Piste grooming vehicle and method for operating a piste grooming vehicle

Abstract

1. The invention relates to a snow grooming vehicle for maintaining a resilient snow slope, comprising a drive device with a tracked chassis and a drive mechanism, and a method for operating such a snow grooming vehicle. 2. Use in the maintenance of ski or snowboard slopes.

Description

[0001] The invention relates to a ski slope maintenance vehicle for maintaining a snow slope, comprising a drive device with a tracked chassis and a drive system, wherein the ski slope maintenance vehicle is driven on the snow slope by means of the drive device, and a method for operating such a ski slope maintenance vehicle.

[0002] Such a snow grooming vehicle is well-known and designed for maintaining ski or snowboard slopes. For manual control of the snow grooming vehicle on the slope, a control unit with a joystick, a steering wheel, and / or an accelerator pedal or similar device is typically provided. This control unit allows manual control of the drive system and / or the tracked undercarriage for driving and steering the snow grooming vehicle. Due to the compressive force of the snow slope, the snow grooming vehicle typically sinks into the snow slope while moving. Furthermore, the movement of the snow grooming vehicle on the snow slope is inherently subject to drive slippage of the tracked undercarriage (simply called slippage). As a result of compressive force and slippage, the position and / or orientation of the snow grooming vehicle changes.This effect must be compensated for by the skill and experience of the driver when manually controlling the ski slope maintenance vehicle.

[0003] From AT 500147 A1, a snow grooming vehicle for maintaining a snow slope is known. This vehicle has a drive system with a tracked chassis and a drive mechanism, by means of which the vehicle can be propelled on the snow slope. Furthermore, the vehicle includes a detection device designed to record the topography of the snow slope and the current position of the snow grooming vehicle, as well as a detection and control unit operatively connected to the drive system and the detection device. This unit is designed to determine a control parameter for the drive system based on a predetermined target position, the recorded topography, and the recorded current position, and to control the drive system accordingly. While the detection and control unit takes snow properties into account, this is done solely for the purpose of automatically adjusting the snow grooming device.

[0004] From EP 1 818 456 B1, a ski slope maintenance vehicle and a method for controlling it are known, in particular a prioritized distribution of the drive power between the drive system and the ski slope maintenance equipment of the vehicle is described. 1

[0005] The object of the invention is to provide a ski slope maintenance vehicle of the type mentioned at the outset and a method for operating a ski slope maintenance vehicle that enables simplified operation and, in particular, operation independent of the skill or experience of the driver.

[0006] This problem is solved by providing a ski slope maintenance vehicle according to the invention with the features of claim 1 and a method according to the invention for operating a ski slope maintenance vehicle with the features of claim 13.

[0007] The snow grooming vehicle according to the invention for maintaining a snow slope has a drive device with a tracked chassis and a drive system. The snow grooming vehicle is propelled on the snow slope by means of the drive device. The snow grooming vehicle also has a detection device configured to detect the topography of the snow slope and the current position of the snow grooming vehicle on the snow slope. Furthermore, the detection device is configured to detect and / or determine compliance data, which at least indirectly represent the compliance of the snow slope under the pressure of the weight of the snow grooming vehicle.The snow grooming vehicle also features a detection and control unit operatively connected to the drive unit and the detection device. This unit is configured to determine a control parameter for the drive unit based on a predetermined target position of the snow grooming vehicle, the detected topography, the detected actual position, and the detected compliance data. Furthermore, the detection and control unit is configured to control the drive unit based on the determined control parameter, in particular for the purpose of driving and / or steering the snow grooming vehicle from the determined actual position to the predetermined target position. According to the invention, the detection and control unit takes over the control of the drive unit for driving and / or steering the snow grooming vehicle on the snow slope.This eliminates the need for a driver to operate the drive system, allowing the snow groomer to drive and steer autonomously on the yielding snow slope, independent of the driver's skill or experience. The snow slope can preferably also be referred to as a ski slope, snowboard slope, fun park, or similar. The control input for the drive system can include, in particular, a control input for the drive mechanism and a control input for the tracked undercarriage. The drive mechanism can, for example, consist of a diesel engine, a gasoline engine, a fuel cell, and / or an electric motor. When the drive mechanism is controlled by the drive control input from the detection and control unit, the drive mechanism can generate power. This power can then be used to drive the tracked undercarriage, enabling the snow groomer to travel on the snow slope.A value of the drive control variable can represent the speed at which the snow groomer travels on the snow slope. Preferably, the tracked undercarriage has two tracks, namely a left and a right track. When the tracked undercarriage is controlled by the control unit, the tracked undercarriage can steer the snow groomer. A value of the track control variable can, in particular, represent a change in direction in terms of type and / or extent. If the tracked undercarriage has two tracks, the track control variable can represent the power distribution of the drive power to the individual tracks. As a result of an uneven power distribution between the two tracks, the snow groomer can perform a steering movement.The detection system can be configured to capture the topography of a section of the ski slope before it is traversed by the snow groomer. This topography can be captured by measuring the surface of the ski slope and any obstacles located on it, such as trees, boulders, and / or people. Therefore, the captured topography can also be referred to as an environmental model and / or surface model of the snow groomer's environment. If an obstacle on the ski slope is detected, the detection and control unit can determine the control input for the drive system based on the captured topography, enabling the snow groomer to autonomously navigate around the obstacle. This prevents a collision between the snow groomer and the obstacle.The compressive yield of a snow slope occurs as a result of the snow being compressed under the load of the snow groomer. The yielding of the slope, and thus the yielding data, can depend in particular on the properties and / or thickness of the snow. This yielding can change the actual position, vertical acceleration, and / or orientation, especially the longitudinal and / or lateral slope, of the snow groomer. The yielding data can therefore be a measure of the magnitude of this change in position, vertical acceleration, and / or orientation.

[0008] In this embodiment of the invention, the detection and control unit is configured to determine a target trajectory based on the predetermined target position of the snow grooming vehicle, the detected topography, the detected and / or determined actual position, and the detected compliance data. Furthermore, the detection and control unit is configured to determine the control variable of the drive device based on the target trajectory, particularly for the purpose of driving and / or steering the snow grooming vehicle along the target trajectory to the target position. The target trajectory is preferably a route from the detected actual position to the target position. Preferably, the target trajectory is determined continuously or quasi-continuously over time.This allows the desired path of movement to be advantageously adapted to varying degrees of yielding on the snow slope during driving and / or steering of the snow grooming vehicle on the snow slope, should the snow slope have different levels of yielding at different positions.

[0009] In a further embodiment of the invention, the detection device comprises an orientation measurement unit, in particular a 3-axis tilt sensor and / or a gyroscope and / or an accelerometer, for detecting the orientation of the snow grooming vehicle, wherein the orientation is, in particular, a spatial orientation, i.e., alignment in space. The detection device is preferably configured to determine the compliance data from a difference between the detected orientation and the detected topography. Alternatively or additionally, the detection device is configured to determine the compliance data from a difference between the detected actual position and the detected topography. A value of the difference and / or a value of the difference can be a measure of a compliance data value.The compliance data can be acquired and determined while the snow groomer is driving and / or steering on the ski slope. This ensures a reliable and accurate determination of the compliance data. The topography, i.e., the environment and / or surface model, is acquired during the snow groomer's movement, particularly continuously, by means of the acquisition device. In a preferred embodiment, the acquisition device includes a lidar system for this purpose. The same applies analogously to the acquisition of the actual position and / or orientation. In a preferred embodiment, the acquisition device includes a satellite navigation system for acquiring the actual position and / or orientation. A differential GPS system is particularly preferred. This allows the actual position and / or orientation to be acquired with exceptional precision.Based on the recorded actual position and / or orientation, a further surface model can be determined. During the movement of the snow groomer, a comparison can be made between the surface model of the surroundings (recorded topography) and the further surface model (derived from the actual position and orientation). In a preferred configuration, the detection and control unit is designed for this purpose. The comparison of the two surface models thus provides the aforementioned compliance data. In other words, a sinking of the snow groomer into the snow slope is detected as a deviation between the two surface models.

[0010] In a further embodiment of the invention, the topography detection device comprises a lidar system, a camera, an ultrasonic sensor, and / or a radar sensor. Such detection devices enable reliable and accurate topography detection.

[0011] In a further embodiment of the invention, the detection device includes a satellite navigation system for detecting the actual position and / or orientation. The satellite navigation system can receive a GPS signal, a GLONASS signal, a Galileo signal, and / or a BeiDou signal to preferably detect the actual position and / or orientation by means of satellite-based positioning. In particular, the global satellite navigation system is configured to detect the actual position and / or orientation with respect to a reference coordinate system. In a preferred embodiment, the satellite navigation system is a differential GPS system.

[0012] In a further embodiment of the invention, the tracked undercarriage comprises a first drive wheel and / or a second drive wheel, wherein the detection and control unit is configured to determine the control variable of the drive device as a function of slip data of the first drive wheel and / or the second drive wheel. In other words, the control variable is determined as a function of the prevailing drive slip of the tracked undercarriage. This allows the drive slip or slip to be compensated for independently of the skill or experience of the operator of the snow groomer. The slip data represents the prevailing slip and can, for example, be determined by sensors in the area of ​​the tracked undercarriage. Preferably, the snow groomer has at least one slip sensor in the area of ​​the first drive wheel and / or the second drive wheel for this purpose. Alternatively or additionally, a speed sensor is assigned to each of the two drive wheels.In a preferred embodiment, the detection device includes the aforementioned speed sensors. These speed sensors are configured to detect the actual rotational speed of the respective drive wheel. Based on the detected actual rotational speeds, the actual chain circumferential speeds of the track drives can be determined. In a preferred embodiment, the detection and control unit is configured for this purpose. Target rotational speeds are defined based on driving parameters such as accelerator pedal position, steering angle, or the like. Without slippage, the target and actual rotational speeds are identical. Consequently, slip data can be determined by comparing the target and actual rotational speeds. In a preferred embodiment, the detection and control unit is configured for this purpose. Alternatively or additionally, a velocity vector of the driving motion, preferably spatial, can be determined.This is preferably done using GPS. Deviations between the speed vector and the chain circumferential speeds expected for a given driving situation indicate whether and to what extent slippage is present. In other words, the slippage data can be determined by comparing the speed vector with the chain circumferential speeds.

[0013] In a further embodiment of the invention, the snow grooming vehicle has a warning device for emitting a warning signal to warn people in the vicinity of the snow grooming vehicle. The detection and control unit is configured to determine a control variable of the warning device as a function of the control variable of the drive device and to control the warning device as a function of the determined control variable of the warning device. The detection and control unit can be configured to determine the control variable of the warning device such that the warning signal is emitted when the control variable of the drive device causes the snow grooming vehicle to move and / or steer in a forward and / or reverse direction. The warning signal can, in particular, be a light signal and / or an audible signal.

[0014] In a further embodiment of the invention, the snow grooming vehicle features a display device, in particular a screen, a head-up display, and / or smart glasses. The detection and control unit is configured to display the detected topography, the detected actual position, the detected and / or determined compliance data, and / or the determined slip data, and / or the determined control variable of the drive device by means of the display device. Such display devices are particularly advantageous for displaying the topography, the actual position, the compliance data, and / or the control variable of the drive device to a user of the snow grooming vehicle.

[0015] In a further embodiment of the invention, the snow grooming vehicle includes a winch. The detection and control unit is configured to determine a control variable for the winch based on the control variable of the drive device and to control the winch based on this determined control variable. The winch can prevent the snow grooming vehicle from slipping on steep terrain and thus enables the maintenance of the snow slope even on steep slopes.

[0016] In a further embodiment of the invention, the snow grooming vehicle has a snow grooming device, for example a snowplow and / or a rear-mounted rotary tiller, for grooming the snow slope, wherein the snow slope is groomed in particular while the snow grooming vehicle is driving and / or steering on the snow slope. The detection and control unit is configured to determine at least one control parameter of the snow grooming device as a function of the detected topography and the detected actual position and to control the snow grooming device as a function of the determined control parameter for the purpose of grooming the snow slope.

[0017] In a further embodiment of the invention, the detection device comprises an orientation measurement unit, in particular a 3-axis tilt sensor and / or a gyroscope and / or an accelerometer, for detecting the orientation of the snow grooming vehicle. Specifically, the orientation of the snow grooming vehicle is its tilt relative to a vertical direction and / or its spatial orientation, i.e., its alignment in space. The detection and control unit is configured to determine the control parameter of the snow grooming device as a function of the detected orientation. In particular, the detection and control unit can determine the control parameter of the snow grooming device in such a way that the snow slope is groomed by the snow grooming device independently of the orientation and / or changes in the orientation of the snow grooming vehicle.This results in improved quality of the groomed snow slope. The orientation measuring unit for determining the control parameter of the slope grooming device can also be used to record and / or determine compliance data.

[0018] In a further embodiment of the invention, the slope maintenance device comprises a snowplow blade and / or a milling cutter. In particular, with respect to the forward direction of travel of the slope maintenance vehicle, the snowplow blade can be arranged at the front and the milling cutter at the rear. Preferably, the control input of the slope maintenance device includes a control input for the snowplow blade and / or a control input for the milling cutter, wherein the detection and control unit is configured to control the snowplow blade, depending on the snowplow blade control input, and / or the milling cutter, depending on the milling cutter control input, for the purpose of processing the snow slope with the snowplow blade and / or the milling cutter. As a result of the snowplow blade control, the position and / or orientation of the snowplow blade relative to the snow slope can be changed.The position of the snowplow blade is preferably a lifting position, and the orientation of the snowplow blade is preferably a longitudinal and / or lateral tilt and / or pivoting tilt of the snowplow blade relative to the snow slope. As a result of the control of the milling unit, the milling unit can be switched on or off and / or at least one setting parameter of the milling unit can be changed.

[0019] The problem underlying the invention is also solved by a method for operating a previously described snow grooming vehicle, wherein the method comprises the following steps: a) detecting the topography of the snow slope; b) detecting the actual position of the snow grooming vehicle on the snow slope; c) detecting and / or determining the compliance data, which at least indirectly represent the compliance of the snow slope under the pressure of the weight of the snow grooming vehicle; d) determining the control variable of the drive device as a function of the predetermined target position of the snow grooming vehicle, the detected topography, the detected actual position, and the detected compliance data; e) controlling the drive device as a function of the determined control variable of the drive device.According to the invention, the snow grooming vehicle drives and / or steers autonomously on the yielding snow slope, and in particular independently of the skill or experience of a driver. Furthermore, snow can be transported and / or moved autonomously. "Autonomous driving and / or steering" means that the snow grooming vehicle can perform a given task at least largely, and preferably completely, autonomously.

[0020] Further advantages and features of the invention will become apparent from the claims and from the following description of preferred embodiments of the invention, which are explained below with reference to the figures. These figures show: Fig. 1 a schematic side view of a ski slope maintenance vehicle according to the invention, wherein individual components of the ski slope maintenance vehicle are greatly simplified and shown in block diagram form, Fig. 2 a schematic side view of the ski slope maintenance vehicle according to Fig. 1 , during a journey from an actual position to a target position and Fig. 3 a schematic block diagram representation of a method according to the invention.

[0021] Fig. 1 Figure 1 shows a ski slope maintenance vehicle 10 according to the invention, which is designed for maintaining a snow slope 15. The ski slope maintenance vehicle 10 is movable on the snow slope 15.

[0022] The snow grooming vehicle 10 is equipped with a data acquisition device 30, which is configured to record the topography (TI) of the snow slope 15. The topography (TI) is recorded by the data acquisition device 30 before the snow slope 15 is traversed by the snow grooming vehicle 10. The topography (TI) is recorded by measuring the surface of the snow slope 15 and any obstacles that may be present on the snow slope 15. Typical obstacles on the snow slope 15 include, for example, trees, boulders, or people. The snow grooming vehicle 10 must navigate around such obstacles.

[0023] The topography TI is acquired using a lidar system 36, a camera 37 (in particular a thermal imaging camera), an ultrasonic sensor 38, and a radar sensor 39 of the acquisition device 30, which are oriented on the ski patrol vehicle 10 such that the topography TI can be measured. The measurement is performed by scanning the topography TI using laser radiation in the case of the lidar system 36, ultrasound in the case of the ultrasonic sensor 38, and radar beams in the case of the radar sensor 39. Additionally, the camera 37 takes a photograph of the surroundings, and the acquisition device 30 performs pattern recognition to acquire the topography TI. All acquired measurement data are combined by the acquisition device 30 into a single acquired topography TI, which can then also be referred to as an environmental model.The simultaneous use of the lidar system 36, the camera 37, the ultrasonic sensor 38 and the radar sensor 39 achieves a particularly reliable and accurate topography TI acquisition.

[0024] In an alternative embodiment not shown, the detection device may comprise only a lidar system, only a camera, only an ultrasonic sensor, only a radar sensor, or any other combination of these devices.

[0025] Furthermore, the recording device 30 is configured to record the actual position S of the snow grooming vehicle 10 on the snow slope 15 using a global satellite navigation system 34. The global satellite navigation system 34 receives a GPS signal, a GLONASS signal, a Galileo signal, and a Beidou signal and uses the received signals to record the actual position S with respect to a reference coordinate system. The recording of the actual position S is continuous while the snow grooming vehicle 10 is traveling on the snow slope 15.

[0026] Furthermore, the acquisition device 30 is configured to acquire and / or determine compliance data, which at least indirectly represents the compliance of the snow slope 15 under the pressure of the weight of the snow grooming vehicle 10. The compliance data depends on the properties and thickness of the snow on the snow slope 15. When the snow grooming vehicle 10 travels over the snow slope 15, it is subjected to the weight of the snow grooming vehicle 10 and yields as a result of the load. This yielding of the snow slope 15 changes the actual position S and / or orientation L of the snow grooming vehicle 10 on the snow slope 15. A measure of the degree of compliance of the snow slope 15 is expressed and / or represented by means of the compliance data.The compliance data are recorded and / or determined while the piste maintenance vehicle 10 is driving and / or steering on the snow piste 15.

[0027] For acquiring and / or determining compliance data, the acquiring device 30 comprises an orientation measurement unit 31 with a 3-axis tilt sensor 32 and an accelerometer 33, which detect the orientation L in the form of an inclination of the snow groomer 10 relative to a vertical direction at the actual position S. If the accelerometer 33 does not detect any acceleration, the orientation L can preferably be acquired with the 3-axis tilt sensor 32 at regular time intervals of, for example, five seconds. If the accelerometer 33 detects an acceleration, the orientation L is continuously acquired with the 3-axis tilt sensor 32. However, continuous acquisition can also be advantageous in other cases. After acquiring the orientation L, the acquiring device 30 determines the compliance data from the difference between the acquired orientation L and the acquired topography TI.The recorded topography TI represents the state of the snow slope 15 before the snow grooming vehicle 10 has driven over the snow slope 15, while the recorded orientation L represents the state of the snow slope 15 when the snow slope 15 is loaded with the weight of the snow grooming vehicle 10.

[0028] As a result of the yielding of the snow slope 15, the actual position S can also change without a change in orientation L. Therefore, the detection device 30 is additionally configured to determine the yielding data from the difference between the detected actual position S and the detected topography TI. The detected topography TI represents the state of the snow slope 15 before the snow groomer 10 has driven over the snow slope 15, while the detected actual position S represents the state of the snow slope 15 when the snow slope 15 is loaded with the weight of the snow groomer 10.

[0029] If, due to the compliance of the snow slope 15, the orientation L and the actual position S change simultaneously, the recording device 30 determines the compliance data from the difference between the orientation L and the topography TI and / or from the difference between the actual position S and the topography TI.

[0030] For powered driving and / or steering on the snow slope 15, the snow grooming vehicle 10 has a drive device 20 and a detection and control unit 40.

[0031] The detection and control unit 40 is operatively connected to the drive device 20 and the detection device 30 and is configured to determine a control parameter for the drive device 20 based on the detected topography TI, the detected actual position S, the detected and / or determined compliance data, and a predetermined target position Z of the snow grooming vehicle 10. For the purpose of driving and / or steering the snow grooming vehicle 10 from the determined actual position S to the predetermined target position Z, the detection and control unit 40 is configured to actuate the drive device 20 based on the determined control parameter of the drive device 20 such that the snow grooming vehicle 10 travels from the actual position S to the predetermined target position Z. The target position Z can, for example, be specified by a user of the snow grooming vehicle 10.Alternatively or additionally, a work task, e.g. "Prepare section of the ski slope", can be assigned.

[0032] The drive device 20 comprises a tracked chassis 22 and a drive unit 26 in the form of a diesel engine. In this respect, the control variable of the drive device includes a control variable for the drive unit 26 and a control variable for the tracked chassis 22.

[0033] When the drive unit 40 controls the drive unit 26 with the control variable for the drive unit 26, the drive unit 26 generates drive power. This drive power powers the tracked undercarriage 22, causing the snow groomer 10 to travel on the snow slope 15. Each value of the control variable for the drive unit 26 represents a speed at which the snow groomer 10 travels on the snow slope 15.

[0034] The tracked chassis 22 comprises two tracked running gears 25, 27, one of which is 25 facing an observer of the Fig. 1 turned towards and the other track drive 27 towards the viewer of the Fig. 1 turned away. Since both tracked running gears 25, 27 are identical in construction, a description of one tracked running gear applies analogously to the other.

[0035] When the tracked undercarriage 22 is controlled by the control unit 40 with the control variable for the tracked undercarriage 22, the tracked undercarriage 22 steers the snow grooming vehicle 10. In this case, the steering is achieved by distributing the drive power to the two tracked undercarriages 25, 27, with the control variable for the tracked undercarriage 22 representing the power distribution of the drive power between the two tracked undercarriages 25, 27. Due to an uneven power distribution between the two tracked undercarriages 25, 27, they are driven by different forces, thus steering the snow grooming vehicle 10.

[0036] The tracked chassis 22 has a first drive wheel 23 and a second drive wheel 24, with the first drive wheel 23 being visible to the observer of the Fig. 1 the facing chain drive 25 is assigned and the second torsion wheel 24 is assigned to the viewer of the Fig. 1 The detection and control unit 40 is assigned to the opposite track assembly 27. It is configured to record and / or determine slip data of the track assembly 22. The slip data represents the drive slip (or simply slip) of the track assembly 22 on the snow track 15. The detection and control unit 40 is also configured to determine the rotational position of the first drive wheel 23 and the rotational position of the second drive wheel 24. The control variable of the drive device 20 is determined based on the rotational position of the first drive wheel 23 and, depending on the rotational position of the second drive wheel 24, such that any slip of the track assembly 22 on the snow track 15 is compensated for.

[0037] The snow grooming vehicle 10 also has a winch 70 in the form of a cable winch with a cable 71 and a swivel arm 73. The cable 71 is guided over a swivel arm 73, which is freely rotatable. A hook 72 is attached to one end of the cable 71. The hook 72 is designed to be inserted into a corresponding eyelet that is attached to the surface of the snow slope 15. When the hook 72 is inserted into the eyelet, the snow grooming vehicle 10 is attached to the surface by means of the winch 70. The detection and control unit 40 is configured to determine a control parameter of the winch 70 as a function of the control parameter of the drive device 20 and to control the winch 70 as a function of the determined control parameter of the winch 70. By controlling the winch 70, a section of the rope 71 can be unwound or wound up, thus changing the rope length between the swivel arm 73 and the eyelet.In particular, the cable length between the swivel arm 73 and the eyelet is adjusted so that the cable 71 is taut when the snow groomer 10 is driving on the snow slope 15. This prevents the winch 70 from slipping or falling off the snow groomer 10 when it is grooming a snow slope on steep terrain.

[0038] Furthermore, the ski patrol vehicle 10 is equipped with a warning device 50 for emitting a warning signal to warn people in the vicinity of the ski patrol vehicle. This warning signal comprises a flashing light and a warning tone. The detection and control unit 40 is configured to determine a control variable for the warning device 50 based on the control variable of the drive device 20 and to control the warning device 50 based on this determined control variable. For example, the detection and control unit 40 can control the warning device 50 with the control variable of the warning device 50 such that it emits the light and sound signals when the control variable of the drive device 20 causes the ski patrol vehicle 10 to reverse.

[0039] The snow grooming vehicle 10 also features a display unit 60, by means of which the detected topography TI, the actual position S, the compliance data and / or slip data of the tracked undercarriage, and / or the control parameter of the drive device 20 are displayed to a user of the snow grooming vehicle 10 by the detection and control unit 40. The display unit 60 comprises several units, namely a screen 62, a head-up display 64, and smart glasses 66. Of course, only one of the aforementioned units may be provided. Depending on the displayed topography TI, actual position S, compliance data, slip data, and control parameter of the drive device 20, the user can, in particular, monitor, interrupt, and / or manually correct the control parameter of the drive device 20 during the maintenance of the snow slope 15.

[0040] For the maintenance of snow slope 15, the snow grooming vehicle 10 is equipped with a slope preparation device 80. The slope preparation device 80 maintains snow slope 15 by working on the snow slope 15 while the snow grooming vehicle 10 drives on the snow slope 15.

[0041] For processing the snow slope 15, the slope preparation device 80 has a front blade 82 and a milling cutter 84. With respect to a forward travel direction 86, the front blade 82 is located at the front and the milling cutter 84 at the rear.

[0042] In the illustrated embodiment, the processing of the snow slope 15 is carried out by specifying a target slope path to the detection and control unit 40. After processing, the snow slope 15 should correspond to the course of the target slope path. Therefore, the detection and control unit 40 determines a control parameter for the slope processing device 80 as a function of the target slope path, the detected topography TI, and the detected actual position S. A large deviation between the target slope path and the detected topography TI requires intensive processing by the slope processing device 80, and a small deviation between the target slope path and the detected topography TI requires minimal processing by the slope processing device 80.

[0043] In addition, the detection and control unit 40 determines the control variable of the slope preparation device 80 as a function of the orientation L detected by the orientation measuring unit 31.

[0044] Furthermore, the detection and control unit 40 is configured to control the slope maintenance device 80, depending on the determined control parameter of the slope maintenance device 80, for the purpose of maintaining the snow slope 15. The control parameter of the slope maintenance device 80 comprises a control parameter of the snowplow blade 82 and a control parameter of the milling unit 84. By controlling the snowplow blade 82 with the control parameter of the snowplow blade 82, a position SR and / or an orientation LR of the snowplow blade 82 relative to the topography TI is changed. By controlling the milling unit 84, the milling unit is switched on or off, or at least a setting parameter of the milling unit, such as speed, contact pressure, or milling depth, is changed.

[0045] Fig. 2 The ski slope grooming vehicle shows 10 after Fig. 1 during a journey controlled by the investigation and control unit 40 from the actual position S to the specified target position Z.

[0046] In the illustrated embodiment, the target position Z defines the origin of the reference coordinate system BK, and the detection device 30 uses the global navigation satellite system 34 to detect the actual position S in coordinates of the reference coordinate system BK. For this purpose, the global navigation satellite system 34 interacts in a generally known manner with a generally known differential satellite-based positioning system 42, 44, which comprises several positioning satellites 42 and a reference unit 44. The reference unit 44 is fixedly arranged at a position known with respect to the reference coordinate system BK near the ski slope 15 and serves to determine correction data that enable improved detection of the actual position S with regard to its accuracy. Since the basic structure and operation of differential satellite-based positioning systems are known, they need not be discussed in detail here.

[0047] To travel to the target position Z and / or prepare a section of terrain, the detection and control unit 40 determines a target trajectory SB based on the specified target position Z, the recorded topography TI, the recorded actual position S, and the recorded compliance and / or slip data. The target trajectory SB describes a route, in particular a shortest route, from the actual position S to the target position Z. Furthermore, predefined routes can be stored based on criteria (slope, snow conditions, weather data), or the detection and control unit 40 can perform dynamic route planning or determine a dynamic route. This is done in particular based on the compliance and / or slip data, and thus on the compliance of the snow track 15 and / or the prevailing slip of the track undercarriage 22.Furthermore, the determination and control unit 40 determines the control variable of the drive device 20 as a function of the target movement path SB and controls the drive device 20 with the control variable of the drive device 20, whereby by controlling with the control variable of the drive device 20 the piste maintenance vehicle 10 travels along the target movement path SB.

[0048] When the detection and control unit 40 controls the drive device 20 to drive and / or steer along the target movement path SB in the forward direction 86, the detection and control unit 40 controls the warning device 50 in such a way that it generates the light signal in the form of the flashing light for warning persons in the vicinity 12.

[0049] While driving and / or steering along the target path SB, the detection device 30 continuously records the topography TI of the snow slope 15. In this example, an obstacle in the form of a tree 90 is present on the snow slope 15. The tree 90 must be driven around. For this purpose, the target path SB is adjusted by the detection and control unit 40 so that the snow groomer 10 drives around the tree 90.

[0050] The properties and thickness D of the snow on the snow track 15 vary locally, resulting in different degrees of compliance at different locations. Therefore, the actual position S and orientation L depend on the compliance of the snow track 15. Furthermore, the drive slip can vary locally. The detection device 30 continuously records the compliance and / or slip data while driving and / or steering along the target path SB, and the determination and control unit 40 adjusts the target path SB to the compliance data of the snow track 15 and / or the prevailing slip.

[0051] Fig. 3 illustrates a procedure for operating the slope maintenance vehicle 10 according to the Fig. 1 and 2The procedure comprises the following steps: a) recording the topography of the snow slope; b) recording the actual position of the snow grooming vehicle on the snow slope; c) recording and / or determining the compliance data, which at least indirectly represent the compliance of the snow slope under the pressure of the weight of the snow grooming vehicle; d) determining the control variable of the drive device as a function of the predetermined target position of the snow grooming vehicle, the recorded topography, the recorded actual position, and the recorded compliance data; and e) controlling the drive device as a function of the determined control variable of the drive device.

Claims

1. A piste maintenance vehicle (10) for maintaining a snow piste (15), having - a drive device (20) with a tracked chassis (22) and a track drive (26), wherein the piste maintenance vehicle (10) is driven movably over the snow piste (15) by means of the drive device (20), - a detection device (30) which is configured for detecting - a topography (TI) of the snow piste (15) and - an actual position (S) of the piste maintenance vehicle (10) on the snow piste (15) - and for detecting and / or determining deformation data which represent at least indirectly any deformation of the snow piste (15) under the effect of pressure arising from the weight of the piste maintenance vehicle (10), - and having a determination and control unit (40) operatively connected to the drive device (20) and to the detection device (30) and configured - for determining a control variable of the drive device (20) depending on - a specified target position (Z) of the piste maintenance vehicle (10), - the detected topography (TI), - the detected actual position (S) and - the detected and / or determined deformation data - and to control the drive device (20) depending on the determined control variable of the drive device (20).

2. The piste maintenance vehicle (10) according to claim 1, characterized in that - the determination and control unit (40) is configured - for determining a set movement path (SB) depending on - the specified target position (Z) of the piste maintenance vehicle (10), - the detected topography (TI), - the detected actual position (S) and - the detected and / or determined deformation data - and for determining the control variable of the drive device (20) depending on the set movement path (SB).

3. The piste maintenance vehicle (10) according to claim 1 or 2, characterized in that - the detection device (30) has an orientation measurement unit (31), in particular a 3-axis inclination sensor (32) and / or a gyro-sensor and / or an acceleration sensor (33), for detecting an orientation (L) of the piste maintenance vehicle (10), wherein the detection device (30) is configured for determining the deformation data from a difference between the detected orientation (L) and the detected topography (TI) and / or - the detection device (30) is configured for determining the deformation data from a difference between the detected actual position (S) and the detected topography (TI).

4. The piste maintenance vehicle (10) according to any of the preceding claims, characterized in that the detection device (30) has a lidar system (36), a camera (37), an ultrasound sensor (38) and / or a radar sensor (39) to detect the topography (TI).

5. The piste maintenance vehicle (10) according to any of the preceding claims, characterized in that the detection device (30) has a satellite navigation system (34) to detect the actual position (S) and / or orientation (L).

6. The piste maintenance vehicle (10) according to any of the preceding claims, characterized in that the tracked chassis (22) has a first sprocket wheel (23) and / or a second sprocket wheel (24), wherein the determination and control unit (40) is configured for determining the control variable of the drive device (20) depending on slippage data of the first sprocket wheel (23) and / or of the second sprocket wheel (24).

7. The piste maintenance vehicle (10) according to any of the preceding claims, characterized by a warning device (50) for emitting a warning signal to warn persons in a vicinity (12) of the piste maintenance vehicle (10), wherein the determination and control unit (40) is configured for determining a control variable of the warning device (50) depending on the control variable of the drive device (20) and for controlling the warning device (50) depending on the determined control variable of the warning device (50).

8. The piste maintenance vehicle (10) according to any of the preceding claims, characterized by a display device (60), in particular a monitor (62), an head-up display (64) and / or smart glasses (66), wherein the determination and control unit (40) is configured for displaying the detected topography (TI), the detected actual position (S), the determined deformation data and / or the determined slippage data and / or the determined control variable of the drive device (20) by means of the display device (60).

9. The piste maintenance vehicle (10) according to any of the preceding claims, characterized by a winch (70), wherein the determination and control unit (40) is configured for determining a control variable of the winch (70) depending on the control variable of the drive device (20) and for controlling the winch (70) depending on the determined control variable of the winch (70).

10. The piste maintenance vehicle (10) according to any of the preceding claims, characterized by a piste maintenance device (80) for maintaining the snow piste (15), wherein the determination and control unit (40) is configured for determining a control variable of the piste maintenance device (80) depending on the detected topography (TI) and the detected actual position (S) and for controlling the piste maintenance device (80) depending on the determined control variable of the piste maintenance device (80) for the purpose of maintaining the snow piste (15).

11. The piste maintenance vehicle (10) according to claim 10, characterized in that the detection device (30) has an orientation measurement unit (31), in particular a 3-axis inclination sensor (32) and / or a gyro-sensor and / or an acceleration sensor (33), to detect an orientation (L) of the piste maintenance vehicle (10), wherein the determination and control unit (40) is configured for determining the control variable of the piste maintenance device (80) depending on the detected orientation (L).

12. The piste maintenance vehicle (10) according to claim 10 or 11, characterized in that the piste maintenance device (80) has a front blade (82) and / or a tiller (84).

13. A method for operating a piste maintenance vehicle (10) according to any of the preceding claims, wherein the method has the method steps: a) detecting the topography (TI) of the snow piste (15), b) detecting the actual position (S) of the piste maintenance vehicle (10) on the snow piste (15), c) detecting and / or determining deformation data which represent at least indirectly the deformation of the snow piste (15) under the effect of pressure arising from the weight of the piste maintenance vehicle (10), d) determining the control variable of the drive device (20) depending on the predefined target position (Z) of the piste maintenance vehicle (10), on the detected topography (TI), on the detected actual position (S) and on the detected deformation data, e) controlling the drive device (20) depending on the determined control variable of the drive device (20).

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