, 30'), depending on the result of the comparison, such that the actual clearing blade load corresponds to the value for the set clearing blade load.

4. The clearing device (10, 10', 10") according to any of the preceding claims, characterized in that the sensing unit (40) for sensing an actual clearing blade load is designed to sense at least one physical clearing parameter, in particular a clearing volume, a clearing pressure acting on a clearing blade front face (21) or similar, and in that a calculation unit (47) is associated with the sensing unit (40) in order to derive an actual clearing blade load from the at least one physical clearing parameter.

5. The clearing device (10, 10', 10") according to any of the preceding claims, characterized in that the sensing unit (40) for sensing the actual clearing blade load has as a sensor system at least one mechanical sensor, at least one optical sensor, electrical sensor and / or at least one acoustic sensor, in particular a camera (41), a strain gauge (42), an ultrasound sensor (43), a radar sensor (44), a capacitive sensor (45) and / or a pressure sensor (46).

6. The clearing device according to claim 5, characterized in that the sensor system is arranged on the clearing blade (20).

7. A piste maintenance vehicle (1000) with a clearing device (10, 10', 10") according to any of the preceding claims, wherein the surface (15) is a snow surface.

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